WebSVN - FlightCtrl - Diff - Rev 942 and 943 - /branches/V0.70d 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 Yaw_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;
        uint8_t ExternalControl;
        uint8_t J16Timing;
        uint8_t J17Timing;
        uint8_t NaviGpsModeControl;
        uint8_t NaviGpsGain;
        uint8_t NaviGpsP;
        uint8_t NaviGpsI;
        uint8_t NaviGpsD;
        uint8_t NaviGpsACC;
 
} fc_param_t;
 
extern fc_param_t FCParam;
 
// attitude
extern  int32_t IntegralNick, IntegralRoll, IntegralYaw;
extern  int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
 
// offsets
extern  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  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 uint16_t Model_Is_Flying;
 
 
// MKFlags
#define MKFLAG_MOTOR_RUN                                0x01
#define MKFLAG_FLY                                      0x02
#define MKFLAG_CALIBRATE                                0x04
#define MKFLAG_START                                    0x08
#define MKFLAG_EMERGENCY_LANDING        0x10
#define MKFLAG_RESERVE1                         0x20
#define MKFLAG_RESERVE2                         0x40
#define MKFLAG_RESERVE3                         0x80
 
volatile extern uint8_t MKFlags;
 
#endif //_FC_H
 
 

Rev 942	Rev 943
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 Yaw_P;	22	uint8_t Yaw_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 ServoNickControl;	32	uint8_t ServoNickControl;
33	uint8_t LoopGasLimit;	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	uint8_t ExternalControl;	37	uint8_t ExternalControl;
38	uint8_t J16Timing;	38	uint8_t J16Timing;
39	uint8_t J17Timing;	39	uint8_t J17Timing;
40	uint8_t NaviGpsModeControl;	40	uint8_t NaviGpsModeControl;
41	uint8_t NaviGpsGain;	41	uint8_t NaviGpsGain;
42	uint8_t NaviGpsP;	42	uint8_t NaviGpsP;
43	uint8_t NaviGpsI;	43	uint8_t NaviGpsI;
44	uint8_t NaviGpsD;	44	uint8_t NaviGpsD;
45	uint8_t NaviGpsACC;	45	uint8_t NaviGpsACC;
46		46
47	} fc_param_t;	47	} fc_param_t;
48		48
49	extern fc_param_t FCParam;	49	extern fc_param_t FCParam;
50		50
51	// attitude	51	// attitude
52	extern int32_t IntegralNick, IntegralRoll, IntegralYaw;	52	extern int32_t IntegralNick, IntegralRoll, IntegralYaw;
53	extern int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;	53	extern int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
54		54
55	// offsets	55	// offsets
56	extern int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;	56	extern int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;
57	extern volatile int16_t NeutralAccX, NeutralAccY;	57	extern volatile int16_t NeutralAccX, NeutralAccY;
58	extern volatile float NeutralAccZ;	58	extern volatile float NeutralAccZ;
59		59
60		60
61	extern volatile int32_t Reading_Integral_Top; // calculated in analog.c	61	extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
62		62
63	// compass navigation	63	// compass navigation
64	extern volatile int16_t CompassHeading;	64	extern volatile int16_t CompassHeading;
65	extern volatile int16_t CompassCourse;	65	extern volatile int16_t CompassCourse;
66	extern volatile int16_t CompassOffCourse;	66	extern volatile int16_t CompassOffCourse;
67	extern volatile uint8_t CompassCalState;	67	extern volatile uint8_t CompassCalState;
68	extern int32_t YawGyroHeading;	68	extern int32_t YawGyroHeading;
69	extern int16_t YawGyroHeadingInDeg;	69	extern int16_t YawGyroHeadingInDeg;
70		70
71	// hight control	71	// hight control
72	extern int ReadingHeight;	72	extern int ReadingHeight;
73	extern int SetPointHeight;	73	extern int SetPointHeight;
74		74
75	// mean accelerations	75	// mean accelerations
76	extern int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;	76	extern int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
77		77
78	// acceleration send to navi board	78	// acceleration send to navi board
79	extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;	79	extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
80		80
81		81
82	// looping params	82	// looping params
83	extern long TurnOver180Nick, TurnOver180Roll;	83	extern long TurnOver180Nick, TurnOver180Roll;
84		84
85	// external control	85	// external control
86	extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;	86	extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
87		87
88		88
89	void MotorControl(void);	89	void MotorControl(void);
90	void SendMotorData(void);	90	void SendMotorData(void);
91	void CalibMean(void);	91	void CalibMean(void);
92	void Mean(void);	92	void Mean(void);
93	void SetNeutral(void);	93	void SetNeutral(void);
94	void Beep(uint8_t numbeeps);	94	void Beep(uint8_t numbeeps);
95		95
96		96
97	extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;	97	extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
98		98
99	// setpoints for motors	99	// setpoints for motors
-		100	#ifdef HEXAKOPTER
-		101	extern volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left;
-		102	#else
100	extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr	103	extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
-		104	#endif
101		105
102	// current stick values	106	// current stick values
103	extern int16_t StickNick;	107	extern int16_t StickNick;
104	extern int16_t StickRoll;	108	extern int16_t StickRoll;
105	extern int16_t StickYaw;	109	extern int16_t StickYaw;
106	extern int16_t GPS_Nick;	110	extern int16_t GPS_Nick;
107	extern int16_t GPS_Roll;	111	extern int16_t GPS_Roll;
108		112
109	// current stick elongations	113	// current stick elongations
110	extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;	114	extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
111		115
112		116
113	extern uint16_t Model_Is_Flying;	117	extern uint16_t Model_Is_Flying;
114		118
115		119
116	// MKFlags	120	// MKFlags
117	#define MKFLAG_MOTOR_RUN 0x01	121	#define MKFLAG_MOTOR_RUN 0x01
118	#define MKFLAG_FLY 0x02	122	#define MKFLAG_FLY 0x02
119	#define MKFLAG_CALIBRATE 0x04	123	#define MKFLAG_CALIBRATE 0x04
120	#define MKFLAG_START 0x08	124	#define MKFLAG_START 0x08
121	#define MKFLAG_EMERGENCY_LANDING 0x10	125	#define MKFLAG_EMERGENCY_LANDING 0x10
122	#define MKFLAG_RESERVE1 0x20	126	#define MKFLAG_RESERVE1 0x20
123	#define MKFLAG_RESERVE2 0x40	127	#define MKFLAG_RESERVE2 0x40
124	#define MKFLAG_RESERVE3 0x80	128	#define MKFLAG_RESERVE3 0x80
125		129
126	volatile extern uint8_t MKFlags;	130	volatile extern uint8_t MKFlags;
127		131
128	#endif //_FC_H	132	#endif //_FC_H
129		133
130		134

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(root)/branches/V0.70d CRK HexaLotte/fc.h @ 1856 - Rev 942 → 943