WebSVN - FlightCtrl - Diff - Rev 1212 and 1215 - /branches/V0.74d_ACC-HH


/*#######################################################################################
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 FLAG_MOTOR_RUN  1
#define FLAG_FLY        2
#define FLAG_CALIBRATE  4
#define FLAG_START      8
#define MAX_MOTORS      12
 
#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
 
extern volatile unsigned char MikroKopterFlags;
extern volatile unsigned int I2CTimeout;
extern unsigned char Sekunde,Minute;
 
extern long IntegralNick,IntegralNick2;
extern long IntegralRoll,IntegralRoll2;
//extern int IntegralNick,IntegralNick2;
//extern int IntegralRoll,IntegralRoll2;
 
extern long Mess_IntegralNick,Mess_IntegralNick2;
extern long Mess_IntegralRoll,Mess_IntegralRoll2;
extern long IntegralAccNick,IntegralAccRoll;
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 int  TrimNick, TrimRoll;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
extern int HoehenWert;
extern int SollHoehe;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
extern unsigned char HoehenReglerAktiv;
extern volatile float 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;
void MotorRegler(void);
void SendMotorData(void);
void CalibrierMittelwert(void);
void Mittelwert(void);
void SetNeutral(void);
void Piep(unsigned char Anzahl);
 
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 unsigned char RequiredMotors;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern void DefaultKonstanten1(void);
extern void DefaultKonstanten2(void);
extern void DefaultKonstanten3(void);
extern void DefaultStickMapping(void);
 
#define  STRUCT_PARAM_LAENGE  sizeof(EE_Parameter) 
struct mk_param_struct
 {
   unsigned char Kanalbelegung[8];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
   unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
   unsigned char Hoehe_MinGas;           // Wert : 0-100
   unsigned char Luftdruck_D;            // Wert : 0-250
   unsigned char MaxHoehe;               // Wert : 0-32
   unsigned char Hoehe_P;                // Wert : 0-32
   unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
   unsigned char Stick_P;                // Wert : 1-6
   unsigned char Stick_D;                // Wert : 0-64
   unsigned char Gier_P;                 // Wert : 1-20
   unsigned char Gas_Min;                // Wert : 0-32
   unsigned char Gas_Max;                // Wert : 33-250
   unsigned char GyroAccFaktor;          // Wert : 1-64
   unsigned char KompassWirkung;         // Wert : 0-32
   unsigned char Gyro_P;                 // Wert : 10-250
   unsigned char Gyro_I;                 // Wert : 0-250
   unsigned char Gyro_D;                 // Wert : 0-250
   unsigned char UnterspannungsWarnung;  // Wert : 0-250
   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
   unsigned char UfoAusrichtung;         // X oder + Formation
   unsigned char I_Faktor;               // Wert : 0-250
   unsigned char UserParam1;             // Wert : 0-250
   unsigned char UserParam2;             // Wert : 0-250
   unsigned char UserParam3;             // Wert : 0-250
   unsigned char UserParam4;             // Wert : 0-250
   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
   unsigned char ServoNickRefresh;       //
   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
   unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
   unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
   unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
   unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
   unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
   unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
   unsigned char Driftkomp;              
   unsigned char DynamicStability;
   unsigned char UserParam5;             // Wert : 0-250
   unsigned char UserParam6;             // Wert : 0-250
   unsigned char UserParam7;             // Wert : 0-250
   unsigned char UserParam8;             // Wert : 0-250
//---Output ---------------------------------------------
   unsigned char J16Bitmask;             // for the J16 Output
   unsigned char J16Timing;              // for the J16 Output
   unsigned char J17Bitmask;             // for the J17 Output
   unsigned char J17Timing;              // for the J17 Output
//---NaviCtrl---------------------------------------------
   unsigned char NaviGpsModeControl;     // Parameters for the Naviboard
   unsigned char NaviGpsGain;    
   unsigned char NaviGpsP;        
   unsigned char NaviGpsI;        
   unsigned char NaviGpsD;        
   unsigned char NaviGpsPLimit;        
   unsigned char NaviGpsILimit;        
   unsigned char NaviGpsDLimit;        
   unsigned char NaviGpsACC;        
   unsigned char NaviGpsMinSat;        
   unsigned char NaviStickThreshold;        
   unsigned char NaviWindCorrection;        
   unsigned char NaviSpeedCompensation;        
   unsigned char NaviOperatingRadius;        
   unsigned char NaviAngleLimitation;
   unsigned char NaviPH_LoginTime;
//---Ext.Ctrl---------------------------------------------
   unsigned char ExternalControl;        // for serial Control
//------------------------------------------------
   unsigned char BitConfig;             // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
   unsigned char Reserved[4];
   char Name[12];
 };
 
 
struct
  {
    char Revision;
    char Name[12];
    signed char Motor[16][4];
  } Mixer;
       
extern struct mk_param_struct EE_Parameter;
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_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];
extern unsigned char Motor[MAX_MOTORS];
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.74d_ACC-HH_MartinR/fc.h @ 2126 - Rev 1212 → 1215

Rev 1212		Rev 1215
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		11
12	#define FLAG_MOTOR_RUN 1	12	#define FLAG_MOTOR_RUN 1
13	#define FLAG_FLY 2	13	#define FLAG_FLY 2
14	#define FLAG_CALIBRATE 4	14	#define FLAG_CALIBRATE 4
15	#define FLAG_START 8	15	#define FLAG_START 8
16	#define MAX_MOTORS 12	16	#define MAX_MOTORS 12
17		17
18	#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}	18	#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
19		19
20	extern volatile unsigned char MikroKopterFlags;	20	extern volatile unsigned char MikroKopterFlags;
21	extern volatile unsigned int I2CTimeout;	21	extern volatile unsigned int I2CTimeout;
22	extern unsigned char Sekunde,Minute;	22	extern unsigned char Sekunde,Minute;
23		23
24	extern long IntegralNick,IntegralNick2;	24	extern long IntegralNick,IntegralNick2;
25	extern long IntegralRoll,IntegralRoll2;	25	extern long IntegralRoll,IntegralRoll2;
26	//extern int IntegralNick,IntegralNick2;	26	//extern int IntegralNick,IntegralNick2;
27	//extern int IntegralRoll,IntegralRoll2;	27	//extern int IntegralRoll,IntegralRoll2;
28		28
29	extern long Mess_IntegralNick,Mess_IntegralNick2;	29	extern long Mess_IntegralNick,Mess_IntegralNick2;
30	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	30	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
31	extern long IntegralAccNick,IntegralAccRoll;	31	extern long IntegralAccNick,IntegralAccRoll;
32	extern volatile long Mess_Integral_Hoch;	32	extern volatile long Mess_Integral_Hoch;
33	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	33	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
34	extern int KompassValue;	34	extern int KompassValue;
35	extern int KompassStartwert;	35	extern int KompassStartwert;
36	extern int KompassRichtung;	36	extern int KompassRichtung;
37	extern int TrimNick, TrimRoll;	37	extern int TrimNick, TrimRoll;
38	extern long ErsatzKompass;	38	extern long ErsatzKompass;
39	extern int ErsatzKompassInGrad; // Kompasswert in Grad	39	extern int ErsatzKompassInGrad; // Kompasswert in Grad
40	extern int HoehenWert;	40	extern int HoehenWert;
41	extern int SollHoehe;	41	extern int SollHoehe;
42	extern int MesswertNick,MesswertRoll,MesswertGier;	42	extern int MesswertNick,MesswertRoll,MesswertGier;
43	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	43	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
44	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;	44	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
-		45	extern unsigned char HoehenReglerAktiv;
45	extern volatile float NeutralAccZ;	46	extern volatile float NeutralAccZ;
46	extern long Umschlag180Nick, Umschlag180Roll;	47	extern long Umschlag180Nick, Umschlag180Roll;
47	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	48	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
48	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	49	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
49	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	50	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
50	extern unsigned int modell_fliegt;	51	extern unsigned int modell_fliegt;
51	void MotorRegler(void);	52	void MotorRegler(void);
52	void SendMotorData(void);	53	void SendMotorData(void);
53	void CalibrierMittelwert(void);	54	void CalibrierMittelwert(void);
54	void Mittelwert(void);	55	void Mittelwert(void);
55	void SetNeutral(void);	56	void SetNeutral(void);
56	void Piep(unsigned char Anzahl);	57	void Piep(unsigned char Anzahl);
57		58
58	extern unsigned char h,m,s;	59	extern unsigned char h,m,s;
59	extern volatile unsigned char Timeout ;	60	extern volatile unsigned char Timeout ;
60	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	61	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
61	extern int DiffNick,DiffRoll;	62	extern int DiffNick,DiffRoll;
62	extern int Poti1, Poti2, Poti3, Poti4;	63	extern int Poti1, Poti2, Poti3, Poti4;
63	extern volatile unsigned char SenderOkay;	64	extern volatile unsigned char SenderOkay;
64	extern unsigned char RequiredMotors;	65	extern unsigned char RequiredMotors;
65	extern int StickNick,StickRoll,StickGier;	66	extern int StickNick,StickRoll,StickGier;
66	extern char MotorenEin;	67	extern char MotorenEin;
67	extern void DefaultKonstanten1(void);	68	extern void DefaultKonstanten1(void);
68	extern void DefaultKonstanten2(void);	69	extern void DefaultKonstanten2(void);
69	extern void DefaultKonstanten3(void);	70	extern void DefaultKonstanten3(void);
70	extern void DefaultStickMapping(void);	71	extern void DefaultStickMapping(void);
71		72
72	#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)	73	#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)
73	struct mk_param_struct	74	struct mk_param_struct
74	{	75	{
75	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3	76	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
76	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv	77	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
77	unsigned char Hoehe_MinGas; // Wert : 0-100	78	unsigned char Hoehe_MinGas; // Wert : 0-100
78	unsigned char Luftdruck_D; // Wert : 0-250	79	unsigned char Luftdruck_D; // Wert : 0-250
79	unsigned char MaxHoehe; // Wert : 0-32	80	unsigned char MaxHoehe; // Wert : 0-32
80	unsigned char Hoehe_P; // Wert : 0-32	81	unsigned char Hoehe_P; // Wert : 0-32
81	unsigned char Hoehe_Verstaerkung; // Wert : 0-50	82	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
82	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250	83	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
83	unsigned char Stick_P; // Wert : 1-6	84	unsigned char Stick_P; // Wert : 1-6
84	unsigned char Stick_D; // Wert : 0-64	85	unsigned char Stick_D; // Wert : 0-64
85	unsigned char Gier_P; // Wert : 1-20	86	unsigned char Gier_P; // Wert : 1-20
86	unsigned char Gas_Min; // Wert : 0-32	87	unsigned char Gas_Min; // Wert : 0-32
87	unsigned char Gas_Max; // Wert : 33-250	88	unsigned char Gas_Max; // Wert : 33-250
88	unsigned char GyroAccFaktor; // Wert : 1-64	89	unsigned char GyroAccFaktor; // Wert : 1-64
89	unsigned char KompassWirkung; // Wert : 0-32	90	unsigned char KompassWirkung; // Wert : 0-32
90	unsigned char Gyro_P; // Wert : 10-250	91	unsigned char Gyro_P; // Wert : 10-250
91	unsigned char Gyro_I; // Wert : 0-250	92	unsigned char Gyro_I; // Wert : 0-250
92	unsigned char Gyro_D; // Wert : 0-250	93	unsigned char Gyro_D; // Wert : 0-250
93	unsigned char UnterspannungsWarnung; // Wert : 0-250	94	unsigned char UnterspannungsWarnung; // Wert : 0-250
94	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust	95	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
95	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen	96	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
96	unsigned char UfoAusrichtung; // X oder + Formation	97	unsigned char UfoAusrichtung; // X oder + Formation
97	unsigned char I_Faktor; // Wert : 0-250	98	unsigned char I_Faktor; // Wert : 0-250
98	unsigned char UserParam1; // Wert : 0-250	99	unsigned char UserParam1; // Wert : 0-250
99	unsigned char UserParam2; // Wert : 0-250	100	unsigned char UserParam2; // Wert : 0-250
100	unsigned char UserParam3; // Wert : 0-250	101	unsigned char UserParam3; // Wert : 0-250
101	unsigned char UserParam4; // Wert : 0-250	102	unsigned char UserParam4; // Wert : 0-250
102	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos	103	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
103	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo	104	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
104	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag	105	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
105	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag	106	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
106	unsigned char ServoNickRefresh; //	107	unsigned char ServoNickRefresh; //
107	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping	108	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
108	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag	109	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
109	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag	110	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
110	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)	111	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
111	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	112	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
112	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	113	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
113	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt	114	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
114	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt	115	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
115	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)	116	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
116	unsigned char Driftkomp;	117	unsigned char Driftkomp;
117	unsigned char DynamicStability;	118	unsigned char DynamicStability;
118	unsigned char UserParam5; // Wert : 0-250	119	unsigned char UserParam5; // Wert : 0-250
119	unsigned char UserParam6; // Wert : 0-250	120	unsigned char UserParam6; // Wert : 0-250
120	unsigned char UserParam7; // Wert : 0-250	121	unsigned char UserParam7; // Wert : 0-250
121	unsigned char UserParam8; // Wert : 0-250	122	unsigned char UserParam8; // Wert : 0-250
122	//---Output ---------------------------------------------	123	//---Output ---------------------------------------------
123	unsigned char J16Bitmask; // for the J16 Output	124	unsigned char J16Bitmask; // for the J16 Output
124	unsigned char J16Timing; // for the J16 Output	125	unsigned char J16Timing; // for the J16 Output
125	unsigned char J17Bitmask; // for the J17 Output	126	unsigned char J17Bitmask; // for the J17 Output
126	unsigned char J17Timing; // for the J17 Output	127	unsigned char J17Timing; // for the J17 Output
127	//---NaviCtrl---------------------------------------------	128	//---NaviCtrl---------------------------------------------
128	unsigned char NaviGpsModeControl; // Parameters for the Naviboard	129	unsigned char NaviGpsModeControl; // Parameters for the Naviboard
129	unsigned char NaviGpsGain;	130	unsigned char NaviGpsGain;
130	unsigned char NaviGpsP;	131	unsigned char NaviGpsP;
131	unsigned char NaviGpsI;	132	unsigned char NaviGpsI;
132	unsigned char NaviGpsD;	133	unsigned char NaviGpsD;
133	unsigned char NaviGpsPLimit;	134	unsigned char NaviGpsPLimit;
134	unsigned char NaviGpsILimit;	135	unsigned char NaviGpsILimit;
135	unsigned char NaviGpsDLimit;	136	unsigned char NaviGpsDLimit;
136	unsigned char NaviGpsACC;	137	unsigned char NaviGpsACC;
137	unsigned char NaviGpsMinSat;	138	unsigned char NaviGpsMinSat;
138	unsigned char NaviStickThreshold;	139	unsigned char NaviStickThreshold;
139	unsigned char NaviWindCorrection;	140	unsigned char NaviWindCorrection;
140	unsigned char NaviSpeedCompensation;	141	unsigned char NaviSpeedCompensation;
141	unsigned char NaviOperatingRadius;	142	unsigned char NaviOperatingRadius;
142	unsigned char NaviAngleLimitation;	143	unsigned char NaviAngleLimitation;
143	unsigned char NaviPH_LoginTime;	144	unsigned char NaviPH_LoginTime;
144	//---Ext.Ctrl---------------------------------------------	145	//---Ext.Ctrl---------------------------------------------
145	unsigned char ExternalControl; // for serial Control	146	unsigned char ExternalControl; // for serial Control
146	//------------------------------------------------	147	//------------------------------------------------
147	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt	148	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
148	unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen	149	unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen
149	unsigned char Reserved[4];	150	unsigned char Reserved[4];
150	char Name[12];	151	char Name[12];
151	};	152	};
152		153
153		154
154	struct	155	struct
155	{	156	{
156	char Revision;	157	char Revision;
157	char Name[12];	158	char Name[12];
158	signed char Motor[16][4];	159	signed char Motor[16][4];
159	} Mixer;	160	} Mixer;
160		161
161	extern struct mk_param_struct EE_Parameter;	162	extern struct mk_param_struct EE_Parameter;
162	extern unsigned char Parameter_Luftdruck_D;	163	extern unsigned char Parameter_Luftdruck_D;
163	extern unsigned char Parameter_MaxHoehe;	164	extern unsigned char Parameter_MaxHoehe;
164	extern unsigned char Parameter_Hoehe_P;	165	extern unsigned char Parameter_Hoehe_P;
165	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	166	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
166	extern unsigned char Parameter_KompassWirkung;	167	extern unsigned char Parameter_KompassWirkung;
167	extern unsigned char Parameter_Gyro_P;	168	extern unsigned char Parameter_Gyro_P;
168	extern unsigned char Parameter_Gyro_I;	169	extern unsigned char Parameter_Gyro_I;
169	extern unsigned char Parameter_Gier_P;	170	extern unsigned char Parameter_Gier_P;
170	extern unsigned char Parameter_ServoNickControl;	171	extern unsigned char Parameter_ServoNickControl;
171	extern unsigned char Parameter_AchsKopplung1;	172	extern unsigned char Parameter_AchsKopplung1;
172	extern unsigned char Parameter_AchsKopplung2;	173	extern unsigned char Parameter_AchsKopplung2;
173	//extern unsigned char Parameter_AchsGegenKopplung1;	174	//extern unsigned char Parameter_AchsGegenKopplung1;
174	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	175	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
175	extern unsigned char Parameter_J16Timing; // for the J16 Output	176	extern unsigned char Parameter_J16Timing; // for the J16 Output
176	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	177	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
177	extern unsigned char Parameter_J17Timing; // for the J17 Output	178	extern unsigned char Parameter_J17Timing; // for the J17 Output
178	extern signed char MixerTable[MAX_MOTORS][4];	179	extern signed char MixerTable[MAX_MOTORS][4];
179	extern unsigned char Motor[MAX_MOTORS];	180	extern unsigned char Motor[MAX_MOTORS];
180	#endif //_FC_H	181	#endif //_FC_H
181		182
182		183