WebSVN - FlightCtrl - Diff - Rev 1246 and 1254 - /branches/V0.76g


/*#######################################################################################
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 FLAG_NOTLANDUNG 16
#define FLAG_LOWBAT             32
 
 
#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 long HoehenWert;
extern long 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, unsigned int dauer);
 
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 volatile unsigned char SenderRSSI;
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
//--- Seit V0.75
   unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
   unsigned char ServoRollComp;          // Wert : 0-250
   unsigned char ServoRollMin;           // Wert : 0-250
   unsigned char ServoRollMax;           // Wert : 0-250
//---
   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
// seit version V0.75c
   unsigned char WARN_J16_Bitmask;       // for the J16 Output
   unsigned char WARN_J17_Bitmask;       // 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 ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   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_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];
extern unsigned char Motor[MAX_MOTORS];
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.76g_VarMotorSmoothing/fc.h @ 1507 - Rev 1246 → 1254

Rev 1246		Rev 1254
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 FLAG_NOTLANDUNG 16
-		17	#define FLAG_LOWBAT 32
-		18
-		19
16	#define MAX_MOTORS 12	20	#define MAX_MOTORS 12
17		21
18	#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}	22	#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
19		23
20	extern volatile unsigned char MikroKopterFlags;	24	extern volatile unsigned char MikroKopterFlags;
21	extern volatile unsigned int I2CTimeout;	25	extern volatile unsigned int I2CTimeout;
22	extern unsigned char Sekunde,Minute;	26	extern unsigned char Sekunde,Minute;
23		27
24	extern long IntegralNick,IntegralNick2;	28	extern long IntegralNick,IntegralNick2;
25	extern long IntegralRoll,IntegralRoll2;	29	extern long IntegralRoll,IntegralRoll2;
26	//extern int IntegralNick,IntegralNick2;	30	//extern int IntegralNick,IntegralNick2;
27	//extern int IntegralRoll,IntegralRoll2;	31	//extern int IntegralRoll,IntegralRoll2;
28		32
29	extern long Mess_IntegralNick,Mess_IntegralNick2;	33	extern long Mess_IntegralNick,Mess_IntegralNick2;
30	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	34	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
31	extern long IntegralAccNick,IntegralAccRoll;	35	extern long IntegralAccNick,IntegralAccRoll;
32	extern volatile long Mess_Integral_Hoch;	36	extern volatile long Mess_Integral_Hoch;
33	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	37	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
34	extern int KompassValue;	38	extern int KompassValue;
35	extern int KompassStartwert;	39	extern int KompassStartwert;
36	extern int KompassRichtung;	40	extern int KompassRichtung;
37	extern int TrimNick, TrimRoll;	41	extern int TrimNick, TrimRoll;
38	extern long ErsatzKompass;	42	extern long ErsatzKompass;
39	extern int ErsatzKompassInGrad; // Kompasswert in Grad	43	extern int ErsatzKompassInGrad; // Kompasswert in Grad
40	extern long HoehenWert;	44	extern long HoehenWert;
41	extern long SollHoehe;	45	extern long SollHoehe;
42	extern int MesswertNick,MesswertRoll,MesswertGier;	46	extern int MesswertNick,MesswertRoll,MesswertGier;
43	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	47	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
44	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;	48	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
45	extern unsigned char HoehenReglerAktiv;	49	extern unsigned char HoehenReglerAktiv;
46	extern volatile float NeutralAccZ;	50	extern volatile float NeutralAccZ;
47	extern long Umschlag180Nick, Umschlag180Roll;	51	extern long Umschlag180Nick, Umschlag180Roll;
48	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	52	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
49	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	53	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
50	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	54	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
51	extern unsigned int modell_fliegt;	55	extern unsigned int modell_fliegt;
52	void MotorRegler(void);	56	void MotorRegler(void);
53	void SendMotorData(void);	57	void SendMotorData(void);
54	void CalibrierMittelwert(void);	58	void CalibrierMittelwert(void);
55	void Mittelwert(void);	59	void Mittelwert(void);
56	void SetNeutral(void);	60	void SetNeutral(void);
57	void Piep(unsigned char Anzahl, unsigned int dauer);	61	void Piep(unsigned char Anzahl, unsigned int dauer);
58		62
59	extern unsigned char h,m,s;	63	extern unsigned char h,m,s;
60	extern volatile unsigned char Timeout ;	64	extern volatile unsigned char Timeout ;
61	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	65	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
62	extern int DiffNick,DiffRoll;	66	extern int DiffNick,DiffRoll;
63	extern int Poti1, Poti2, Poti3, Poti4;	67	extern int Poti1, Poti2, Poti3, Poti4;
64	extern volatile unsigned char SenderOkay;	68	extern volatile unsigned char SenderOkay;
65	extern volatile unsigned char SenderRSSI;	69	extern volatile unsigned char SenderRSSI;
66	extern unsigned char RequiredMotors;	70	extern unsigned char RequiredMotors;
67	extern int StickNick,StickRoll,StickGier;	71	extern int StickNick,StickRoll,StickGier;
68	extern char MotorenEin;	72	extern char MotorenEin;
69	extern void DefaultKonstanten1(void);	73	extern void DefaultKonstanten1(void);
70	extern void DefaultKonstanten2(void);	74	extern void DefaultKonstanten2(void);
71	extern void DefaultKonstanten3(void);	75	extern void DefaultKonstanten3(void);
72	extern void DefaultStickMapping(void);	76	extern void DefaultStickMapping(void);
73		77
74	#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)	78	#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)
75	struct mk_param_struct	79	struct mk_param_struct
76	{	80	{
77	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3	81	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
78	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv	82	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
79	unsigned char Hoehe_MinGas; // Wert : 0-100	83	unsigned char Hoehe_MinGas; // Wert : 0-100
80	unsigned char Luftdruck_D; // Wert : 0-250	84	unsigned char Luftdruck_D; // Wert : 0-250
81	unsigned char MaxHoehe; // Wert : 0-32	85	unsigned char MaxHoehe; // Wert : 0-32
82	unsigned char Hoehe_P; // Wert : 0-32	86	unsigned char Hoehe_P; // Wert : 0-32
83	unsigned char Hoehe_Verstaerkung; // Wert : 0-50	87	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
84	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250	88	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
85	unsigned char Stick_P; // Wert : 1-6	89	unsigned char Stick_P; // Wert : 1-6
86	unsigned char Stick_D; // Wert : 0-64	90	unsigned char Stick_D; // Wert : 0-64
87	unsigned char Gier_P; // Wert : 1-20	91	unsigned char Gier_P; // Wert : 1-20
88	unsigned char Gas_Min; // Wert : 0-32	92	unsigned char Gas_Min; // Wert : 0-32
89	unsigned char Gas_Max; // Wert : 33-250	93	unsigned char Gas_Max; // Wert : 33-250
90	unsigned char GyroAccFaktor; // Wert : 1-64	94	unsigned char GyroAccFaktor; // Wert : 1-64
91	unsigned char KompassWirkung; // Wert : 0-32	95	unsigned char KompassWirkung; // Wert : 0-32
92	unsigned char Gyro_P; // Wert : 10-250	96	unsigned char Gyro_P; // Wert : 10-250
93	unsigned char Gyro_I; // Wert : 0-250	97	unsigned char Gyro_I; // Wert : 0-250
94	unsigned char Gyro_D; // Wert : 0-250	98	unsigned char Gyro_D; // Wert : 0-250
95	unsigned char UnterspannungsWarnung; // Wert : 0-250	99	unsigned char UnterspannungsWarnung; // Wert : 0-250
96	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust	100	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
97	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen	101	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
98	unsigned char UfoAusrichtung; // X oder + Formation	102	unsigned char UfoAusrichtung; // X oder + Formation
99	unsigned char I_Faktor; // Wert : 0-250	103	unsigned char I_Faktor; // Wert : 0-250
100	unsigned char UserParam1; // Wert : 0-250	104	unsigned char UserParam1; // Wert : 0-250
101	unsigned char UserParam2; // Wert : 0-250	105	unsigned char UserParam2; // Wert : 0-250
102	unsigned char UserParam3; // Wert : 0-250	106	unsigned char UserParam3; // Wert : 0-250
103	unsigned char UserParam4; // Wert : 0-250	107	unsigned char UserParam4; // Wert : 0-250
104	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos	108	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
105	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo	109	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
106	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag	110	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
107	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag	111	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
108	//--- Seit V0.75	112	//--- Seit V0.75
109	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos	113	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos
110	unsigned char ServoRollComp; // Wert : 0-250	114	unsigned char ServoRollComp; // Wert : 0-250
111	unsigned char ServoRollMin; // Wert : 0-250	115	unsigned char ServoRollMin; // Wert : 0-250
112	unsigned char ServoRollMax; // Wert : 0-250	116	unsigned char ServoRollMax; // Wert : 0-250
113	//---	117	//---
114	unsigned char ServoNickRefresh; //	118	unsigned char ServoNickRefresh; //
115	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping	119	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
116	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag	120	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
117	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag	121	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
118	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)	122	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
119	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	123	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
120	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	124	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
121	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt	125	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
122	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt	126	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
123	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)	127	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
124	unsigned char Driftkomp;	128	unsigned char Driftkomp;
125	unsigned char DynamicStability;	129	unsigned char DynamicStability;
126	unsigned char UserParam5; // Wert : 0-250	130	unsigned char UserParam5; // Wert : 0-250
127	unsigned char UserParam6; // Wert : 0-250	131	unsigned char UserParam6; // Wert : 0-250
128	unsigned char UserParam7; // Wert : 0-250	132	unsigned char UserParam7; // Wert : 0-250
129	unsigned char UserParam8; // Wert : 0-250	133	unsigned char UserParam8; // Wert : 0-250
130	//---Output ---------------------------------------------	134	//---Output ---------------------------------------------
131	unsigned char J16Bitmask; // for the J16 Output	135	unsigned char J16Bitmask; // for the J16 Output
132	unsigned char J16Timing; // for the J16 Output	136	unsigned char J16Timing; // for the J16 Output
133	unsigned char J17Bitmask; // for the J17 Output	137	unsigned char J17Bitmask; // for the J17 Output
134	unsigned char J17Timing; // for the J17 Output	138	unsigned char J17Timing; // for the J17 Output
-		139	// seit version V0.75c
-		140	unsigned char WARN_J16_Bitmask; // for the J16 Output
-		141	unsigned char WARN_J17_Bitmask; // for the J17 Output
135	//---NaviCtrl---------------------------------------------	142	//---NaviCtrl---------------------------------------------
136	unsigned char NaviGpsModeControl; // Parameters for the Naviboard	143	unsigned char NaviGpsModeControl; // Parameters for the Naviboard
137	unsigned char NaviGpsGain;	144	unsigned char NaviGpsGain;
138	unsigned char NaviGpsP;	145	unsigned char NaviGpsP;
139	unsigned char NaviGpsI;	146	unsigned char NaviGpsI;
140	unsigned char NaviGpsD;	147	unsigned char NaviGpsD;
141	unsigned char NaviGpsPLimit;	148	unsigned char NaviGpsPLimit;
142	unsigned char NaviGpsILimit;	149	unsigned char NaviGpsILimit;
143	unsigned char NaviGpsDLimit;	150	unsigned char NaviGpsDLimit;
144	unsigned char NaviGpsACC;	151	unsigned char NaviGpsACC;
145	unsigned char NaviGpsMinSat;	152	unsigned char NaviGpsMinSat;
146	unsigned char NaviStickThreshold;	153	unsigned char NaviStickThreshold;
147	unsigned char NaviWindCorrection;	154	unsigned char NaviWindCorrection;
148	unsigned char NaviSpeedCompensation;	155	unsigned char NaviSpeedCompensation;
149	unsigned char NaviOperatingRadius;	156	unsigned char NaviOperatingRadius;
150	unsigned char NaviAngleLimitation;	157	unsigned char NaviAngleLimitation;
151	unsigned char NaviPH_LoginTime;	158	unsigned char NaviPH_LoginTime;
152	//---Ext.Ctrl---------------------------------------------	159	//---Ext.Ctrl---------------------------------------------
153	unsigned char ExternalControl; // for serial Control	160	unsigned char ExternalControl; // for serial Control
154	//------------------------------------------------	161	//------------------------------------------------
155	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt	162	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
156	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen	163	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen
157	unsigned char Reserved[4];	164	unsigned char Reserved[4];
158	char Name[12];	165	char Name[12];
159	};	166	};
160		167
161	struct	168	struct
162	{	169	{
163	char Revision;	170	char Revision;
164	char Name[12];	171	char Name[12];
165	signed char Motor[16][4];	172	signed char Motor[16][4];
166	} Mixer;	173	} Mixer;
167		174
168	extern struct mk_param_struct EE_Parameter;	175	extern struct mk_param_struct EE_Parameter;
169	extern unsigned char Parameter_Luftdruck_D;	176	extern unsigned char Parameter_Luftdruck_D;
170	extern unsigned char Parameter_MaxHoehe;	177	extern unsigned char Parameter_MaxHoehe;
171	extern unsigned char Parameter_Hoehe_P;	178	extern unsigned char Parameter_Hoehe_P;
172	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	179	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
173	extern unsigned char Parameter_KompassWirkung;	180	extern unsigned char Parameter_KompassWirkung;
174	extern unsigned char Parameter_Gyro_P;	181	extern unsigned char Parameter_Gyro_P;
175	extern unsigned char Parameter_Gyro_I;	182	extern unsigned char Parameter_Gyro_I;
176	extern unsigned char Parameter_Gier_P;	183	extern unsigned char Parameter_Gier_P;
177	extern unsigned char Parameter_ServoNickControl;	184	extern unsigned char Parameter_ServoNickControl;
178	extern unsigned char Parameter_ServoRollControl;	185	extern unsigned char Parameter_ServoRollControl;
179	extern unsigned char Parameter_AchsKopplung1;	186	extern unsigned char Parameter_AchsKopplung1;
180	extern unsigned char Parameter_AchsKopplung2;	187	extern unsigned char Parameter_AchsKopplung2;
181	//extern unsigned char Parameter_AchsGegenKopplung1;	188	//extern unsigned char Parameter_AchsGegenKopplung1;
182	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	189	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
183	extern unsigned char Parameter_J16Timing; // for the J16 Output	190	extern unsigned char Parameter_J16Timing; // for the J16 Output
184	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	191	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
185	extern unsigned char Parameter_J17Timing; // for the J17 Output	192	extern unsigned char Parameter_J17Timing; // for the J17 Output
186	extern signed char MixerTable[MAX_MOTORS][4];	193	extern signed char MixerTable[MAX_MOTORS][4];
187	extern unsigned char Motor[MAX_MOTORS];	194	extern unsigned char Motor[MAX_MOTORS];
188	#endif //_FC_H	195	#endif //_FC_H
189		196
190		197