WebSVN - FlightCtrl - Diff - Rev 1403 and 1420 - /branches/V0.80g_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 FCFLAG_MOTOR_RUN        0x01
#define FCFLAG_FLY              0x02
#define FCFLAG_CALIBRATE        0x04
#define FCFLAG_START            0x08
#define FCFLAG_NOTLANDUNG       0x10
#define FCFLAG_LOWBAT           0x20
#define FCFLAG_SPI_RX_ERR       0x40
#define FCFLAG_RESERVE1         0x80
 
 
#define Poti1 Poti[0]
#define Poti2 Poti[1]
#define Poti3 Poti[2]
#define Poti4 Poti[3]
#define Poti5 Poti[4]
#define Poti6 Poti[5]
#define Poti7 Poti[6]
#define Poti8 Poti[7]
 
#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 FCFlags;
extern volatile unsigned int I2CTimeout;
extern unsigned char Sekunde,Minute;
extern unsigned int BaroExpandActive;
extern long IntegralNick,IntegralNick2;
extern long IntegralRoll,IntegralRoll2;
//extern int IntegralNick,IntegralNick2;
//extern int IntegralRoll,IntegralRoll2;
extern unsigned char Poti[9];
 
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);
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
 
#define  STRUCT_PARAM_LAENGE  sizeof(EE_Parameter)
struct mk_param_struct
 {
   unsigned char Kanalbelegung[12];       // 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 Hoehe_HoverBand;        // Wert : 0-250
   unsigned char Hoehe_GPS_Z;            // Wert : 0-250
   unsigned char Hoehe_StickNeutralPoint;// 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 Gyro_Gier_P;                 // Wert : 10-250
   unsigned char Gyro_Gier_I;                 // 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;       // Speed of the Servo
   unsigned char Servo3;                         // Value or mapping of the Servo Output
   unsigned char Servo4;                         // Value or mapping of the Servo Output
   unsigned char Servo5;                         // Value or mapping of the Servo Output
   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 ExtraConfig;        // bitcodiert
   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/V0.80g_ACC-HH_MartinR/fc.h @ 2755 - Rev 1403 → 1420

Rev 1403		Rev 1420
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 FCFLAG_MOTOR_RUN 0x01
13	#define FLAG_FLY 2	13	#define FCFLAG_FLY 0x02
14	#define FLAG_CALIBRATE 4	14	#define FCFLAG_CALIBRATE 0x04
15	#define FLAG_START 8	15	#define FCFLAG_START 0x08
16	#define FLAG_NOTLANDUNG 16	16	#define FCFLAG_NOTLANDUNG 0x10
-		17	#define FCFLAG_LOWBAT 0x20
-		18	#define FCFLAG_SPI_RX_ERR 0x40
-		19	#define FCFLAG_RESERVE1 0x80
17	#define FLAG_LOWBAT 32	20
18		21
19	#define Poti1 Poti[0]	22	#define Poti1 Poti[0]
20	#define Poti2 Poti[1]	23	#define Poti2 Poti[1]
21	#define Poti3 Poti[2]	24	#define Poti3 Poti[2]
22	#define Poti4 Poti[3]	25	#define Poti4 Poti[3]
23	#define Poti5 Poti[4]	26	#define Poti5 Poti[4]
24	#define Poti6 Poti[5]	27	#define Poti6 Poti[5]
25	#define Poti7 Poti[6]	28	#define Poti7 Poti[6]
26	#define Poti8 Poti[7]	29	#define Poti8 Poti[7]
27		30
28	#define MAX_MOTORS 12	31	#define MAX_MOTORS 12
29		32
30	#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}	33	#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
31		34
32	extern volatile unsigned char MikroKopterFlags;	35	extern volatile unsigned char FCFlags;
33	extern volatile unsigned int I2CTimeout;	36	extern volatile unsigned int I2CTimeout;
34	extern unsigned char Sekunde,Minute;	37	extern unsigned char Sekunde,Minute;
35	extern unsigned int BaroExpandActive;	38	extern unsigned int BaroExpandActive;
36	extern long IntegralNick,IntegralNick2;	39	extern long IntegralNick,IntegralNick2;
37	extern long IntegralRoll,IntegralRoll2;	40	extern long IntegralRoll,IntegralRoll2;
38	//extern int IntegralNick,IntegralNick2;	41	//extern int IntegralNick,IntegralNick2;
39	//extern int IntegralRoll,IntegralRoll2;	42	//extern int IntegralRoll,IntegralRoll2;
40	extern unsigned char Poti[9];	43	extern unsigned char Poti[9];
41		44
42	extern long Mess_IntegralNick,Mess_IntegralNick2;	45	extern long Mess_IntegralNick,Mess_IntegralNick2;
43	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	46	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
44	extern long IntegralAccNick,IntegralAccRoll;	47	extern long IntegralAccNick,IntegralAccRoll;
45	extern volatile long Mess_Integral_Hoch;	48	extern volatile long Mess_Integral_Hoch;
46	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	49	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
47	extern int KompassValue;	50	extern int KompassValue;
48	extern int KompassStartwert;	51	extern int KompassStartwert;
49	extern int KompassRichtung;	52	extern int KompassRichtung;
50	extern int TrimNick, TrimRoll;	53	extern int TrimNick, TrimRoll;
51	extern long ErsatzKompass;	54	extern long ErsatzKompass;
52	extern int ErsatzKompassInGrad; // Kompasswert in Grad	55	extern int ErsatzKompassInGrad; // Kompasswert in Grad
53	extern long HoehenWert;	56	extern long HoehenWert;
54	extern long SollHoehe;	57	extern long SollHoehe;
55	extern int MesswertNick,MesswertRoll,MesswertGier;	58	extern int MesswertNick,MesswertRoll,MesswertGier;
56	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	59	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
57	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;	60	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
58	extern unsigned char HoehenReglerAktiv;	61	extern unsigned char HoehenReglerAktiv;
59	extern volatile float NeutralAccZ;	62	extern volatile float NeutralAccZ;
60	extern long Umschlag180Nick, Umschlag180Roll;	63	extern long Umschlag180Nick, Umschlag180Roll;
61	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	64	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
62	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	65	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
63	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	66	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
64	extern unsigned int modell_fliegt;	67	extern unsigned int modell_fliegt;
65	void MotorRegler(void);	68	void MotorRegler(void);
66	void SendMotorData(void);	69	void SendMotorData(void);
67	void CalibrierMittelwert(void);	70	void CalibrierMittelwert(void);
68	void Mittelwert(void);	71	void Mittelwert(void);
69	void SetNeutral(void);	72	void SetNeutral(void);
70	void Piep(unsigned char Anzahl, unsigned int dauer);	73	void Piep(unsigned char Anzahl, unsigned int dauer);
71		74
72	extern unsigned char h,m,s;	75	extern unsigned char h,m,s;
73	extern volatile unsigned char Timeout ;	76	extern volatile unsigned char Timeout ;
74	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	77	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
75	extern int DiffNick,DiffRoll;	78	extern int DiffNick,DiffRoll;
76	//extern int Poti1, Poti2, Poti3, Poti4;	79	//extern int Poti1, Poti2, Poti3, Poti4;
77	extern volatile unsigned char SenderOkay;	80	extern volatile unsigned char SenderOkay;
78	extern volatile unsigned char SenderRSSI;	81	extern volatile unsigned char SenderRSSI;
79	extern unsigned char RequiredMotors;	82	extern unsigned char RequiredMotors;
80	extern int StickNick,StickRoll,StickGier;	83	extern int StickNick,StickRoll,StickGier;
81	extern char MotorenEin;	84	extern char MotorenEin;
82	extern void DefaultKonstanten1(void);	85	extern void DefaultKonstanten1(void);
83	extern void DefaultKonstanten2(void);	86	extern void DefaultKonstanten2(void);
84	extern void DefaultKonstanten3(void);	87	extern void DefaultKonstanten3(void);
85	extern void DefaultStickMapping(void);	88	extern void DefaultStickMapping(void);
86	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	89	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
87		90
88	#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)	91	#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)
89	struct mk_param_struct	92	struct mk_param_struct
90	{	93	{
91	unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3	94	unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
92	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv	95	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
93	unsigned char Hoehe_MinGas; // Wert : 0-100	96	unsigned char Hoehe_MinGas; // Wert : 0-100
94	unsigned char Luftdruck_D; // Wert : 0-250	97	unsigned char Luftdruck_D; // Wert : 0-250
95	unsigned char MaxHoehe; // Wert : 0-32	98	unsigned char MaxHoehe; // Wert : 0-32
96	unsigned char Hoehe_P; // Wert : 0-32	99	unsigned char Hoehe_P; // Wert : 0-32
97	unsigned char Hoehe_Verstaerkung; // Wert : 0-50	100	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
98	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250	101	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
99	unsigned char Hoehe_HoverBand; // Wert : 0-250	102	unsigned char Hoehe_HoverBand; // Wert : 0-250
100	unsigned char Hoehe_GPS_Z; // Wert : 0-250	103	unsigned char Hoehe_GPS_Z; // Wert : 0-250
101	unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250	104	unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
102	unsigned char Stick_P; // Wert : 1-6	105	unsigned char Stick_P; // Wert : 1-6
103	unsigned char Stick_D; // Wert : 0-64	106	unsigned char Stick_D; // Wert : 0-64
104	unsigned char Gier_P; // Wert : 1-20	107	unsigned char Gier_P; // Wert : 1-20
105	unsigned char Gas_Min; // Wert : 0-32	108	unsigned char Gas_Min; // Wert : 0-32
106	unsigned char Gas_Max; // Wert : 33-250	109	unsigned char Gas_Max; // Wert : 33-250
107	unsigned char GyroAccFaktor; // Wert : 1-64	110	unsigned char GyroAccFaktor; // Wert : 1-64
108	unsigned char KompassWirkung; // Wert : 0-32	111	unsigned char KompassWirkung; // Wert : 0-32
109	unsigned char Gyro_P; // Wert : 10-250	112	unsigned char Gyro_P; // Wert : 10-250
110	unsigned char Gyro_I; // Wert : 0-250	113	unsigned char Gyro_I; // Wert : 0-250
111	unsigned char Gyro_D; // Wert : 0-250	114	unsigned char Gyro_D; // Wert : 0-250
112	unsigned char Gyro_Gier_P; // Wert : 10-250	115	unsigned char Gyro_Gier_P; // Wert : 10-250
113	unsigned char Gyro_Gier_I; // Wert : 0-250	116	unsigned char Gyro_Gier_I; // Wert : 0-250
114	unsigned char UnterspannungsWarnung; // Wert : 0-250	117	unsigned char UnterspannungsWarnung; // Wert : 0-250
115	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust	118	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
116	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen	119	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
117	unsigned char UfoAusrichtung; // X oder + Formation	120	unsigned char UfoAusrichtung; // X oder + Formation
118	unsigned char I_Faktor; // Wert : 0-250	121	unsigned char I_Faktor; // Wert : 0-250
119	unsigned char UserParam1; // Wert : 0-250	122	unsigned char UserParam1; // Wert : 0-250
120	unsigned char UserParam2; // Wert : 0-250	123	unsigned char UserParam2; // Wert : 0-250
121	unsigned char UserParam3; // Wert : 0-250	124	unsigned char UserParam3; // Wert : 0-250
122	unsigned char UserParam4; // Wert : 0-250	125	unsigned char UserParam4; // Wert : 0-250
123	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos	126	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
124	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo	127	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
125	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag	128	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
126	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag	129	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
127	//--- Seit V0.75	130	//--- Seit V0.75
128	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos	131	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos
129	unsigned char ServoRollComp; // Wert : 0-250	132	unsigned char ServoRollComp; // Wert : 0-250
130	unsigned char ServoRollMin; // Wert : 0-250	133	unsigned char ServoRollMin; // Wert : 0-250
131	unsigned char ServoRollMax; // Wert : 0-250	134	unsigned char ServoRollMax; // Wert : 0-250
132	//---	135	//---
133	unsigned char ServoNickRefresh; // Speed of the Servo	136	unsigned char ServoNickRefresh; // Speed of the Servo
134	unsigned char Servo3; // Value or mapping of the Servo Output	137	unsigned char Servo3; // Value or mapping of the Servo Output
135	unsigned char Servo4; // Value or mapping of the Servo Output	138	unsigned char Servo4; // Value or mapping of the Servo Output
136	unsigned char Servo5; // Value or mapping of the Servo Output	139	unsigned char Servo5; // Value or mapping of the Servo Output
137	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping	140	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
138	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag	141	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
139	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag	142	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
140	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)	143	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
141	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	144	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
142	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	145	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
143	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt	146	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
144	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt	147	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
145	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)	148	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
146	unsigned char Driftkomp;	149	unsigned char Driftkomp;
147	unsigned char DynamicStability;	150	unsigned char DynamicStability;
148	unsigned char UserParam5; // Wert : 0-250	151	unsigned char UserParam5; // Wert : 0-250
149	unsigned char UserParam6; // Wert : 0-250	152	unsigned char UserParam6; // Wert : 0-250
150	unsigned char UserParam7; // Wert : 0-250	153	unsigned char UserParam7; // Wert : 0-250
151	unsigned char UserParam8; // Wert : 0-250	154	unsigned char UserParam8; // Wert : 0-250
152	//---Output ---------------------------------------------	155	//---Output ---------------------------------------------
153	unsigned char J16Bitmask; // for the J16 Output	156	unsigned char J16Bitmask; // for the J16 Output
154	unsigned char J16Timing; // for the J16 Output	157	unsigned char J16Timing; // for the J16 Output
155	unsigned char J17Bitmask; // for the J17 Output	158	unsigned char J17Bitmask; // for the J17 Output
156	unsigned char J17Timing; // for the J17 Output	159	unsigned char J17Timing; // for the J17 Output
157	// seit version V0.75c	160	// seit version V0.75c
158	unsigned char WARN_J16_Bitmask; // for the J16 Output	161	unsigned char WARN_J16_Bitmask; // for the J16 Output
159	unsigned char WARN_J17_Bitmask; // for the J17 Output	162	unsigned char WARN_J17_Bitmask; // for the J17 Output
160	//---NaviCtrl---------------------------------------------	163	//---NaviCtrl---------------------------------------------
161	unsigned char NaviGpsModeControl; // Parameters for the Naviboard	164	unsigned char NaviGpsModeControl; // Parameters for the Naviboard
162	unsigned char NaviGpsGain;	165	unsigned char NaviGpsGain;
163	unsigned char NaviGpsP;	166	unsigned char NaviGpsP;
164	unsigned char NaviGpsI;	167	unsigned char NaviGpsI;
165	unsigned char NaviGpsD;	168	unsigned char NaviGpsD;
166	unsigned char NaviGpsPLimit;	169	unsigned char NaviGpsPLimit;
167	unsigned char NaviGpsILimit;	170	unsigned char NaviGpsILimit;
168	unsigned char NaviGpsDLimit;	171	unsigned char NaviGpsDLimit;
169	unsigned char NaviGpsACC;	172	unsigned char NaviGpsACC;
170	unsigned char NaviGpsMinSat;	173	unsigned char NaviGpsMinSat;
171	unsigned char NaviStickThreshold;	174	unsigned char NaviStickThreshold;
172	unsigned char NaviWindCorrection;	175	unsigned char NaviWindCorrection;
173	unsigned char NaviSpeedCompensation;	176	unsigned char NaviSpeedCompensation;
174	unsigned char NaviOperatingRadius;	177	unsigned char NaviOperatingRadius;
175	unsigned char NaviAngleLimitation;	178	unsigned char NaviAngleLimitation;
176	unsigned char NaviPH_LoginTime;	179	unsigned char NaviPH_LoginTime;
177	//---Ext.Ctrl---------------------------------------------	180	//---Ext.Ctrl---------------------------------------------
178	unsigned char ExternalControl; // for serial Control	181	unsigned char ExternalControl; // for serial Control
179	//------------------------------------------------	182	//------------------------------------------------
180	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt	183	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
181	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen	184	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen
182	unsigned char ExtraConfig; // bitcodiert	185	unsigned char ExtraConfig; // bitcodiert
183	char Name[12];	186	char Name[12];
184	};	187	};
185		188
186	struct	189	struct
187	{	190	{
188	char Revision;	191	char Revision;
189	char Name[12];	192	char Name[12];
190	signed char Motor[16][4];	193	signed char Motor[16][4];
191	} Mixer;	194	} Mixer;
192		195
193	extern struct mk_param_struct EE_Parameter;	196	extern struct mk_param_struct EE_Parameter;
194	extern unsigned char Parameter_Luftdruck_D;	197	extern unsigned char Parameter_Luftdruck_D;
195	extern unsigned char Parameter_MaxHoehe;	198	extern unsigned char Parameter_MaxHoehe;
196	extern unsigned char Parameter_Hoehe_P;	199	extern unsigned char Parameter_Hoehe_P;
197	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	200	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
198	extern unsigned char Parameter_KompassWirkung;	201	extern unsigned char Parameter_KompassWirkung;
199	extern unsigned char Parameter_Gyro_P;	202	extern unsigned char Parameter_Gyro_P;
200	extern unsigned char Parameter_Gyro_I;	203	extern unsigned char Parameter_Gyro_I;
201	extern unsigned char Parameter_Gier_P;	204	extern unsigned char Parameter_Gier_P;
202	extern unsigned char Parameter_ServoNickControl;	205	extern unsigned char Parameter_ServoNickControl;
203	extern unsigned char Parameter_ServoRollControl;	206	extern unsigned char Parameter_ServoRollControl;
204	extern unsigned char Parameter_AchsKopplung1;	207	extern unsigned char Parameter_AchsKopplung1;
205	extern unsigned char Parameter_AchsKopplung2;	208	extern unsigned char Parameter_AchsKopplung2;
206	//extern unsigned char Parameter_AchsGegenKopplung1;	209	//extern unsigned char Parameter_AchsGegenKopplung1;
207	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	210	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
208	extern unsigned char Parameter_J16Timing; // for the J16 Output	211	extern unsigned char Parameter_J16Timing; // for the J16 Output
209	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	212	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
210	extern unsigned char Parameter_J17Timing; // for the J17 Output	213	extern unsigned char Parameter_J17Timing; // for the J17 Output
211	extern signed char MixerTable[MAX_MOTORS][4];	214	extern signed char MixerTable[MAX_MOTORS][4];
212	extern unsigned char Motor[MAX_MOTORS];	215	extern unsigned char Motor[MAX_MOTORS];
213	#endif //_FC_H	216	#endif //_FC_H
214		217
215		218