WebSVN - FlightCtrl - Diff - Rev 1622 and 1639 - /branches/V0.82a_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_I2CERR           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]
 
 
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 int 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;
extern void MotorRegler(void);
extern void SendMotorData(void);
//void CalibrierMittelwert(void);
//void Mittelwert(void);
extern void SetNeutral(unsigned char AccAdjustment);
extern void Piep(unsigned char Anzahl, unsigned int dauer);
extern void CopyDebugValues(void);
 
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 int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern unsigned char RequiredMotors;
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
extern char VarioCharacter;
 
 
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];
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.82a_ACC-HH_MartinR/fc.h @ 2513 - Rev 1622 → 1639

Rev 1622		Rev 1639
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 FCFLAG_MOTOR_RUN 0x01	12	#define FCFLAG_MOTOR_RUN 0x01
13	#define FCFLAG_FLY 0x02	13	#define FCFLAG_FLY 0x02
14	#define FCFLAG_CALIBRATE 0x04	14	#define FCFLAG_CALIBRATE 0x04
15	#define FCFLAG_START 0x08	15	#define FCFLAG_START 0x08
16	#define FCFLAG_NOTLANDUNG 0x10	16	#define FCFLAG_NOTLANDUNG 0x10
17	#define FCFLAG_LOWBAT 0x20	17	#define FCFLAG_LOWBAT 0x20
18	#define FCFLAG_SPI_RX_ERR 0x40	18	#define FCFLAG_SPI_RX_ERR 0x40
19	#define FCFLAG_I2CERR 0x80	19	#define FCFLAG_I2CERR 0x80
20		20
21	#define Poti1 Poti[0]	21	#define Poti1 Poti[0]
22	#define Poti2 Poti[1]	22	#define Poti2 Poti[1]
23	#define Poti3 Poti[2]	23	#define Poti3 Poti[2]
24	#define Poti4 Poti[3]	24	#define Poti4 Poti[3]
25	#define Poti5 Poti[4]	25	#define Poti5 Poti[4]
26	#define Poti6 Poti[5]	26	#define Poti6 Poti[5]
27	#define Poti7 Poti[6]	27	#define Poti7 Poti[6]
28	#define Poti8 Poti[7]	28	#define Poti8 Poti[7]
29		29
30		30
31	extern volatile unsigned char FCFlags;	31	extern volatile unsigned char FCFlags;
32	extern volatile unsigned int I2CTimeout;	32	extern volatile unsigned int I2CTimeout;
33	extern unsigned char Sekunde,Minute;	33	extern unsigned char Sekunde,Minute;
34	extern unsigned int BaroExpandActive;	34	extern unsigned int BaroExpandActive;
35	extern long IntegralNick,IntegralNick2;	35	extern long IntegralNick,IntegralNick2;
36	extern long IntegralRoll,IntegralRoll2;	36	extern long IntegralRoll,IntegralRoll2;
37	//extern int IntegralNick,IntegralNick2;	37	//extern int IntegralNick,IntegralNick2;
38	//extern int IntegralRoll,IntegralRoll2;	38	//extern int IntegralRoll,IntegralRoll2;
39	extern unsigned char Poti[9];	39	extern unsigned char Poti[9];
40		40
41	extern long Mess_IntegralNick,Mess_IntegralNick2;	41	extern long Mess_IntegralNick,Mess_IntegralNick2;
42	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	42	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
43	extern long IntegralAccNick,IntegralAccRoll;	43	extern long IntegralAccNick,IntegralAccRoll;
44	extern volatile long Mess_Integral_Hoch;	44	extern volatile long Mess_Integral_Hoch;
45	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	45	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
46	extern int KompassValue;	46	extern int KompassValue;
47	extern int KompassStartwert;	47	extern int KompassStartwert;
48	extern int KompassRichtung;	48	extern int KompassRichtung;
49	extern int TrimNick, TrimRoll;	49	extern int TrimNick, TrimRoll;
50	extern long ErsatzKompass;	50	extern long ErsatzKompass;
51	extern int ErsatzKompassInGrad; // Kompasswert in Grad	51	extern int ErsatzKompassInGrad; // Kompasswert in Grad
52	extern long HoehenWert;	52	extern long HoehenWert;
53	extern long SollHoehe;	53	extern long SollHoehe;
54	extern int MesswertNick,MesswertRoll,MesswertGier;	54	extern int MesswertNick,MesswertRoll,MesswertGier;
55	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	55	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
56	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;	56	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
57	extern unsigned char HoehenReglerAktiv;	57	extern unsigned char HoehenReglerAktiv;
58	extern volatile float NeutralAccZ;	58	extern int NeutralAccZ;
59	extern long Umschlag180Nick, Umschlag180Roll;	59	extern long Umschlag180Nick, Umschlag180Roll;
60	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	60	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
61	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	61	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
62	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	62	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
63	extern unsigned int modell_fliegt;	63	extern unsigned int modell_fliegt;
64	void MotorRegler(void);	64	extern void MotorRegler(void);
65	void SendMotorData(void);	65	extern void SendMotorData(void);
66	//void CalibrierMittelwert(void);	66	//void CalibrierMittelwert(void);
67	//void Mittelwert(void);	67	//void Mittelwert(void);
68	void SetNeutral(unsigned char AccAdjustment);	68	extern void SetNeutral(unsigned char AccAdjustment);
69	void Piep(unsigned char Anzahl, unsigned int dauer);	69	extern void Piep(unsigned char Anzahl, unsigned int dauer);
-		70	extern void CopyDebugValues(void);
70		71
71	extern unsigned char h,m,s;	72	extern unsigned char h,m,s;
72	extern volatile unsigned char Timeout ;	73	extern volatile unsigned char Timeout ;
73	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	74	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
74	extern int DiffNick,DiffRoll;	75	extern int DiffNick,DiffRoll;
75	//extern int Poti1, Poti2, Poti3, Poti4;	76	//extern int Poti1, Poti2, Poti3, Poti4;
76	extern volatile unsigned char SenderOkay;	77	extern volatile unsigned char SenderOkay;
77	extern int StickNick,StickRoll,StickGier;	78	extern int StickNick,StickRoll,StickGier;
78	extern char MotorenEin;	79	extern char MotorenEin;
79	extern unsigned char RequiredMotors;	80	extern unsigned char RequiredMotors;
80	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	81	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
81	extern char VarioCharacter;	82	extern char VarioCharacter;
82		-
83		83
84	extern unsigned char Parameter_Luftdruck_D;	84	extern unsigned char Parameter_Luftdruck_D;
85	extern unsigned char Parameter_MaxHoehe;	85	extern unsigned char Parameter_MaxHoehe;
86	extern unsigned char Parameter_Hoehe_P;	86	extern unsigned char Parameter_Hoehe_P;
87	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	87	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
88	extern unsigned char Parameter_KompassWirkung;	88	extern unsigned char Parameter_KompassWirkung;
89	extern unsigned char Parameter_Gyro_P;	89	extern unsigned char Parameter_Gyro_P;
90	extern unsigned char Parameter_Gyro_I;	90	extern unsigned char Parameter_Gyro_I;
91	extern unsigned char Parameter_Gier_P;	91	extern unsigned char Parameter_Gier_P;
92	extern unsigned char Parameter_ServoNickControl;	92	extern unsigned char Parameter_ServoNickControl;
93	extern unsigned char Parameter_ServoRollControl;	93	extern unsigned char Parameter_ServoRollControl;
94	extern unsigned char Parameter_AchsKopplung1;	94	extern unsigned char Parameter_AchsKopplung1;
95	extern unsigned char Parameter_AchsKopplung2;	95	extern unsigned char Parameter_AchsKopplung2;
96	//extern unsigned char Parameter_AchsGegenKopplung1;	96	//extern unsigned char Parameter_AchsGegenKopplung1;
97	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	97	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
98	extern unsigned char Parameter_J16Timing; // for the J16 Output	98	extern unsigned char Parameter_J16Timing; // for the J16 Output
99	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	99	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
100	extern unsigned char Parameter_J17Timing; // for the J17 Output	100	extern unsigned char Parameter_J17Timing; // for the J17 Output
101	extern signed char MixerTable[MAX_MOTORS][4];	101	extern signed char MixerTable[MAX_MOTORS][4];
102	#endif //_FC_H	102	#endif //_FC_H
103		103
104		104