WebSVN - FlightCtrl - Diff - Rev 1760 and 1765


/*#######################################################################################
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 ACC_AMPLIFY    6
 
// FC STATUS FLAGS
#define FC_STATUS_MOTOR_RUN                             0x01
#define FC_STATUS_FLY                                   0x02
#define FC_STATUS_CALIBRATE                             0x04
#define FC_STATUS_START                                 0x08
#define FC_STATUS_EMERGENCY_LANDING             0x10
#define FC_STATUS_LOWBAT                                0x20
#define FC_STATUS_RES1                                  0x40
 
 
 
 
 
 
 
#define FC_STATUS_RES2                                  0x80
 
 
 
 
 
 
extern volatile unsigned char FC_StatusFlags;
 
 
#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 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 long SummeNick,SummeRoll;
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 unsigned char ControlHeading;
extern int  TrimNick, TrimRoll;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
extern long HoehenWert;
extern long SollHoehe;
extern unsigned char CareFree;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern unsigned int NeutralAccX, NeutralAccY;
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 Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
extern char VarioCharacter;
extern int HoverGas;
 
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 const signed char sintab[31];
#endif //_FC_H
 
 

Rev 1760	Rev 1765
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	#define ACC_AMPLIFY 6	11	#define ACC_AMPLIFY 6
-		12
12		13	// FC STATUS FLAGS
13	#define FCFLAG_MOTOR_RUN 0x01	14	#define FC_STATUS_MOTOR_RUN 0x01
14	#define FCFLAG_FLY 0x02	15	#define FC_STATUS_FLY 0x02
15	#define FCFLAG_CALIBRATE 0x04	16	#define FC_STATUS_CALIBRATE 0x04
16	#define FCFLAG_START 0x08	17	#define FC_STATUS_START 0x08
17	#define FCFLAG_NOTLANDUNG 0x10	18	#define FC_STATUS_EMERGENCY_LANDING 0x10
18	#define FCFLAG_LOWBAT 0x20	19	#define FC_STATUS_LOWBAT 0x20
19	#define FCFLAG_SPI_RX_ERR 0x40	20	#define FC_STATUS_RES1 0x40
20	#define FCFLAG_I2CERR 0x80	-
21		-
22	#define DEFEKT_G_NICK 0x01	-
23	#define DEFEKT_G_ROLL 0x02	-
24	#define DEFEKT_G_GIER 0x04	-
25	#define DEFEKT_A_NICK 0x08	-
26	#define DEFEKT_A_ROLL 0x10	-
27	#define DEFEKT_A_Z 0x20	21	#define FC_STATUS_RES2 0x80
28	#define DEFEKT_PRESSURE 0x40	-
29	#define DEFEKT_CAREFREE_ERR 0x80	-
30		-
31	#define DEFEKT_I2C 0x01	-
32	#define DEFEKT_BL_MISSING 0x02	-
33	#define DEFEKT_SPI_RX_ERR 0x04	22
34	#define DEFEKT_PPM_ERR 0x08	23	extern volatile unsigned char FC_StatusFlags;
35	#define DEFEKT_MIXER_ERR 0x10	24
36		25
37	#define Poti1 Poti[0]	26	#define Poti1 Poti[0]
38	#define Poti2 Poti[1]	27	#define Poti2 Poti[1]
39	#define Poti3 Poti[2]	28	#define Poti3 Poti[2]
40	#define Poti4 Poti[3]	29	#define Poti4 Poti[3]
41	#define Poti5 Poti[4]	30	#define Poti5 Poti[4]
42	#define Poti6 Poti[5]	31	#define Poti6 Poti[5]
43	#define Poti7 Poti[6]	32	#define Poti7 Poti[6]
44	#define Poti8 Poti[7]	33	#define Poti8 Poti[7]
45		-
46	extern volatile unsigned char FCFlags;	34
47	extern unsigned char Sekunde,Minute;	35	extern unsigned char Sekunde,Minute;
48	extern unsigned int BaroExpandActive;	36	extern unsigned int BaroExpandActive;
49	extern long IntegralNick,IntegralNick2;	37	extern long IntegralNick,IntegralNick2;
50	extern long IntegralRoll,IntegralRoll2;	38	extern long IntegralRoll,IntegralRoll2;
51	//extern int IntegralNick,IntegralNick2;	39	//extern int IntegralNick,IntegralNick2;
52	//extern int IntegralRoll,IntegralRoll2;	40	//extern int IntegralRoll,IntegralRoll2;
53	extern unsigned char Poti[9];	41	extern unsigned char Poti[9];
54		42
55	extern long Mess_IntegralNick,Mess_IntegralNick2;	43	extern long Mess_IntegralNick,Mess_IntegralNick2;
56	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	44	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
57	extern long IntegralAccNick,IntegralAccRoll;	45	extern long IntegralAccNick,IntegralAccRoll;
58	extern long SummeNick,SummeRoll;	46	extern long SummeNick,SummeRoll;
59	extern volatile long Mess_Integral_Hoch;	47	extern volatile long Mess_Integral_Hoch;
60	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	48	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
61	extern int KompassValue;	49	extern int KompassValue;
62	extern int KompassStartwert;	50	extern int KompassStartwert;
63	extern int KompassRichtung;	51	extern int KompassRichtung;
64	extern unsigned char ControlHeading;	52	extern unsigned char ControlHeading;
65	extern int TrimNick, TrimRoll;	53	extern int TrimNick, TrimRoll;
66	extern long ErsatzKompass;	54	extern long ErsatzKompass;
67	extern int ErsatzKompassInGrad; // Kompasswert in Grad	55	extern int ErsatzKompassInGrad; // Kompasswert in Grad
68	extern long HoehenWert;	56	extern long HoehenWert;
69	extern long SollHoehe;	57	extern long SollHoehe;
70	extern unsigned char CareFree;	58	extern unsigned char CareFree;
71	extern int MesswertNick,MesswertRoll,MesswertGier;	59	extern int MesswertNick,MesswertRoll,MesswertGier;
72	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	60	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
73	extern unsigned int NeutralAccX, NeutralAccY;	61	extern unsigned int NeutralAccX, NeutralAccY;
74	extern unsigned char HoehenReglerAktiv;	62	extern unsigned char HoehenReglerAktiv;
75	extern int NeutralAccZ;	63	extern int NeutralAccZ;
76	extern long Umschlag180Nick, Umschlag180Roll;	64	extern long Umschlag180Nick, Umschlag180Roll;
77	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	65	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
78	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	66	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
79	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	67	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
80	extern unsigned int modell_fliegt;	68	extern unsigned int modell_fliegt;
81	extern void MotorRegler(void);	69	extern void MotorRegler(void);
82	extern void SendMotorData(void);	70	extern void SendMotorData(void);
83	//void CalibrierMittelwert(void);	71	//void CalibrierMittelwert(void);
84	//void Mittelwert(void);	72	//void Mittelwert(void);
85	extern void SetNeutral(unsigned char AccAdjustment);	73	extern void SetNeutral(unsigned char AccAdjustment);
86	extern void Piep(unsigned char Anzahl, unsigned int dauer);	74	extern void Piep(unsigned char Anzahl, unsigned int dauer);
87	extern void CopyDebugValues(void);	75	extern void CopyDebugValues(void);
88		76
89	extern unsigned char h,m,s;	77	extern unsigned char h,m,s;
90	extern volatile unsigned char Timeout ;	78	extern volatile unsigned char Timeout ;
91	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	79	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
92	extern int DiffNick,DiffRoll;	80	extern int DiffNick,DiffRoll;
93	//extern int Poti1, Poti2, Poti3, Poti4;	81	//extern int Poti1, Poti2, Poti3, Poti4;
94	extern volatile unsigned char SenderOkay;	82	extern volatile unsigned char SenderOkay;
95	extern int StickNick,StickRoll,StickGier;	83	extern int StickNick,StickRoll,StickGier;
96	extern char MotorenEin;	84	extern char MotorenEin;
97	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	85	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
98	extern char VarioCharacter;	86	extern char VarioCharacter;
99	extern int HoverGas;	87	extern int HoverGas;
100		88
101	extern unsigned char Parameter_Luftdruck_D;	89	extern unsigned char Parameter_Luftdruck_D;
102	extern unsigned char Parameter_MaxHoehe;	90	extern unsigned char Parameter_MaxHoehe;
103	extern unsigned char Parameter_Hoehe_P;	91	extern unsigned char Parameter_Hoehe_P;
104	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	92	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
105	extern unsigned char Parameter_KompassWirkung;	93	extern unsigned char Parameter_KompassWirkung;
106	extern unsigned char Parameter_Gyro_P;	94	extern unsigned char Parameter_Gyro_P;
107	extern unsigned char Parameter_Gyro_I;	95	extern unsigned char Parameter_Gyro_I;
108	extern unsigned char Parameter_Gier_P;	96	extern unsigned char Parameter_Gier_P;
109	extern unsigned char Parameter_ServoNickControl;	97	extern unsigned char Parameter_ServoNickControl;
110	extern unsigned char Parameter_ServoRollControl;	98	extern unsigned char Parameter_ServoRollControl;
111	extern unsigned char Parameter_AchsKopplung1;	99	extern unsigned char Parameter_AchsKopplung1;
112	extern unsigned char Parameter_AchsKopplung2;	100	extern unsigned char Parameter_AchsKopplung2;
113	//extern unsigned char Parameter_AchsGegenKopplung1;	101	//extern unsigned char Parameter_AchsGegenKopplung1;
114	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	102	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
115	extern unsigned char Parameter_J16Timing; // for the J16 Output	103	extern unsigned char Parameter_J16Timing; // for the J16 Output
116	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	104	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
117	extern unsigned char Parameter_J17Timing; // for the J17 Output	105	extern unsigned char Parameter_J17Timing; // for the J17 Output
118	extern signed char MixerTable[MAX_MOTORS][4];	106	extern signed char MixerTable[MAX_MOTORS][4];
119	extern const signed char sintab[31];	107	extern const signed char sintab[31];
120	#endif //_FC_H	108	#endif //_FC_H
121		109
122		110

Subversion Repositories FlightCtrl

(root)/branches/V0.84a-test1/fc.h @ 2216 - Rev 1760 → 1765