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