WebSVN - FlightCtrl - Diff - Rev 1153 and 1155 - /branches/V0.88e_ACC-HH_HR


/*#######################################################################################
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 CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
 
extern 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 long  ErsatzKompass;
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
extern int HoehenWert;
extern int SollHoehe;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
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);
extern void DefaultKonstanten(void);
void DefaultKonstanten1(void);
void DefaultKonstanten2(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 Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
extern volatile unsigned char Motor1, Motor2,Motor3,Motor4,Motor5,Motor6,Motor7,Motor8;
extern volatile unsigned char SenderOkay;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern void DefaultKonstanten1(void);
extern void DefaultKonstanten2(void);
 
 
#define  STRUCT_PARAM_LAENGE  92 
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
   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
//---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 ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
   unsigned char Reserved[4];
   char Name[12];
 };
 
       
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_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 unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
extern unsigned char Parameter_NaviGpsGain;    
extern unsigned char Parameter_NaviGpsP;        
extern unsigned char Parameter_NaviGpsI;        
extern unsigned char Parameter_NaviGpsD;        
extern unsigned char Parameter_NaviGpsACC;  
extern unsigned char Parameter_NaviOperatingRadius;
extern unsigned char Parameter_NaviWindCorrection;
extern unsigned char Parameter_NaviSpeedCompensation;
*/      
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.88e_ACC-HH_HR_MartinR/fc.h @ 2174 - Rev 1153 → 1155

Rev 1153		Rev 1155
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	extern unsigned char MikroKopterFlags;	-
-		16
-		17	#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
-		18
17		19	extern unsigned char MikroKopterFlags;
18	extern volatile unsigned int I2CTimeout;	20	extern volatile unsigned int I2CTimeout;
19	extern unsigned char Sekunde,Minute;	21	extern unsigned char Sekunde,Minute;
20		22
21	extern long IntegralNick,IntegralNick2;	23	extern long IntegralNick,IntegralNick2;
22	extern long IntegralRoll,IntegralRoll2;	24	extern long IntegralRoll,IntegralRoll2;
23	//extern int IntegralNick,IntegralNick2;	25	//extern int IntegralNick,IntegralNick2;
24	//extern int IntegralRoll,IntegralRoll2;	26	//extern int IntegralRoll,IntegralRoll2;
25		27
26	extern long Mess_IntegralNick,Mess_IntegralNick2;	28	extern long Mess_IntegralNick,Mess_IntegralNick2;
27	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	29	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
28	extern long IntegralAccNick,IntegralAccRoll;	30	extern long IntegralAccNick,IntegralAccRoll;
29	extern volatile long Mess_Integral_Hoch;	31	extern volatile long Mess_Integral_Hoch;
30	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	32	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
31	extern int KompassValue;	33	extern int KompassValue;
32	extern int KompassStartwert;	34	extern int KompassStartwert;
33	extern int KompassRichtung;	35	extern int KompassRichtung;
34	extern long ErsatzKompass;	36	extern long ErsatzKompass;
35	extern int ErsatzKompassInGrad; // Kompasswert in Grad	37	extern int ErsatzKompassInGrad; // Kompasswert in Grad
36	extern int HoehenWert;	38	extern int HoehenWert;
37	extern int SollHoehe;	39	extern int SollHoehe;
38	extern int MesswertNick,MesswertRoll,MesswertGier;	40	extern int MesswertNick,MesswertRoll,MesswertGier;
39	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	41	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
40	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;	42	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
41	extern volatile float NeutralAccZ;	43	extern volatile float NeutralAccZ;
42	extern long Umschlag180Nick, Umschlag180Roll;	44	extern long Umschlag180Nick, Umschlag180Roll;
43	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	45	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
44	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	46	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
45	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	47	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
46	extern unsigned int modell_fliegt;	48	extern unsigned int modell_fliegt;
47	void MotorRegler(void);	49	void MotorRegler(void);
48	void SendMotorData(void);	50	void SendMotorData(void);
49	void CalibrierMittelwert(void);	51	void CalibrierMittelwert(void);
50	void Mittelwert(void);	52	void Mittelwert(void);
51	void SetNeutral(void);	53	void SetNeutral(void);
52	void Piep(unsigned char Anzahl);	54	void Piep(unsigned char Anzahl);
53	extern void DefaultKonstanten(void);	55	extern void DefaultKonstanten(void);
54	void DefaultKonstanten1(void);	56	void DefaultKonstanten1(void);
55	void DefaultKonstanten2(void);	57	void DefaultKonstanten2(void);
56		58
57	extern unsigned char h,m,s;	59	extern unsigned char h,m,s;
58	extern volatile unsigned char Timeout ;	60	extern volatile unsigned char Timeout ;
59	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	61	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
60	extern int DiffNick,DiffRoll;	62	extern int DiffNick,DiffRoll;
61	extern int Poti1, Poti2, Poti3, Poti4;	63	extern int Poti1, Poti2, Poti3, Poti4;
62	extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;	64	extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
63	extern volatile unsigned char Motor1, Motor2,Motor3,Motor4,Motor5,Motor6,Motor7,Motor8;	65	extern volatile unsigned char Motor1, Motor2,Motor3,Motor4,Motor5,Motor6,Motor7,Motor8;
64	extern volatile unsigned char SenderOkay;	66	extern volatile unsigned char SenderOkay;
65	extern int StickNick,StickRoll,StickGier;	67	extern int StickNick,StickRoll,StickGier;
66	extern char MotorenEin;	68	extern char MotorenEin;
67	extern void DefaultKonstanten1(void);	69	extern void DefaultKonstanten1(void);
68	extern void DefaultKonstanten2(void);	70	extern void DefaultKonstanten2(void);
69		71
70		72
71	#define STRUCT_PARAM_LAENGE 92	73	#define STRUCT_PARAM_LAENGE 92
72	struct mk_param_struct	74	struct mk_param_struct
73	{	75	{
74	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3	76	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
75	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv	77	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
76	unsigned char Hoehe_MinGas; // Wert : 0-100	78	unsigned char Hoehe_MinGas; // Wert : 0-100
77	unsigned char Luftdruck_D; // Wert : 0-250	79	unsigned char Luftdruck_D; // Wert : 0-250
78	unsigned char MaxHoehe; // Wert : 0-32	80	unsigned char MaxHoehe; // Wert : 0-32
79	unsigned char Hoehe_P; // Wert : 0-32	81	unsigned char Hoehe_P; // Wert : 0-32
80	unsigned char Hoehe_Verstaerkung; // Wert : 0-50	82	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
81	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250	83	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
82	unsigned char Stick_P; // Wert : 1-6	84	unsigned char Stick_P; // Wert : 1-6
83	unsigned char Stick_D; // Wert : 0-64	85	unsigned char Stick_D; // Wert : 0-64
84	unsigned char Gier_P; // Wert : 1-20	86	unsigned char Gier_P; // Wert : 1-20
85	unsigned char Gas_Min; // Wert : 0-32	87	unsigned char Gas_Min; // Wert : 0-32
86	unsigned char Gas_Max; // Wert : 33-250	88	unsigned char Gas_Max; // Wert : 33-250
87	unsigned char GyroAccFaktor; // Wert : 1-64	89	unsigned char GyroAccFaktor; // Wert : 1-64
88	unsigned char KompassWirkung; // Wert : 0-32	90	unsigned char KompassWirkung; // Wert : 0-32
89	unsigned char Gyro_P; // Wert : 10-250	91	unsigned char Gyro_P; // Wert : 10-250
90	unsigned char Gyro_I; // Wert : 0-250	92	unsigned char Gyro_I; // Wert : 0-250
91	unsigned char Gyro_D; // Wert : 0-250	93	unsigned char Gyro_D; // Wert : 0-250
92	unsigned char UnterspannungsWarnung; // Wert : 0-250	94	unsigned char UnterspannungsWarnung; // Wert : 0-250
93	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust	95	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
94	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen	96	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
95	unsigned char UfoAusrichtung; // X oder + Formation	97	unsigned char UfoAusrichtung; // X oder + Formation
96	unsigned char I_Faktor; // Wert : 0-250	98	unsigned char I_Faktor; // Wert : 0-250
97	unsigned char UserParam1; // Wert : 0-250	99	unsigned char UserParam1; // Wert : 0-250
98	unsigned char UserParam2; // Wert : 0-250	100	unsigned char UserParam2; // Wert : 0-250
99	unsigned char UserParam3; // Wert : 0-250	101	unsigned char UserParam3; // Wert : 0-250
100	unsigned char UserParam4; // Wert : 0-250	102	unsigned char UserParam4; // Wert : 0-250
101	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos	103	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
102	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo	104	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
103	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag	105	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
104	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag	106	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
105	unsigned char ServoNickRefresh; //	107	unsigned char ServoNickRefresh; //
106	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping	108	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
107	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag	109	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
108	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag	110	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
109	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)	111	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
110	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	112	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
111	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	113	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
112	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt	114	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
113	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt	115	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
114	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)	116	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
115	unsigned char Driftkomp;	117	unsigned char Driftkomp;
116	unsigned char DynamicStability;	118	unsigned char DynamicStability;
117	unsigned char UserParam5; // Wert : 0-250	119	unsigned char UserParam5; // Wert : 0-250
118	unsigned char UserParam6; // Wert : 0-250	120	unsigned char UserParam6; // Wert : 0-250
119	unsigned char UserParam7; // Wert : 0-250	121	unsigned char UserParam7; // Wert : 0-250
120	unsigned char UserParam8; // Wert : 0-250	122	unsigned char UserParam8; // Wert : 0-250
121	//---Output ---------------------------------------------	123	//---Output ---------------------------------------------
122	unsigned char J16Bitmask; // for the J16 Output	124	unsigned char J16Bitmask; // for the J16 Output
123	unsigned char J16Timing; // for the J16 Output	125	unsigned char J16Timing; // for the J16 Output
124	unsigned char J17Bitmask; // for the J17 Output	126	unsigned char J17Bitmask; // for the J17 Output
125	unsigned char J17Timing; // for the J17 Output	127	unsigned char J17Timing; // for the J17 Output
126	//---NaviCtrl---------------------------------------------	128	//---NaviCtrl---------------------------------------------
127	unsigned char NaviGpsModeControl; // Parameters for the Naviboard	129	unsigned char NaviGpsModeControl; // Parameters for the Naviboard
128	unsigned char NaviGpsGain;	130	unsigned char NaviGpsGain;
129	unsigned char NaviGpsP;	131	unsigned char NaviGpsP;
130	unsigned char NaviGpsI;	132	unsigned char NaviGpsI;
131	unsigned char NaviGpsD;	133	unsigned char NaviGpsD;
132	unsigned char NaviGpsPLimit;	134	unsigned char NaviGpsPLimit;
133	unsigned char NaviGpsILimit;	135	unsigned char NaviGpsILimit;
134	unsigned char NaviGpsDLimit;	136	unsigned char NaviGpsDLimit;
135	unsigned char NaviGpsACC;	137	unsigned char NaviGpsACC;
136	unsigned char NaviGpsMinSat;	138	unsigned char NaviGpsMinSat;
137	unsigned char NaviStickThreshold;	139	unsigned char NaviStickThreshold;
138	unsigned char NaviWindCorrection;	140	unsigned char NaviWindCorrection;
139	unsigned char NaviSpeedCompensation;	141	unsigned char NaviSpeedCompensation;
140	unsigned char NaviOperatingRadius;	142	unsigned char NaviOperatingRadius;
141	unsigned char NaviAngleLimitation;	143	unsigned char NaviAngleLimitation;
142	unsigned char NaviPH_LoginTime;	144	unsigned char NaviPH_LoginTime;
143	//---Ext.Ctrl---------------------------------------------	145	//---Ext.Ctrl---------------------------------------------
144	unsigned char ExternalControl; // for serial Control	146	unsigned char ExternalControl; // for serial Control
145	//------------------------------------------------	147	//------------------------------------------------
146	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt	148	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
147	unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen	149	unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen
148	unsigned char Reserved[4];	150	unsigned char Reserved[4];
149	char Name[12];	151	char Name[12];
150	};	152	};
151		153
152		154
153	extern struct mk_param_struct EE_Parameter;	155	extern struct mk_param_struct EE_Parameter;
154		156
155	extern unsigned char Parameter_Luftdruck_D;	157	extern unsigned char Parameter_Luftdruck_D;
156	extern unsigned char Parameter_MaxHoehe;	158	extern unsigned char Parameter_MaxHoehe;
157	extern unsigned char Parameter_Hoehe_P;	159	extern unsigned char Parameter_Hoehe_P;
158	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	160	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
159	extern unsigned char Parameter_KompassWirkung;	161	extern unsigned char Parameter_KompassWirkung;
160	extern unsigned char Parameter_Gyro_P;	162	extern unsigned char Parameter_Gyro_P;
161	extern unsigned char Parameter_Gyro_I;	163	extern unsigned char Parameter_Gyro_I;
162	extern unsigned char Parameter_Gier_P;	164	extern unsigned char Parameter_Gier_P;
163	extern unsigned char Parameter_ServoNickControl;	165	extern unsigned char Parameter_ServoNickControl;
164	extern unsigned char Parameter_AchsKopplung1;	166	extern unsigned char Parameter_AchsKopplung1;
165	extern unsigned char Parameter_AchsKopplung2;	167	extern unsigned char Parameter_AchsKopplung2;
166	//extern unsigned char Parameter_AchsGegenKopplung1;	168	//extern unsigned char Parameter_AchsGegenKopplung1;
167	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	169	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
168	extern unsigned char Parameter_J16Timing; // for the J16 Output	170	extern unsigned char Parameter_J16Timing; // for the J16 Output
169	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	171	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
170	extern unsigned char Parameter_J17Timing; // for the J17 Output	172	extern unsigned char Parameter_J17Timing; // for the J17 Output
171	/*	173	/*
172	extern unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard	174	extern unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard
173	extern unsigned char Parameter_NaviGpsGain;	175	extern unsigned char Parameter_NaviGpsGain;
174	extern unsigned char Parameter_NaviGpsP;	176	extern unsigned char Parameter_NaviGpsP;
175	extern unsigned char Parameter_NaviGpsI;	177	extern unsigned char Parameter_NaviGpsI;
176	extern unsigned char Parameter_NaviGpsD;	178	extern unsigned char Parameter_NaviGpsD;
177	extern unsigned char Parameter_NaviGpsACC;	179	extern unsigned char Parameter_NaviGpsACC;
178	extern unsigned char Parameter_NaviOperatingRadius;	180	extern unsigned char Parameter_NaviOperatingRadius;
179	extern unsigned char Parameter_NaviWindCorrection;	181	extern unsigned char Parameter_NaviWindCorrection;
180	extern unsigned char Parameter_NaviSpeedCompensation;	182	extern unsigned char Parameter_NaviSpeedCompensation;
181	*/	183	*/
182	#endif //_FC_H	184	#endif //_FC_H
183		185
184		186