WebSVN - FlightCtrl - Diff - Rev 2342 and 2360 - /branches/V0.91L_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 ACC_AMPLIFY    6
 
// FC_StatusFlags
#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_VARIO_TRIM_UP                 0x40
#define FC_STATUS_VARIO_TRIM_DOWN               0x80
 
// FC_StatusFlags2 
#define FC_STATUS2_CAREFREE                 0x01
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
#define FC_STATUS2_OUT1_ACTIVE                  0x08
#define FC_STATUS2_OUT2_ACTIVE                  0x10
#define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground
#define FC_STATUS2_AUTO_STARTING                0x40
#define FC_STATUS2_AUTO_LANDING                 0x80
 
//NC_To_FC_Flags
#define NC_TO_FC_FLYING_RANGE           0x01
#define NC_TO_FC_EMERGENCY_LANDING      0x02
#define NC_TO_FC_AUTOSTART                      0x04
#define NC_TO_FC_AUTOLANDING            0x08 // not used 
 
extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
extern void ParameterZuordnung(void);
extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel
 
#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 LIMIT_MIN(value, min) {if(value <= min) value = min;}
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
 
#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
 
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  KompassSollWert;
extern int  KompassRichtung;
extern char CalculateCompassTimer;
extern unsigned char KompassFusion;
extern unsigned char ControlHeading;
extern int  TrimNick, TrimRoll;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
extern long HoehenWert;
extern long SollHoehe;
extern long FromNC_AltitudeSetpoint;
extern unsigned char FromNC_AltitudeSpeed;
extern unsigned char Parameter_HoehenSchalter;      // Wert : 0-250
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 signed char NeutralAccZfine;
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 unsigned char SetNeutral(unsigned char AccAdjustment);  // retuns: "sucess"
extern void Piep(unsigned char Anzahl, unsigned int dauer);
extern void CopyDebugValues(void);
extern unsigned char ACC_AltitudeControl;
extern signed int CosAttitude;  // for projection of hoover gas
 
extern unsigned char h,m,s;
extern int StickNick,StickRoll,StickGier,StickGas;
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 CalibrationDone;
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
extern char VarioCharacter;
extern signed int AltitudeSetpointTrimming;
extern signed char WaypointTrimming;
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_ServoNickComp;
extern unsigned char Parameter_ServoRollComp;
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_GlobalConfig;
extern unsigned char Parameter_ExtraConfig;
extern unsigned char Parameter_NaviGpsModeControl;     // MartinR: wird wiederverwendet für GPS free bei HH
extern signed char MixerTable[MAX_MOTORS][4];
//extern const signed char sintab[31]; // MartinR: so war es
extern const signed char sintab[62]; // MartinR: für feinere Auflösung
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.91L_ACC-HH_MartinR/fc.h - Rev 2342 → 2360

Rev 2342		Rev 2360
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_StatusFlags	13	// FC_StatusFlags
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	// FC_StatusFlags2	23	// FC_StatusFlags2
24	#define FC_STATUS2_CAREFREE 0x01	24	#define FC_STATUS2_CAREFREE 0x01
25	#define FC_STATUS2_ALTITUDE_CONTROL 0x02	25	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
26	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04	26	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
27	#define FC_STATUS2_OUT1_ACTIVE 0x08	27	#define FC_STATUS2_OUT1_ACTIVE 0x08
28	#define FC_STATUS2_OUT2_ACTIVE 0x10	28	#define FC_STATUS2_OUT2_ACTIVE 0x10
29	#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground	29	#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
30	#define FC_STATUS2_AUTO_STARTING 0x40	30	#define FC_STATUS2_AUTO_STARTING 0x40
31	#define FC_STATUS2_AUTO_LANDING 0x80	31	#define FC_STATUS2_AUTO_LANDING 0x80
32		32
33	//NC_To_FC_Flags	33	//NC_To_FC_Flags
34	#define NC_TO_FC_FLYING_RANGE 0x01	34	#define NC_TO_FC_FLYING_RANGE 0x01
35	#define NC_TO_FC_EMERGENCY_LANDING 0x02	35	#define NC_TO_FC_EMERGENCY_LANDING 0x02
36	#define NC_TO_FC_AUTOSTART 0x04	36	#define NC_TO_FC_AUTOSTART 0x04
37	#define NC_TO_FC_AUTOLANDING 0x08 // not used	37	#define NC_TO_FC_AUTOLANDING 0x08 // not used
38		38
39	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;	39	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
40	extern void ParameterZuordnung(void);	40	extern void ParameterZuordnung(void);
41	extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel	41	extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel
42		42
43	#define Poti1 Poti[0]	43	#define Poti1 Poti[0]
44	#define Poti2 Poti[1]	44	#define Poti2 Poti[1]
45	#define Poti3 Poti[2]	45	#define Poti3 Poti[2]
46	#define Poti4 Poti[3]	46	#define Poti4 Poti[3]
47	#define Poti5 Poti[4]	47	#define Poti5 Poti[4]
48	#define Poti6 Poti[5]	48	#define Poti6 Poti[5]
49	#define Poti7 Poti[6]	49	#define Poti7 Poti[6]
50	#define Poti8 Poti[7]	50	#define Poti8 Poti[7]
51		51
52	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	52	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
53	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	53	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
54	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	54	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
55		55
56	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}	56	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
57	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}	57	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
58	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}	58	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
59	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}	59	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
60		60
61	extern unsigned char Sekunde,Minute;	61	extern unsigned char Sekunde,Minute;
62	extern unsigned int BaroExpandActive;	62	extern unsigned int BaroExpandActive;
63	extern long IntegralNick,IntegralNick2;	63	extern long IntegralNick,IntegralNick2;
64	extern long IntegralRoll,IntegralRoll2;	64	extern long IntegralRoll,IntegralRoll2;
65	//extern int IntegralNick,IntegralNick2;	65	//extern int IntegralNick,IntegralNick2;
66	//extern int IntegralRoll,IntegralRoll2;	66	//extern int IntegralRoll,IntegralRoll2;
67	extern unsigned char Poti[9];	67	extern unsigned char Poti[9];
68		68
69	extern long Mess_IntegralNick,Mess_IntegralNick2;	69	extern long Mess_IntegralNick,Mess_IntegralNick2;
70	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	70	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
71	extern long IntegralAccNick,IntegralAccRoll;	71	extern long IntegralAccNick,IntegralAccRoll;
72	extern long SummeNick,SummeRoll;	72	extern long SummeNick,SummeRoll;
73	extern volatile long Mess_Integral_Hoch;	73	extern volatile long Mess_Integral_Hoch;
74	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	74	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
75	extern int KompassValue;	75	extern int KompassValue;
76	extern int KompassSollWert;	76	extern int KompassSollWert;
77	extern int KompassRichtung;	77	extern int KompassRichtung;
78	extern char CalculateCompassTimer;	78	extern char CalculateCompassTimer;
79	extern unsigned char KompassFusion;	79	extern unsigned char KompassFusion;
80	extern unsigned char ControlHeading;	80	extern unsigned char ControlHeading;
81	extern int TrimNick, TrimRoll;	81	extern int TrimNick, TrimRoll;
82	extern long ErsatzKompass;	82	extern long ErsatzKompass;
83	extern int ErsatzKompassInGrad; // Kompasswert in Grad	83	extern int ErsatzKompassInGrad; // Kompasswert in Grad
84	extern long HoehenWert;	84	extern long HoehenWert;
85	extern long SollHoehe;	85	extern long SollHoehe;
86	extern long FromNC_AltitudeSetpoint;	86	extern long FromNC_AltitudeSetpoint;
87	extern unsigned char FromNC_AltitudeSpeed;	87	extern unsigned char FromNC_AltitudeSpeed;
88	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250	88	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250
89	extern unsigned char CareFree;	89	extern unsigned char CareFree;
90	extern int MesswertNick,MesswertRoll,MesswertGier;	90	extern int MesswertNick,MesswertRoll,MesswertGier;
91	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	91	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
92	extern unsigned int NeutralAccX, NeutralAccY;	92	extern unsigned int NeutralAccX, NeutralAccY;
93	extern unsigned char HoehenReglerAktiv;	93	extern unsigned char HoehenReglerAktiv;
94	extern int NeutralAccZ;	94	extern int NeutralAccZ;
95	extern signed char NeutralAccZfine;	95	extern signed char NeutralAccZfine;
96	extern long Umschlag180Nick, Umschlag180Roll;	96	extern long Umschlag180Nick, Umschlag180Roll;
97	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	97	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
98	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	98	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
99	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	99	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
100	extern unsigned int modell_fliegt;	100	extern unsigned int modell_fliegt;
101	extern void MotorRegler(void);	101	extern void MotorRegler(void);
102	extern void SendMotorData(void);	102	extern void SendMotorData(void);
103	//void CalibrierMittelwert(void);	103	//void CalibrierMittelwert(void);
104	//void Mittelwert(void);	104	//void Mittelwert(void);
105	extern unsigned char SetNeutral(unsigned char AccAdjustment); // retuns: "sucess"	105	extern unsigned char SetNeutral(unsigned char AccAdjustment); // retuns: "sucess"
106	extern void Piep(unsigned char Anzahl, unsigned int dauer);	106	extern void Piep(unsigned char Anzahl, unsigned int dauer);
107	extern void CopyDebugValues(void);	107	extern void CopyDebugValues(void);
108	extern unsigned char ACC_AltitudeControl;	108	extern unsigned char ACC_AltitudeControl;
109	extern signed int CosAttitude; // for projection of hoover gas	109	extern signed int CosAttitude; // for projection of hoover gas
110		110
111	extern unsigned char h,m,s;	111	extern unsigned char h,m,s;
112	extern int StickNick,StickRoll,StickGier,StickGas;	112	extern int StickNick,StickRoll,StickGier,StickGas;
113	extern volatile unsigned char Timeout ;	113	extern volatile unsigned char Timeout ;
114	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	114	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
115	extern int DiffNick,DiffRoll;	115	extern int DiffNick,DiffRoll;
116	//extern int Poti1, Poti2, Poti3, Poti4;	116	//extern int Poti1, Poti2, Poti3, Poti4;
117	extern volatile unsigned char SenderOkay;	117	extern volatile unsigned char SenderOkay;
118	extern int StickNick,StickRoll,StickGier;	118	extern int StickNick,StickRoll,StickGier;
119	extern char MotorenEin;	119	extern char MotorenEin;
120	extern unsigned char CalibrationDone;	120	extern unsigned char CalibrationDone;
121	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	121	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
122	extern char VarioCharacter;	122	extern char VarioCharacter;
123	extern signed int AltitudeSetpointTrimming;	123	extern signed int AltitudeSetpointTrimming;
124	extern signed char WaypointTrimming;	124	extern signed char WaypointTrimming;
125	extern int HoverGas;	125	extern int HoverGas;
126	extern unsigned char Parameter_Luftdruck_D;	126	extern unsigned char Parameter_Luftdruck_D;
127	//extern unsigned char Parameter_MaxHoehe;	127	//extern unsigned char Parameter_MaxHoehe;
128	extern unsigned char Parameter_Hoehe_P;	128	extern unsigned char Parameter_Hoehe_P;
129	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	129	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
130	extern unsigned char Parameter_KompassWirkung;	130	extern unsigned char Parameter_KompassWirkung;
131	extern unsigned char Parameter_Gyro_P;	131	extern unsigned char Parameter_Gyro_P;
132	extern unsigned char Parameter_Gyro_I;	132	extern unsigned char Parameter_Gyro_I;
133	extern unsigned char Parameter_Gier_P;	133	extern unsigned char Parameter_Gier_P;
134	extern unsigned char Parameter_ServoNickControl;	134	extern unsigned char Parameter_ServoNickControl;
135	extern unsigned char Parameter_ServoRollControl;	135	extern unsigned char Parameter_ServoRollControl;
136	extern unsigned char Parameter_ServoNickComp;	136	extern unsigned char Parameter_ServoNickComp;
137	extern unsigned char Parameter_ServoRollComp;	137	extern unsigned char Parameter_ServoRollComp;
138	extern unsigned char Parameter_AchsKopplung1;	138	extern unsigned char Parameter_AchsKopplung1;
139	extern unsigned char Parameter_AchsKopplung2;	139	extern unsigned char Parameter_AchsKopplung2;
140	//extern unsigned char Parameter_AchsGegenKopplung1;	140	//extern unsigned char Parameter_AchsGegenKopplung1;
141	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	141	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
142	extern unsigned char Parameter_J16Timing; // for the J16 Output	142	extern unsigned char Parameter_J16Timing; // for the J16 Output
143	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	143	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
144	extern unsigned char Parameter_J17Timing; // for the J17 Output	144	extern unsigned char Parameter_J17Timing; // for the J17 Output
145	extern unsigned char Parameter_GlobalConfig;	145	extern unsigned char Parameter_GlobalConfig;
146	extern unsigned char Parameter_ExtraConfig;	146	extern unsigned char Parameter_ExtraConfig;
-		147	extern unsigned char Parameter_NaviGpsModeControl; // MartinR: wird wiederverwendet für GPS free bei HH
147	extern signed char MixerTable[MAX_MOTORS][4];	148	extern signed char MixerTable[MAX_MOTORS][4];
148	extern const signed char sintab[31];	149	//extern const signed char sintab[31]; // MartinR: so war es
-		150	extern const signed char sintab[62]; // MartinR: für feinere Auflösung
149	#endif //_FC_H	151	#endif //_FC_H
150		152
151		153