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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 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
12 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
13 | 13 | ||
14 | // FC_StatusFlags |
14 | // FC_StatusFlags |
15 | #define FC_STATUS_MOTOR_RUN 0x01 |
15 | #define FC_STATUS_MOTOR_RUN 0x01 |
16 | #define FC_STATUS_FLY 0x02 |
16 | #define FC_STATUS_FLY 0x02 |
17 | #define FC_STATUS_CALIBRATE 0x04 |
17 | #define FC_STATUS_CALIBRATE 0x04 |
18 | #define FC_STATUS_START 0x08 |
18 | #define FC_STATUS_START 0x08 |
19 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
19 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
20 | #define FC_STATUS_LOWBAT 0x20 |
20 | #define FC_STATUS_LOWBAT 0x20 |
21 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
21 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
22 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
22 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
23 | 23 | ||
24 | // FC_StatusFlags2 |
24 | // FC_StatusFlags2 |
25 | #define FC_STATUS2_CAREFREE 0x01 |
25 | #define FC_STATUS2_CAREFREE 0x01 |
26 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
26 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
27 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
27 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
28 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
28 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
29 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
29 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
30 | #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
30 | #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
31 | #define FC_STATUS2_AUTO_STARTING 0x40 |
31 | #define FC_STATUS2_AUTO_STARTING 0x40 |
32 | #define FC_STATUS2_AUTO_LANDING 0x80 |
32 | #define FC_STATUS2_AUTO_LANDING 0x80 |
- | 33 | ||
- | 34 | // FC_StatusFlags3 |
|
- | 35 | #define FC_STATUS3_REDUNDANCE 0x01 |
|
- | 36 | #define FC_STATUS3_BOAT 0x02 |
|
33 | 37 | ||
34 | //NC_To_FC_Flags |
38 | //NC_To_FC_Flags |
35 | #define NC_TO_FC_FLYING_RANGE 0x01 |
39 | #define NC_TO_FC_FLYING_RANGE 0x01 |
36 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
40 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
37 | #define NC_TO_FC_AUTOSTART 0x04 |
41 | #define NC_TO_FC_AUTOSTART 0x04 |
38 | #define NC_TO_FC_AUTOLANDING 0x08 // not used |
42 | #define NC_TO_FC_AUTOLANDING 0x08 // not used |
- | 43 | #define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors |
|
39 | 44 | ||
- | 45 | extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
|
40 | extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
46 | extern unsigned char FC_StatusFlags3; |
41 | extern void ParameterZuordnung(void); |
47 | extern void ParameterZuordnung(void); |
42 | extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel |
48 | extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel |
43 | 49 | ||
44 | #define Poti1 Poti[0] |
50 | #define Poti1 Poti[0] |
45 | #define Poti2 Poti[1] |
51 | #define Poti2 Poti[1] |
46 | #define Poti3 Poti[2] |
52 | #define Poti3 Poti[2] |
47 | #define Poti4 Poti[3] |
53 | #define Poti4 Poti[3] |
48 | #define Poti5 Poti[4] |
54 | #define Poti5 Poti[4] |
49 | #define Poti6 Poti[5] |
55 | #define Poti6 Poti[5] |
50 | #define Poti7 Poti[6] |
56 | #define Poti7 Poti[6] |
51 | #define Poti8 Poti[7] |
57 | #define Poti8 Poti[7] |
52 | 58 | ||
53 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
59 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
54 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
60 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
55 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
61 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
56 | 62 | ||
57 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
63 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
58 | #define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;} |
64 | #define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;} |
59 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
65 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
60 | #define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);} |
66 | #define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);} |
61 | 67 | ||
62 | extern unsigned char Sekunde,Minute; |
68 | extern unsigned char Sekunde,Minute; |
63 | extern unsigned int BaroExpandActive; |
69 | extern unsigned int BaroExpandActive; |
64 | extern long IntegralNick,IntegralNick2; |
70 | extern long IntegralNick;//,IntegralNick2; |
65 | extern long IntegralRoll,IntegralRoll2; |
71 | extern long IntegralRoll;//,IntegralRoll2; |
66 | //extern int IntegralNick,IntegralNick2; |
72 | //extern int IntegralNick,IntegralNick2; |
67 | //extern int IntegralRoll,IntegralRoll2; |
73 | //extern int IntegralRoll,IntegralRoll2; |
68 | extern unsigned char Poti[9]; |
74 | extern unsigned char Poti[9]; |
69 | 75 | ||
70 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
76 | extern long Mess_IntegralNick;//,Mess_IntegralNick2; |
71 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
77 | extern long Mess_IntegralRoll;//,Mess_IntegralRoll2; |
72 | extern long IntegralAccNick,IntegralAccRoll; |
78 | extern long IntegralAccNick,IntegralAccRoll; |
73 | extern long SummeNick,SummeRoll; |
79 | extern long SummeNick,SummeRoll; |
74 | extern volatile long Mess_Integral_Hoch; |
80 | extern volatile long Mess_Integral_Hoch; |
75 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
81 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
76 | extern int KompassValue; |
82 | extern int KompassValue; |
77 | extern int KompassSollWert; |
83 | extern int KompassSollWert; |
78 | extern int KompassRichtung; |
84 | extern int KompassRichtung; |
79 | extern char CalculateCompassTimer; |
85 | extern char CalculateCompassTimer; |
80 | extern unsigned char KompassFusion; |
86 | extern unsigned char KompassFusion; |
81 | extern unsigned char ControlHeading; |
87 | extern unsigned char ControlHeading; |
82 | extern int TrimNick, TrimRoll; |
88 | extern int TrimNick, TrimRoll; |
83 | extern long ErsatzKompass; |
89 | extern long ErsatzKompass; |
84 | extern int ErsatzKompassInGrad,CompassCorrected; // Kompasswert in Grad |
90 | extern int ErsatzKompassInGrad,CompassCorrected; // Kompasswert in Grad |
85 | extern long HoehenWert; |
91 | extern long HoehenWert; |
86 | extern long SollHoehe; |
92 | extern long SollHoehe; |
87 | extern long FromNC_AltitudeSetpoint; |
93 | extern long FromNC_AltitudeSetpoint; |
88 | extern unsigned char FromNC_AltitudeSpeed; |
94 | extern unsigned char FromNC_AltitudeSpeed; |
89 | extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250 |
95 | extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250 |
90 | extern unsigned char CareFree; |
96 | extern unsigned char CareFree; |
91 | extern int MesswertNick,MesswertRoll,MesswertGier; |
97 | extern int MesswertNick,MesswertRoll,MesswertGier; |
92 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
98 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
93 | extern unsigned int NeutralAccX, NeutralAccY; |
99 | extern unsigned int NeutralAccX, NeutralAccY; |
94 | extern unsigned char HoehenReglerAktiv; |
100 | extern unsigned char HoehenReglerAktiv; |
95 | extern int NeutralAccZ; |
101 | extern int NeutralAccZ; |
96 | extern signed char NeutralAccZfine; |
102 | extern signed char NeutralAccZfine; |
97 | extern long Umschlag180Nick, Umschlag180Roll; |
103 | extern long Umschlag180Nick, Umschlag180Roll; |
98 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
104 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
99 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
105 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
100 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
106 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
101 | extern unsigned int modell_fliegt; |
107 | extern unsigned int modell_fliegt; |
102 | extern void MotorRegler(void); |
108 | extern void MotorRegler(void); |
103 | extern void SendMotorData(void); |
109 | extern void SendMotorData(void); |
104 | //void CalibrierMittelwert(void); |
110 | //void CalibrierMittelwert(void); |
105 | //void Mittelwert(void); |
111 | //void Mittelwert(void); |
106 | extern unsigned char SetNeutral(unsigned char AccAdjustment); // retuns: "sucess" |
112 | extern unsigned char SetNeutral(unsigned char AccAdjustment); // retuns: "sucess" |
107 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
113 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
108 | extern void CopyDebugValues(void); |
114 | extern void CopyDebugValues(void); |
109 | extern unsigned char ACC_AltitudeControl; |
115 | extern unsigned char ACC_AltitudeControl; |
110 | extern signed int CosAttitude; // for projection of hoover gas |
116 | extern signed int CosAttitude; // for projection of hoover gas |
111 | 117 | ||
112 | extern unsigned char h,m,s; |
118 | extern unsigned char h,m,s; |
113 | extern int StickNick,StickRoll,StickGier,StickGas; |
119 | extern int StickNick,StickRoll,StickGier,StickGas; |
114 | extern volatile unsigned char Timeout ; |
120 | extern volatile unsigned char Timeout ; |
115 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
121 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
116 | extern int DiffNick,DiffRoll; |
122 | extern int DiffNick,DiffRoll; |
117 | //extern int Poti1, Poti2, Poti3, Poti4; |
123 | //extern int Poti1, Poti2, Poti3, Poti4; |
118 | extern volatile unsigned char SenderOkay; |
124 | extern volatile unsigned char SenderOkay; |
119 | extern int StickNick,StickRoll,StickGier; |
125 | extern int StickNick,StickRoll,StickGier; |
120 | extern char MotorenEin; |
126 | extern char MotorenEin; |
121 | extern unsigned char CalibrationDone; |
127 | extern unsigned char CalibrationDone; |
122 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
128 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
123 | extern char VarioCharacter; |
129 | extern char VarioCharacter; |
124 | extern signed int AltitudeSetpointTrimming; |
130 | extern signed int AltitudeSetpointTrimming; |
125 | extern signed char WaypointTrimming; |
131 | extern signed char WaypointTrimming; |
126 | extern int HoverGas; |
132 | extern int HoverGas; |
127 | extern unsigned char Parameter_Luftdruck_D; |
133 | extern unsigned char Parameter_Luftdruck_D; |
128 | //extern unsigned char Parameter_MaxHoehe; |
134 | //extern unsigned char Parameter_MaxHoehe; |
129 | extern unsigned char Parameter_Hoehe_P; |
135 | extern unsigned char Parameter_Hoehe_P; |
130 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
136 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
131 | extern unsigned char Parameter_KompassWirkung; |
137 | extern unsigned char Parameter_KompassWirkung; |
132 | extern unsigned char Parameter_Gyro_P; |
138 | extern unsigned char Parameter_Gyro_P; |
133 | extern unsigned char Parameter_Gyro_I; |
139 | extern unsigned char Parameter_Gyro_I; |
134 | extern unsigned char Parameter_Gier_P; |
140 | extern unsigned char Parameter_Gier_P; |
135 | extern unsigned char Parameter_ServoNickControl; |
141 | extern unsigned char Parameter_ServoNickControl; |
136 | extern unsigned char Parameter_ServoRollControl; |
142 | extern unsigned char Parameter_ServoRollControl; |
137 | extern unsigned char Parameter_ServoNickComp; |
143 | extern unsigned char Parameter_ServoNickComp; |
138 | extern unsigned char Parameter_ServoRollComp; |
144 | extern unsigned char Parameter_ServoRollComp; |
139 | extern unsigned char Parameter_AchsKopplung1; |
145 | extern unsigned char Parameter_AchsKopplung1; |
140 | extern unsigned char Parameter_AchsKopplung2; |
146 | extern unsigned char Parameter_AchsKopplung2; |
141 | //extern unsigned char Parameter_AchsGegenKopplung1; |
147 | //extern unsigned char Parameter_AchsGegenKopplung1; |
142 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
148 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
143 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
149 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
144 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
150 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
145 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
151 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
146 | extern unsigned char Parameter_GlobalConfig; |
152 | extern unsigned char Parameter_GlobalConfig; |
147 | extern unsigned char Parameter_ExtraConfig; |
153 | extern unsigned char Parameter_ExtraConfig; |
148 | extern signed char MixerTable[MAX_MOTORS][4]; |
154 | extern signed char MixerTable[MAX_MOTORS][4]; |
149 | extern const signed char sintab[31]; |
155 | extern const signed char sintab[31]; |
150 | extern unsigned char LowVoltageLandingActive; |
156 | extern unsigned char LowVoltageLandingActive; |
151 | extern unsigned char LowVoltageHomeActive; |
157 | extern unsigned char LowVoltageHomeActive; |
152 | extern unsigned char Parameter_MaximumAltitude; |
158 | extern unsigned char Parameter_MaximumAltitude; |
153 | #endif //_FC_H |
159 | #endif //_FC_H |
154 | 160 | ||
155 | 161 |