WebSVN - FlightCtrl - Diff - Rev 1102 and 1103 - /branches/salvo_gps/Basis


/*#######################################################################################
Flight Control
#######################################################################################*/
 
#ifndef _FC_H
#define _FC_H
#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
#define STICK_GAIN 4
//Salvo 30.12.2007 
#define ACC_WAAGRECHT_LIMIT 200 // Nick und Roll kleiner als dieser Wert gelten als Kriterium fuer waagrechte Lage
#define GIER_COMP_MAX 10 // Maximalwert der Giergyrodriftkompensation via Kompass
//Salvo End
 
 
 
 
 
#define FLAG_MOTOR_RUN  1
#define FLAG_FLY        2
#define FLAG_CALIBRATE  4
#define FLAG_START      8
extern unsigned char MikroKopterFlags;
 
extern volatile unsigned int I2CTimeout;
extern unsigned char Sekunde,Minute;
extern long IntegralNick,IntegralNick2;
extern long 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 volatile int  KompassValue;
extern volatile int  KompassStartwert;
extern volatile int  KompassRichtung;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
extern int HoehenWert;
extern int SollHoehe;
extern volatile 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 volatile 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 SenderOkay;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern void DefaultKonstanten1(void);
extern void DefaultKonstanten2(void);
 
//Salvo 2.1.2008 Debugvariablens
extern int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; //Allgemeine Debugvariablen
//Salvo End
 
//Salvo 2.9.2007 Ersatzkompass
extern long GyroKomp_Int;
extern long int GyroGier_Comp;
extern int GyroKomp_Inc_Grad;
extern int GyroKomp_Value; //  Der ermittelte Kompasswert aus Gyro und Magnetkompass
// Salvo End
 
#define  STRUCT_PARAM_LAENGE  86
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 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 AchsGegenKopplung1;     // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung)
   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 NaviGpsACC;        
   unsigned char NaviGpsMinSat;        
   unsigned char NaviStickThreshold;        
   unsigned char NaviWindCorrection;        
   unsigned char NaviSpeedCompensation;        
   unsigned char NaviOperatingRadius;        
   unsigned char NaviAngleLimitation;
//---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_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/salvo_gps/Basis_V0071h/trunk/fc.h - Rev 1102 → 1103

Rev 1102		Rev 1103
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 STICK_GAIN 4	8	#define STICK_GAIN 4
9	//Salvo 30.12.2007	9	//Salvo 30.12.2007
10	#define ACC_WAAGRECHT_LIMIT 200 // Nick und Roll kleiner als dieser Wert gelten als Kriterium fuer waagrechte Lage	10	#define ACC_WAAGRECHT_LIMIT 200 // Nick und Roll kleiner als dieser Wert gelten als Kriterium fuer waagrechte Lage
11	#define GIER_COMP_MAX 2 // Maximalwert der Giergyrodriftkompensation via Kompass	11	#define GIER_COMP_MAX 10 // Maximalwert der Giergyrodriftkompensation via Kompass
12	//Salvo End	12	//Salvo End
13		-
14		-
15		13
16		14
17		15
18	#define FLAG_MOTOR_RUN 1	16	#define FLAG_MOTOR_RUN 1
19	#define FLAG_FLY 2	17	#define FLAG_FLY 2
20	#define FLAG_CALIBRATE 4	18	#define FLAG_CALIBRATE 4
21	#define FLAG_START 8	19	#define FLAG_START 8
22	extern unsigned char MikroKopterFlags;	20	extern unsigned char MikroKopterFlags;
23		21
24	extern volatile unsigned int I2CTimeout;	22	extern volatile unsigned int I2CTimeout;
25	extern unsigned char Sekunde,Minute;	23	extern unsigned char Sekunde,Minute;
26	extern long IntegralNick,IntegralNick2;	24	extern long IntegralNick,IntegralNick2;
27	extern long IntegralRoll,IntegralRoll2;	25	extern long IntegralRoll,IntegralRoll2;
28	extern long Mess_IntegralNick,Mess_IntegralNick2;	26	extern long Mess_IntegralNick,Mess_IntegralNick2;
29	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	27	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
30	extern long IntegralAccNick,IntegralAccRoll;	28	extern long IntegralAccNick,IntegralAccRoll;
31	extern volatile long Mess_Integral_Hoch;	29	extern volatile long Mess_Integral_Hoch;
32	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	30	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
33	extern volatile int KompassValue;	31	extern volatile int KompassValue;
34	extern volatile int KompassStartwert;	32	extern volatile int KompassStartwert;
35	extern volatile int KompassRichtung;	33	extern volatile int KompassRichtung;
36	extern long ErsatzKompass;	34	extern long ErsatzKompass;
37	extern int ErsatzKompassInGrad; // Kompasswert in Grad	35	extern int ErsatzKompassInGrad; // Kompasswert in Grad
38	extern int HoehenWert;	36	extern int HoehenWert;
39	extern int SollHoehe;	37	extern int SollHoehe;
40	extern volatile int MesswertNick,MesswertRoll,MesswertGier;	38	extern volatile int MesswertNick,MesswertRoll,MesswertGier;
41	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	39	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
42	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;	40	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
43	extern volatile float NeutralAccZ;	41	extern volatile float NeutralAccZ;
44	extern long Umschlag180Nick, Umschlag180Roll;	42	extern long Umschlag180Nick, Umschlag180Roll;
45	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	43	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
46	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	44	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
47	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	45	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
48	extern unsigned int modell_fliegt;	46	extern unsigned int modell_fliegt;
49	void MotorRegler(void);	47	void MotorRegler(void);
50	void SendMotorData(void);	48	void SendMotorData(void);
51	void CalibrierMittelwert(void);	49	void CalibrierMittelwert(void);
52	void Mittelwert(void);	50	void Mittelwert(void);
53	void SetNeutral(void);	51	void SetNeutral(void);
54	void Piep(unsigned char Anzahl);	52	void Piep(unsigned char Anzahl);
55	extern void DefaultKonstanten(void);	53	extern void DefaultKonstanten(void);
56	void DefaultKonstanten1(void);	54	void DefaultKonstanten1(void);
57	void DefaultKonstanten2(void);	55	void DefaultKonstanten2(void);
58		56
59	extern unsigned char h,m,s;	57	extern unsigned char h,m,s;
60	extern volatile unsigned char Timeout ;	58	extern volatile unsigned char Timeout ;
61	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	59	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
62	extern volatile int DiffNick,DiffRoll;	60	extern volatile int DiffNick,DiffRoll;
63	extern int Poti1, Poti2, Poti3, Poti4;	61	extern int Poti1, Poti2, Poti3, Poti4;
64	extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;	62	extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
65	extern volatile unsigned char SenderOkay;	63	extern volatile unsigned char SenderOkay;
66	extern int StickNick,StickRoll,StickGier;	64	extern int StickNick,StickRoll,StickGier;
67	extern char MotorenEin;	65	extern char MotorenEin;
68	extern void DefaultKonstanten1(void);	66	extern void DefaultKonstanten1(void);
69	extern void DefaultKonstanten2(void);	67	extern void DefaultKonstanten2(void);
70		68
71	//Salvo 2.1.2008 Debugvariablens	69	//Salvo 2.1.2008 Debugvariablens
72	extern int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; //Allgemeine Debugvariablen	70	extern int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; //Allgemeine Debugvariablen
73	//Salvo End	71	//Salvo End
74		72
75	//Salvo 2.9.2007 Ersatzkompass	73	//Salvo 2.9.2007 Ersatzkompass
76	extern long GyroKomp_Int;	74	extern long GyroKomp_Int;
77	extern long int GyroGier_Comp;	75	extern long int GyroGier_Comp;
78	extern int GyroKomp_Inc_Grad;	76	extern int GyroKomp_Inc_Grad;
79	extern int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass	77	extern int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass
80	// Salvo End	78	// Salvo End
81		79
82	#define STRUCT_PARAM_LAENGE 86	80	#define STRUCT_PARAM_LAENGE 86
83	struct mk_param_struct	81	struct mk_param_struct
84	{	82	{
85	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3	83	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
86	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv	84	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
87	unsigned char Hoehe_MinGas; // Wert : 0-100	85	unsigned char Hoehe_MinGas; // Wert : 0-100
88	unsigned char Luftdruck_D; // Wert : 0-250	86	unsigned char Luftdruck_D; // Wert : 0-250
89	unsigned char MaxHoehe; // Wert : 0-32	87	unsigned char MaxHoehe; // Wert : 0-32
90	unsigned char Hoehe_P; // Wert : 0-32	88	unsigned char Hoehe_P; // Wert : 0-32
91	unsigned char Hoehe_Verstaerkung; // Wert : 0-50	89	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
92	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250	90	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
93	unsigned char Stick_P; // Wert : 1-6	91	unsigned char Stick_P; // Wert : 1-6
94	unsigned char Stick_D; // Wert : 0-64	92	unsigned char Stick_D; // Wert : 0-64
95	unsigned char Gier_P; // Wert : 1-20	93	unsigned char Gier_P; // Wert : 1-20
96	unsigned char Gas_Min; // Wert : 0-32	94	unsigned char Gas_Min; // Wert : 0-32
97	unsigned char Gas_Max; // Wert : 33-250	95	unsigned char Gas_Max; // Wert : 33-250
98	unsigned char GyroAccFaktor; // Wert : 1-64	96	unsigned char GyroAccFaktor; // Wert : 1-64
99	unsigned char KompassWirkung; // Wert : 0-32	97	unsigned char KompassWirkung; // Wert : 0-32
100	unsigned char Gyro_P; // Wert : 10-250	98	unsigned char Gyro_P; // Wert : 10-250
101	unsigned char Gyro_I; // Wert : 0-250	99	unsigned char Gyro_I; // Wert : 0-250
102	unsigned char UnterspannungsWarnung; // Wert : 0-250	100	unsigned char UnterspannungsWarnung; // Wert : 0-250
103	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust	101	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
104	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen	102	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
105	unsigned char UfoAusrichtung; // X oder + Formation	103	unsigned char UfoAusrichtung; // X oder + Formation
106	unsigned char I_Faktor; // Wert : 0-250	104	unsigned char I_Faktor; // Wert : 0-250
107	unsigned char UserParam1; // Wert : 0-250	105	unsigned char UserParam1; // Wert : 0-250
108	unsigned char UserParam2; // Wert : 0-250	106	unsigned char UserParam2; // Wert : 0-250
109	unsigned char UserParam3; // Wert : 0-250	107	unsigned char UserParam3; // Wert : 0-250
110	unsigned char UserParam4; // Wert : 0-250	108	unsigned char UserParam4; // Wert : 0-250
111	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos	109	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
112	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo	110	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
113	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag	111	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
114	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag	112	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
115	unsigned char ServoNickRefresh; //	113	unsigned char ServoNickRefresh; //
116	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping	114	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
117	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag	115	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
118	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag	116	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
119	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)	117	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
120	unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung)	118	unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung)
121	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt	119	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
122	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt	120	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
123	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)	121	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
124	unsigned char Driftkomp;	122	unsigned char Driftkomp;
125	unsigned char DynamicStability;	123	unsigned char DynamicStability;
126	unsigned char UserParam5; // Wert : 0-250	124	unsigned char UserParam5; // Wert : 0-250
127	unsigned char UserParam6; // Wert : 0-250	125	unsigned char UserParam6; // Wert : 0-250
128	unsigned char UserParam7; // Wert : 0-250	126	unsigned char UserParam7; // Wert : 0-250
129	unsigned char UserParam8; // Wert : 0-250	127	unsigned char UserParam8; // Wert : 0-250
130	//---Output ---------------------------------------------	128	//---Output ---------------------------------------------
131	unsigned char J16Bitmask; // for the J16 Output	129	unsigned char J16Bitmask; // for the J16 Output
132	unsigned char J16Timing; // for the J16 Output	130	unsigned char J16Timing; // for the J16 Output
133	unsigned char J17Bitmask; // for the J17 Output	131	unsigned char J17Bitmask; // for the J17 Output
134	unsigned char J17Timing; // for the J17 Output	132	unsigned char J17Timing; // for the J17 Output
135	//---NaviCtrl---------------------------------------------	133	//---NaviCtrl---------------------------------------------
136	unsigned char NaviGpsModeControl; // Parameters for the Naviboard	134	unsigned char NaviGpsModeControl; // Parameters for the Naviboard
137	unsigned char NaviGpsGain;	135	unsigned char NaviGpsGain;
138	unsigned char NaviGpsP;	136	unsigned char NaviGpsP;
139	unsigned char NaviGpsI;	137	unsigned char NaviGpsI;
140	unsigned char NaviGpsD;	138	unsigned char NaviGpsD;
141	unsigned char NaviGpsACC;	139	unsigned char NaviGpsACC;
142	unsigned char NaviGpsMinSat;	140	unsigned char NaviGpsMinSat;
143	unsigned char NaviStickThreshold;	141	unsigned char NaviStickThreshold;
144	unsigned char NaviWindCorrection;	142	unsigned char NaviWindCorrection;
145	unsigned char NaviSpeedCompensation;	143	unsigned char NaviSpeedCompensation;
146	unsigned char NaviOperatingRadius;	144	unsigned char NaviOperatingRadius;
147	unsigned char NaviAngleLimitation;	145	unsigned char NaviAngleLimitation;
148	//---Ext.Ctrl---------------------------------------------	146	//---Ext.Ctrl---------------------------------------------
149	unsigned char ExternalControl; // for serial Control	147	unsigned char ExternalControl; // for serial Control
150	//------------------------------------------------	148	//------------------------------------------------
151	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt	149	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
152	unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen	150	unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen
153	unsigned char Reserved[4];	151	unsigned char Reserved[4];
154	char Name[12];	152	char Name[12];
155	};	153	};
156		154
157		155
158	extern struct mk_param_struct EE_Parameter;	156	extern struct mk_param_struct EE_Parameter;
159		157
160	extern unsigned char Parameter_Luftdruck_D;	158	extern unsigned char Parameter_Luftdruck_D;
161	extern unsigned char Parameter_MaxHoehe;	159	extern unsigned char Parameter_MaxHoehe;
162	extern unsigned char Parameter_Hoehe_P;	160	extern unsigned char Parameter_Hoehe_P;
163	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	161	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
164	extern unsigned char Parameter_KompassWirkung;	162	extern unsigned char Parameter_KompassWirkung;
165	extern unsigned char Parameter_Gyro_P;	163	extern unsigned char Parameter_Gyro_P;
166	extern unsigned char Parameter_Gyro_I;	164	extern unsigned char Parameter_Gyro_I;
167	extern unsigned char Parameter_Gier_P;	165	extern unsigned char Parameter_Gier_P;
168	extern unsigned char Parameter_ServoNickControl;	166	extern unsigned char Parameter_ServoNickControl;
169	extern unsigned char Parameter_AchsKopplung1;	167	extern unsigned char Parameter_AchsKopplung1;
170	extern unsigned char Parameter_AchsGegenKopplung1;	168	extern unsigned char Parameter_AchsGegenKopplung1;
171	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	169	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
172	extern unsigned char Parameter_J16Timing; // for the J16 Output	170	extern unsigned char Parameter_J16Timing; // for the J16 Output
173	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	171	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
174	extern unsigned char Parameter_J17Timing; // for the J17 Output	172	extern unsigned char Parameter_J17Timing; // for the J17 Output
175		173
176	extern unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard	174	extern unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard
177	extern unsigned char Parameter_NaviGpsGain;	175	extern unsigned char Parameter_NaviGpsGain;
178	extern unsigned char Parameter_NaviGpsP;	176	extern unsigned char Parameter_NaviGpsP;
179	extern unsigned char Parameter_NaviGpsI;	177	extern unsigned char Parameter_NaviGpsI;
180	extern unsigned char Parameter_NaviGpsD;	178	extern unsigned char Parameter_NaviGpsD;
181	extern unsigned char Parameter_NaviGpsACC;	179	extern unsigned char Parameter_NaviGpsACC;
182	extern unsigned char Parameter_NaviOperatingRadius;	180	extern unsigned char Parameter_NaviOperatingRadius;
183	extern unsigned char Parameter_NaviWindCorrection;	181	extern unsigned char Parameter_NaviWindCorrection;
184	extern unsigned char Parameter_NaviSpeedCompensation;	182	extern unsigned char Parameter_NaviSpeedCompensation;
185		183
186	#endif //_FC_H	184	#endif //_FC_H
187		185
188		186