WebSVN - FlightCtrl - Diff - Rev 1861 and 1862


/*#######################################################################################
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 STATUS FLAGS
#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 STATUS FLAGS2
#define FC_STATUS2_CAREFREE                 0x01
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
 
extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
extern void ParameterZuordnung(void);
 
#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]
 
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 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 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 void SetNeutral(unsigned char AccAdjustment);
extern void Piep(unsigned char Anzahl, unsigned int dauer);
extern void CopyDebugValues(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 SenderOkay;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
extern char VarioCharacter;
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_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 signed char MixerTable[MAX_MOTORS][4];
extern const signed char sintab[31];
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/tags/V0.90g/fc.h @ 2715 - Rev 1861 → 1862

Rev 1861		Rev 1862
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	// FC STATUS FLAGS2	23	// FC STATUS FLAGS2
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		26
27	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;	27	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
-		28	extern void ParameterZuordnung(void);
28		29
29	#define Poti1 Poti[0]	30	#define Poti1 Poti[0]
30	#define Poti2 Poti[1]	31	#define Poti2 Poti[1]
31	#define Poti3 Poti[2]	32	#define Poti3 Poti[2]
32	#define Poti4 Poti[3]	33	#define Poti4 Poti[3]
33	#define Poti5 Poti[4]	34	#define Poti5 Poti[4]
34	#define Poti6 Poti[5]	35	#define Poti6 Poti[5]
35	#define Poti7 Poti[6]	36	#define Poti7 Poti[6]
36	#define Poti8 Poti[7]	37	#define Poti8 Poti[7]
37		38
38	extern unsigned char Sekunde,Minute;	39	extern unsigned char Sekunde,Minute;
39	extern unsigned int BaroExpandActive;	40	extern unsigned int BaroExpandActive;
40	extern long IntegralNick,IntegralNick2;	41	extern long IntegralNick,IntegralNick2;
41	extern long IntegralRoll,IntegralRoll2;	42	extern long IntegralRoll,IntegralRoll2;
42	//extern int IntegralNick,IntegralNick2;	43	//extern int IntegralNick,IntegralNick2;
43	//extern int IntegralRoll,IntegralRoll2;	44	//extern int IntegralRoll,IntegralRoll2;
44	extern unsigned char Poti[9];	45	extern unsigned char Poti[9];
45		46
46	extern long Mess_IntegralNick,Mess_IntegralNick2;	47	extern long Mess_IntegralNick,Mess_IntegralNick2;
47	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	48	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
48	extern long IntegralAccNick,IntegralAccRoll;	49	extern long IntegralAccNick,IntegralAccRoll;
49	extern long SummeNick,SummeRoll;	50	extern long SummeNick,SummeRoll;
50	extern volatile long Mess_Integral_Hoch;	51	extern volatile long Mess_Integral_Hoch;
51	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	52	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
52	extern int KompassValue;	53	extern int KompassValue;
53	extern int KompassSollWert;	54	extern int KompassSollWert;
54	extern int KompassRichtung;	55	extern int KompassRichtung;
55	extern char CalculateCompassTimer;	56	extern char CalculateCompassTimer;
56	extern unsigned char KompassFusion;	57	extern unsigned char KompassFusion;
57	extern unsigned char ControlHeading;	58	extern unsigned char ControlHeading;
58	extern int TrimNick, TrimRoll;	59	extern int TrimNick, TrimRoll;
59	extern long ErsatzKompass;	60	extern long ErsatzKompass;
60	extern int ErsatzKompassInGrad; // Kompasswert in Grad	61	extern int ErsatzKompassInGrad; // Kompasswert in Grad
61	extern long HoehenWert;	62	extern long HoehenWert;
62	extern long SollHoehe;	63	extern long SollHoehe;
63	extern long FromNC_AltitudeSetpoint;	64	extern long FromNC_AltitudeSetpoint;
64	extern unsigned char FromNC_AltitudeSpeed;	65	extern unsigned char FromNC_AltitudeSpeed;
65		66
66	extern unsigned char CareFree;	67	extern unsigned char CareFree;
67	extern int MesswertNick,MesswertRoll,MesswertGier;	68	extern int MesswertNick,MesswertRoll,MesswertGier;
68	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	69	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
69	extern unsigned int NeutralAccX, NeutralAccY;	70	extern unsigned int NeutralAccX, NeutralAccY;
70	extern unsigned char HoehenReglerAktiv;	71	extern unsigned char HoehenReglerAktiv;
71	extern int NeutralAccZ;	72	extern int NeutralAccZ;
72	extern long Umschlag180Nick, Umschlag180Roll;	73	extern long Umschlag180Nick, Umschlag180Roll;
73	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	74	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
74	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	75	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
75	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	76	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
76	extern unsigned int modell_fliegt;	77	extern unsigned int modell_fliegt;
77	extern void MotorRegler(void);	78	extern void MotorRegler(void);
78	extern void SendMotorData(void);	79	extern void SendMotorData(void);
79	//void CalibrierMittelwert(void);	80	//void CalibrierMittelwert(void);
80	//void Mittelwert(void);	81	//void Mittelwert(void);
81	extern void SetNeutral(unsigned char AccAdjustment);	82	extern void SetNeutral(unsigned char AccAdjustment);
82	extern void Piep(unsigned char Anzahl, unsigned int dauer);	83	extern void Piep(unsigned char Anzahl, unsigned int dauer);
83	extern void CopyDebugValues(void);	84	extern void CopyDebugValues(void);
84		85
85	extern unsigned char h,m,s;	86	extern unsigned char h,m,s;
86	extern volatile unsigned char Timeout ;	87	extern volatile unsigned char Timeout ;
87	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	88	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
88	extern int DiffNick,DiffRoll;	89	extern int DiffNick,DiffRoll;
89	//extern int Poti1, Poti2, Poti3, Poti4;	90	//extern int Poti1, Poti2, Poti3, Poti4;
90	extern volatile unsigned char SenderOkay;	91	extern volatile unsigned char SenderOkay;
91	extern int StickNick,StickRoll,StickGier;	92	extern int StickNick,StickRoll,StickGier;
92	extern char MotorenEin;	93	extern char MotorenEin;
93	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	94	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
94	extern char VarioCharacter;	95	extern char VarioCharacter;
95	extern int HoverGas;	96	extern int HoverGas;
96		97
97	extern unsigned char Parameter_Luftdruck_D;	98	extern unsigned char Parameter_Luftdruck_D;
98	extern unsigned char Parameter_MaxHoehe;	99	extern unsigned char Parameter_MaxHoehe;
99	extern unsigned char Parameter_Hoehe_P;	100	extern unsigned char Parameter_Hoehe_P;
100	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	101	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
101	extern unsigned char Parameter_KompassWirkung;	102	extern unsigned char Parameter_KompassWirkung;
102	extern unsigned char Parameter_Gyro_P;	103	extern unsigned char Parameter_Gyro_P;
103	extern unsigned char Parameter_Gyro_I;	104	extern unsigned char Parameter_Gyro_I;
104	extern unsigned char Parameter_Gier_P;	105	extern unsigned char Parameter_Gier_P;
105	extern unsigned char Parameter_ServoNickControl;	106	extern unsigned char Parameter_ServoNickControl;
106	extern unsigned char Parameter_ServoRollControl;	107	extern unsigned char Parameter_ServoRollControl;
107	extern unsigned char Parameter_AchsKopplung1;	108	extern unsigned char Parameter_AchsKopplung1;
108	extern unsigned char Parameter_AchsKopplung2;	109	extern unsigned char Parameter_AchsKopplung2;
109	//extern unsigned char Parameter_AchsGegenKopplung1;	110	//extern unsigned char Parameter_AchsGegenKopplung1;
110	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	111	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
111	extern unsigned char Parameter_J16Timing; // for the J16 Output	112	extern unsigned char Parameter_J16Timing; // for the J16 Output
112	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	113	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
113	extern unsigned char Parameter_J17Timing; // for the J17 Output	114	extern unsigned char Parameter_J17Timing; // for the J17 Output
114	extern signed char MixerTable[MAX_MOTORS][4];	115	extern signed char MixerTable[MAX_MOTORS][4];
115	extern const signed char sintab[31];	116	extern const signed char sintab[31];
116	#endif //_FC_H	117	#endif //_FC_H
117		118
118		119