WebSVN - FlightCtrl - Diff - Rev 1420 and 1423 - /tags/V2.00a_NOT_for_FC


/*#######################################################################################
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 FCFLAG_MOTOR_RUN        0x01
#define FCFLAG_FLY              0x02
#define FCFLAG_CALIBRATE        0x04
#define FCFLAG_START            0x08
#define FCFLAG_NOTLANDUNG       0x10
#define FCFLAG_LOWBAT           0x20
#define FCFLAG_SPI_RX_ERR       0x40
#define FCFLAG_I2CERR           0x80
 
 
#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 MAX_MOTORS      12
 
#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
 
extern volatile unsigned char FCFlags;
extern volatile unsigned int I2CTimeout;
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 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 int  TrimNick, TrimRoll;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
extern long HoehenWert;
extern long SollHoehe;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
extern unsigned char HoehenReglerAktiv;
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, unsigned int dauer);
 
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 volatile unsigned char SenderRSSI;
extern unsigned char RequiredMotors;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern void DefaultKonstanten1(void);
extern void DefaultKonstanten2(void);
extern void DefaultKonstanten3(void);
extern void DefaultStickMapping(void);
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
 
#define  STRUCT_PARAM_LAENGE  sizeof(EE_Parameter)
struct mk_param_struct
 {
   unsigned char Kanalbelegung[12];       // 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 Hoehe_HoverBand;        // Wert : 0-250
   unsigned char Hoehe_GPS_Z;            // Wert : 0-250
   unsigned char Hoehe_StickNeutralPoint;// 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 Gyro_Gier_P;                 // Wert : 10-250
   unsigned char Gyro_Gier_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 Receiver;                       // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
   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
//--- Seit V0.75
   unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
   unsigned char ServoRollComp;          // Wert : 0-250
   unsigned char ServoRollMin;           // Wert : 0-250
   unsigned char ServoRollMax;           // Wert : 0-250
//---
   unsigned char ServoNickRefresh;       // Speed of the Servo
   unsigned char Servo3;                         // Value or mapping of the Servo Output
   unsigned char Servo4;                         // Value or mapping of the Servo Output
   unsigned char Servo5;                         // Value or mapping of the Servo Output
   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
// seit version V0.75c
   unsigned char WARN_J16_Bitmask;       // for the J16 Output
   unsigned char WARN_J17_Bitmask;       // 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 ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   0 oder 1  // WICHTIG!!! am Ende lassen
   unsigned char ExtraConfig;        // bitcodiert
   char Name[12];
 };
 
struct
  {
    char Revision;
    char Name[12];
    signed char Motor[16][4];
  } Mixer;
 
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_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 unsigned char Motor[MAX_MOTORS];
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/tags/V2.00a_NOT_for_FC_V2.5/fc.h @ 2716 - Rev 1420 → 1423

Rev 1420		Rev 1423
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 FCFLAG_MOTOR_RUN 0x01	12	#define FCFLAG_MOTOR_RUN 0x01
13	#define FCFLAG_FLY 0x02	13	#define FCFLAG_FLY 0x02
14	#define FCFLAG_CALIBRATE 0x04	14	#define FCFLAG_CALIBRATE 0x04
15	#define FCFLAG_START 0x08	15	#define FCFLAG_START 0x08
16	#define FCFLAG_NOTLANDUNG 0x10	16	#define FCFLAG_NOTLANDUNG 0x10
17	#define FCFLAG_LOWBAT 0x20	17	#define FCFLAG_LOWBAT 0x20
18	#define FCFLAG_SPI_RX_ERR 0x40	18	#define FCFLAG_SPI_RX_ERR 0x40
19	#define FCFLAG_RESERVE1 0x80	19	#define FCFLAG_I2CERR 0x80
20		-
21		20
22	#define Poti1 Poti[0]	21	#define Poti1 Poti[0]
23	#define Poti2 Poti[1]	22	#define Poti2 Poti[1]
24	#define Poti3 Poti[2]	23	#define Poti3 Poti[2]
25	#define Poti4 Poti[3]	24	#define Poti4 Poti[3]
26	#define Poti5 Poti[4]	25	#define Poti5 Poti[4]
27	#define Poti6 Poti[5]	26	#define Poti6 Poti[5]
28	#define Poti7 Poti[6]	27	#define Poti7 Poti[6]
29	#define Poti8 Poti[7]	28	#define Poti8 Poti[7]
30		29
31	#define MAX_MOTORS 12	30	#define MAX_MOTORS 12
32		31
33	#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}	32	#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
34		33
35	extern volatile unsigned char FCFlags;	34	extern volatile unsigned char FCFlags;
36	extern volatile unsigned int I2CTimeout;	35	extern volatile unsigned int I2CTimeout;
37	extern unsigned char Sekunde,Minute;	36	extern unsigned char Sekunde,Minute;
38	extern unsigned int BaroExpandActive;	37	extern unsigned int BaroExpandActive;
39	extern long IntegralNick,IntegralNick2;	38	extern long IntegralNick,IntegralNick2;
40	extern long IntegralRoll,IntegralRoll2;	39	extern long IntegralRoll,IntegralRoll2;
41	//extern int IntegralNick,IntegralNick2;	40	//extern int IntegralNick,IntegralNick2;
42	//extern int IntegralRoll,IntegralRoll2;	41	//extern int IntegralRoll,IntegralRoll2;
43	extern unsigned char Poti[9];	42	extern unsigned char Poti[9];
44		43
45	extern long Mess_IntegralNick,Mess_IntegralNick2;	44	extern long Mess_IntegralNick,Mess_IntegralNick2;
46	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	45	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
47	extern long IntegralAccNick,IntegralAccRoll;	46	extern long IntegralAccNick,IntegralAccRoll;
48	extern volatile long Mess_Integral_Hoch;	47	extern volatile long Mess_Integral_Hoch;
49	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	48	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
50	extern int KompassValue;	49	extern int KompassValue;
51	extern int KompassStartwert;	50	extern int KompassStartwert;
52	extern int KompassRichtung;	51	extern int KompassRichtung;
53	extern int TrimNick, TrimRoll;	52	extern int TrimNick, TrimRoll;
54	extern long ErsatzKompass;	53	extern long ErsatzKompass;
55	extern int ErsatzKompassInGrad; // Kompasswert in Grad	54	extern int ErsatzKompassInGrad; // Kompasswert in Grad
56	extern long HoehenWert;	55	extern long HoehenWert;
57	extern long SollHoehe;	56	extern long SollHoehe;
58	extern int MesswertNick,MesswertRoll,MesswertGier;	57	extern int MesswertNick,MesswertRoll,MesswertGier;
59	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	58	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
60	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;	59	extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
61	extern unsigned char HoehenReglerAktiv;	60	extern unsigned char HoehenReglerAktiv;
62	extern volatile float NeutralAccZ;	61	extern volatile float NeutralAccZ;
63	extern long Umschlag180Nick, Umschlag180Roll;	62	extern long Umschlag180Nick, Umschlag180Roll;
64	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	63	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
65	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	64	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
66	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	65	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
67	extern unsigned int modell_fliegt;	66	extern unsigned int modell_fliegt;
68	void MotorRegler(void);	67	void MotorRegler(void);
69	void SendMotorData(void);	68	void SendMotorData(void);
70	void CalibrierMittelwert(void);	69	void CalibrierMittelwert(void);
71	void Mittelwert(void);	70	void Mittelwert(void);
72	void SetNeutral(void);	71	void SetNeutral(void);
73	void Piep(unsigned char Anzahl, unsigned int dauer);	72	void Piep(unsigned char Anzahl, unsigned int dauer);
74		73
75	extern unsigned char h,m,s;	74	extern unsigned char h,m,s;
76	extern volatile unsigned char Timeout ;	75	extern volatile unsigned char Timeout ;
77	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	76	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
78	extern int DiffNick,DiffRoll;	77	extern int DiffNick,DiffRoll;
79	//extern int Poti1, Poti2, Poti3, Poti4;	78	//extern int Poti1, Poti2, Poti3, Poti4;
80	extern volatile unsigned char SenderOkay;	79	extern volatile unsigned char SenderOkay;
81	extern volatile unsigned char SenderRSSI;	80	extern volatile unsigned char SenderRSSI;
82	extern unsigned char RequiredMotors;	81	extern unsigned char RequiredMotors;
83	extern int StickNick,StickRoll,StickGier;	82	extern int StickNick,StickRoll,StickGier;
84	extern char MotorenEin;	83	extern char MotorenEin;
85	extern void DefaultKonstanten1(void);	84	extern void DefaultKonstanten1(void);
86	extern void DefaultKonstanten2(void);	85	extern void DefaultKonstanten2(void);
87	extern void DefaultKonstanten3(void);	86	extern void DefaultKonstanten3(void);
88	extern void DefaultStickMapping(void);	87	extern void DefaultStickMapping(void);
89	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	88	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
90		89
91	#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)	90	#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)
92	struct mk_param_struct	91	struct mk_param_struct
93	{	92	{
94	unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3	93	unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
95	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv	94	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
96	unsigned char Hoehe_MinGas; // Wert : 0-100	95	unsigned char Hoehe_MinGas; // Wert : 0-100
97	unsigned char Luftdruck_D; // Wert : 0-250	96	unsigned char Luftdruck_D; // Wert : 0-250
98	unsigned char MaxHoehe; // Wert : 0-32	97	unsigned char MaxHoehe; // Wert : 0-32
99	unsigned char Hoehe_P; // Wert : 0-32	98	unsigned char Hoehe_P; // Wert : 0-32
100	unsigned char Hoehe_Verstaerkung; // Wert : 0-50	99	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
101	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250	100	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
102	unsigned char Hoehe_HoverBand; // Wert : 0-250	101	unsigned char Hoehe_HoverBand; // Wert : 0-250
103	unsigned char Hoehe_GPS_Z; // Wert : 0-250	102	unsigned char Hoehe_GPS_Z; // Wert : 0-250
104	unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250	103	unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
105	unsigned char Stick_P; // Wert : 1-6	104	unsigned char Stick_P; // Wert : 1-6
106	unsigned char Stick_D; // Wert : 0-64	105	unsigned char Stick_D; // Wert : 0-64
107	unsigned char Gier_P; // Wert : 1-20	106	unsigned char Gier_P; // Wert : 1-20
108	unsigned char Gas_Min; // Wert : 0-32	107	unsigned char Gas_Min; // Wert : 0-32
109	unsigned char Gas_Max; // Wert : 33-250	108	unsigned char Gas_Max; // Wert : 33-250
110	unsigned char GyroAccFaktor; // Wert : 1-64	109	unsigned char GyroAccFaktor; // Wert : 1-64
111	unsigned char KompassWirkung; // Wert : 0-32	110	unsigned char KompassWirkung; // Wert : 0-32
112	unsigned char Gyro_P; // Wert : 10-250	111	unsigned char Gyro_P; // Wert : 10-250
113	unsigned char Gyro_I; // Wert : 0-250	112	unsigned char Gyro_I; // Wert : 0-250
114	unsigned char Gyro_D; // Wert : 0-250	113	unsigned char Gyro_D; // Wert : 0-250
115	unsigned char Gyro_Gier_P; // Wert : 10-250	114	unsigned char Gyro_Gier_P; // Wert : 10-250
116	unsigned char Gyro_Gier_I; // Wert : 0-250	115	unsigned char Gyro_Gier_I; // Wert : 0-250
117	unsigned char UnterspannungsWarnung; // Wert : 0-250	116	unsigned char UnterspannungsWarnung; // Wert : 0-250
118	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust	117	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
119	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen	118	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
120	unsigned char UfoAusrichtung; // X oder + Formation	119	unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
121	unsigned char I_Faktor; // Wert : 0-250	120	unsigned char I_Faktor; // Wert : 0-250
122	unsigned char UserParam1; // Wert : 0-250	121	unsigned char UserParam1; // Wert : 0-250
123	unsigned char UserParam2; // Wert : 0-250	122	unsigned char UserParam2; // Wert : 0-250
124	unsigned char UserParam3; // Wert : 0-250	123	unsigned char UserParam3; // Wert : 0-250
125	unsigned char UserParam4; // Wert : 0-250	124	unsigned char UserParam4; // Wert : 0-250
126	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos	125	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
127	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo	126	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
128	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag	127	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
129	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag	128	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
130	//--- Seit V0.75	129	//--- Seit V0.75
131	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos	130	unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos
132	unsigned char ServoRollComp; // Wert : 0-250	131	unsigned char ServoRollComp; // Wert : 0-250
133	unsigned char ServoRollMin; // Wert : 0-250	132	unsigned char ServoRollMin; // Wert : 0-250
134	unsigned char ServoRollMax; // Wert : 0-250	133	unsigned char ServoRollMax; // Wert : 0-250
135	//---	134	//---
136	unsigned char ServoNickRefresh; // Speed of the Servo	135	unsigned char ServoNickRefresh; // Speed of the Servo
137	unsigned char Servo3; // Value or mapping of the Servo Output	136	unsigned char Servo3; // Value or mapping of the Servo Output
138	unsigned char Servo4; // Value or mapping of the Servo Output	137	unsigned char Servo4; // Value or mapping of the Servo Output
139	unsigned char Servo5; // Value or mapping of the Servo Output	138	unsigned char Servo5; // Value or mapping of the Servo Output
140	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping	139	unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
141	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag	140	unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
142	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag	141	unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
143	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)	142	unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
144	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	143	unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
145	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	144	unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
146	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt	145	unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
147	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt	146	unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
148	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)	147	unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
149	unsigned char Driftkomp;	148	unsigned char Driftkomp;
150	unsigned char DynamicStability;	149	unsigned char DynamicStability;
151	unsigned char UserParam5; // Wert : 0-250	150	unsigned char UserParam5; // Wert : 0-250
152	unsigned char UserParam6; // Wert : 0-250	151	unsigned char UserParam6; // Wert : 0-250
153	unsigned char UserParam7; // Wert : 0-250	152	unsigned char UserParam7; // Wert : 0-250
154	unsigned char UserParam8; // Wert : 0-250	153	unsigned char UserParam8; // Wert : 0-250
155	//---Output ---------------------------------------------	154	//---Output ---------------------------------------------
156	unsigned char J16Bitmask; // for the J16 Output	155	unsigned char J16Bitmask; // for the J16 Output
157	unsigned char J16Timing; // for the J16 Output	156	unsigned char J16Timing; // for the J16 Output
158	unsigned char J17Bitmask; // for the J17 Output	157	unsigned char J17Bitmask; // for the J17 Output
159	unsigned char J17Timing; // for the J17 Output	158	unsigned char J17Timing; // for the J17 Output
160	// seit version V0.75c	159	// seit version V0.75c
161	unsigned char WARN_J16_Bitmask; // for the J16 Output	160	unsigned char WARN_J16_Bitmask; // for the J16 Output
162	unsigned char WARN_J17_Bitmask; // for the J17 Output	161	unsigned char WARN_J17_Bitmask; // for the J17 Output
163	//---NaviCtrl---------------------------------------------	162	//---NaviCtrl---------------------------------------------
164	unsigned char NaviGpsModeControl; // Parameters for the Naviboard	163	unsigned char NaviGpsModeControl; // Parameters for the Naviboard
165	unsigned char NaviGpsGain;	164	unsigned char NaviGpsGain;
166	unsigned char NaviGpsP;	165	unsigned char NaviGpsP;
167	unsigned char NaviGpsI;	166	unsigned char NaviGpsI;
168	unsigned char NaviGpsD;	167	unsigned char NaviGpsD;
169	unsigned char NaviGpsPLimit;	168	unsigned char NaviGpsPLimit;
170	unsigned char NaviGpsILimit;	169	unsigned char NaviGpsILimit;
171	unsigned char NaviGpsDLimit;	170	unsigned char NaviGpsDLimit;
172	unsigned char NaviGpsACC;	171	unsigned char NaviGpsACC;
173	unsigned char NaviGpsMinSat;	172	unsigned char NaviGpsMinSat;
174	unsigned char NaviStickThreshold;	173	unsigned char NaviStickThreshold;
175	unsigned char NaviWindCorrection;	174	unsigned char NaviWindCorrection;
176	unsigned char NaviSpeedCompensation;	175	unsigned char NaviSpeedCompensation;
177	unsigned char NaviOperatingRadius;	176	unsigned char NaviOperatingRadius;
178	unsigned char NaviAngleLimitation;	177	unsigned char NaviAngleLimitation;
179	unsigned char NaviPH_LoginTime;	178	unsigned char NaviPH_LoginTime;
180	//---Ext.Ctrl---------------------------------------------	179	//---Ext.Ctrl---------------------------------------------
181	unsigned char ExternalControl; // for serial Control	180	unsigned char ExternalControl; // for serial Control
182	//------------------------------------------------	181	//------------------------------------------------
183	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt	182	unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
184	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen	183	unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen
185	unsigned char ExtraConfig; // bitcodiert	184	unsigned char ExtraConfig; // bitcodiert
186	char Name[12];	185	char Name[12];
187	};	186	};
188		187
189	struct	188	struct
190	{	189	{
191	char Revision;	190	char Revision;
192	char Name[12];	191	char Name[12];
193	signed char Motor[16][4];	192	signed char Motor[16][4];
194	} Mixer;	193	} Mixer;
195		194
196	extern struct mk_param_struct EE_Parameter;	195	extern struct mk_param_struct EE_Parameter;
197	extern unsigned char Parameter_Luftdruck_D;	196	extern unsigned char Parameter_Luftdruck_D;
198	extern unsigned char Parameter_MaxHoehe;	197	extern unsigned char Parameter_MaxHoehe;
199	extern unsigned char Parameter_Hoehe_P;	198	extern unsigned char Parameter_Hoehe_P;
200	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	199	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
201	extern unsigned char Parameter_KompassWirkung;	200	extern unsigned char Parameter_KompassWirkung;
202	extern unsigned char Parameter_Gyro_P;	201	extern unsigned char Parameter_Gyro_P;
203	extern unsigned char Parameter_Gyro_I;	202	extern unsigned char Parameter_Gyro_I;
204	extern unsigned char Parameter_Gier_P;	203	extern unsigned char Parameter_Gier_P;
205	extern unsigned char Parameter_ServoNickControl;	204	extern unsigned char Parameter_ServoNickControl;
206	extern unsigned char Parameter_ServoRollControl;	205	extern unsigned char Parameter_ServoRollControl;
207	extern unsigned char Parameter_AchsKopplung1;	206	extern unsigned char Parameter_AchsKopplung1;
208	extern unsigned char Parameter_AchsKopplung2;	207	extern unsigned char Parameter_AchsKopplung2;
209	//extern unsigned char Parameter_AchsGegenKopplung1;	208	//extern unsigned char Parameter_AchsGegenKopplung1;
210	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	209	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
211	extern unsigned char Parameter_J16Timing; // for the J16 Output	210	extern unsigned char Parameter_J16Timing; // for the J16 Output
212	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	211	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
213	extern unsigned char Parameter_J17Timing; // for the J17 Output	212	extern unsigned char Parameter_J17Timing; // for the J17 Output
214	extern signed char MixerTable[MAX_MOTORS][4];	213	extern signed char MixerTable[MAX_MOTORS][4];
215	extern unsigned char Motor[MAX_MOTORS];	214	extern unsigned char Motor[MAX_MOTORS];
216	#endif //_FC_H	215	#endif //_FC_H
217		216
218		217