WebSVN - FlightCtrl - Diff - Rev 2040 and 2191


/*#######################################################################################
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
 
//NC_To_FC_Flags
#define NC_TO_FC_FLYING_RANGE           0x01
#define NC_TO_FC_EMERGENCY_LANDING      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]
 
#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 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 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_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 signed char MixerTable[MAX_MOTORS][4];
extern const signed char sintab[31];
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/tags/V2.12a/fc.h @ 2743 - Rev 2040 → 2191

Rev 2040		Rev 2191
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		29
30	//NC_To_FC_Flags	30	//NC_To_FC_Flags
31	#define NC_TO_FC_FLYING_RANGE 0x01	31	#define NC_TO_FC_FLYING_RANGE 0x01
32	#define NC_TO_FC_EMERGENCY_LANDING 0x02	32	#define NC_TO_FC_EMERGENCY_LANDING 0x02
33		33
34	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;	34	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
35	extern void ParameterZuordnung(void);	35	extern void ParameterZuordnung(void);
36		36
37	#define Poti1 Poti[0]	37	#define Poti1 Poti[0]
38	#define Poti2 Poti[1]	38	#define Poti2 Poti[1]
39	#define Poti3 Poti[2]	39	#define Poti3 Poti[2]
40	#define Poti4 Poti[3]	40	#define Poti4 Poti[3]
41	#define Poti5 Poti[4]	41	#define Poti5 Poti[4]
42	#define Poti6 Poti[5]	42	#define Poti6 Poti[5]
43	#define Poti7 Poti[6]	43	#define Poti7 Poti[6]
44	#define Poti8 Poti[7]	44	#define Poti8 Poti[7]
-		45
-		46	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
-		47	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
-		48	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
45		49
46	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}	50	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
47	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}	51	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
48	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}	52	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
49	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}	53	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
50		54
51	extern unsigned char Sekunde,Minute;	55	extern unsigned char Sekunde,Minute;
52	extern unsigned int BaroExpandActive;	56	extern unsigned int BaroExpandActive;
53	extern long IntegralNick,IntegralNick2;	57	extern long IntegralNick,IntegralNick2;
54	extern long IntegralRoll,IntegralRoll2;	58	extern long IntegralRoll,IntegralRoll2;
55	//extern int IntegralNick,IntegralNick2;	59	//extern int IntegralNick,IntegralNick2;
56	//extern int IntegralRoll,IntegralRoll2;	60	//extern int IntegralRoll,IntegralRoll2;
57	extern unsigned char Poti[9];	61	extern unsigned char Poti[9];
58		62
59	extern long Mess_IntegralNick,Mess_IntegralNick2;	63	extern long Mess_IntegralNick,Mess_IntegralNick2;
60	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	64	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
61	extern long IntegralAccNick,IntegralAccRoll;	65	extern long IntegralAccNick,IntegralAccRoll;
62	extern long SummeNick,SummeRoll;	66	extern long SummeNick,SummeRoll;
63	extern volatile long Mess_Integral_Hoch;	67	extern volatile long Mess_Integral_Hoch;
64	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	68	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
65	extern int KompassValue;	69	extern int KompassValue;
66	extern int KompassSollWert;	70	extern int KompassSollWert;
67	extern int KompassRichtung;	71	extern int KompassRichtung;
68	extern char CalculateCompassTimer;	72	extern char CalculateCompassTimer;
69	extern unsigned char KompassFusion;	73	extern unsigned char KompassFusion;
70	extern unsigned char ControlHeading;	74	extern unsigned char ControlHeading;
71	extern int TrimNick, TrimRoll;	75	extern int TrimNick, TrimRoll;
72	extern long ErsatzKompass;	76	extern long ErsatzKompass;
73	extern int ErsatzKompassInGrad; // Kompasswert in Grad	77	extern int ErsatzKompassInGrad; // Kompasswert in Grad
74	extern long HoehenWert;	78	extern long HoehenWert;
75	extern long SollHoehe;	79	extern long SollHoehe;
76	extern long FromNC_AltitudeSetpoint;	80	extern long FromNC_AltitudeSetpoint;
77	extern unsigned char FromNC_AltitudeSpeed;	81	extern unsigned char FromNC_AltitudeSpeed;
78	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250	82	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250
79	extern unsigned char CareFree;	83	extern unsigned char CareFree;
80	extern int MesswertNick,MesswertRoll,MesswertGier;	84	extern int MesswertNick,MesswertRoll,MesswertGier;
81	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	85	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
82	extern unsigned int NeutralAccX, NeutralAccY;	86	extern unsigned int NeutralAccX, NeutralAccY;
83	extern unsigned char HoehenReglerAktiv;	87	extern unsigned char HoehenReglerAktiv;
84	extern int NeutralAccZ;	88	extern int NeutralAccZ;
85	extern long Umschlag180Nick, Umschlag180Roll;	89	extern long Umschlag180Nick, Umschlag180Roll;
86	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	90	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
87	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	91	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
88	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	92	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
89	extern unsigned int modell_fliegt;	93	extern unsigned int modell_fliegt;
90	extern void MotorRegler(void);	94	extern void MotorRegler(void);
91	extern void SendMotorData(void);	95	extern void SendMotorData(void);
92	//void CalibrierMittelwert(void);	96	//void CalibrierMittelwert(void);
93	//void Mittelwert(void);	97	//void Mittelwert(void);
94	extern void SetNeutral(unsigned char AccAdjustment);	98	extern void SetNeutral(unsigned char AccAdjustment);
95	extern void Piep(unsigned char Anzahl, unsigned int dauer);	99	extern void Piep(unsigned char Anzahl, unsigned int dauer);
96	extern void CopyDebugValues(void);	100	extern void CopyDebugValues(void);
97		101
98	extern unsigned char h,m,s;	102	extern unsigned char h,m,s;
99	extern int StickNick,StickRoll,StickGier,StickGas;	103	extern int StickNick,StickRoll,StickGier,StickGas;
100	extern volatile unsigned char Timeout ;	104	extern volatile unsigned char Timeout ;
101	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	105	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
102	extern int DiffNick,DiffRoll;	106	extern int DiffNick,DiffRoll;
103	//extern int Poti1, Poti2, Poti3, Poti4;	107	//extern int Poti1, Poti2, Poti3, Poti4;
104	extern volatile unsigned char SenderOkay;	108	extern volatile unsigned char SenderOkay;
105	extern int StickNick,StickRoll,StickGier;	109	extern int StickNick,StickRoll,StickGier;
106	extern char MotorenEin;	110	extern char MotorenEin;
107	extern unsigned char CalibrationDone;	111	extern unsigned char CalibrationDone;
108	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	112	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
109	extern char VarioCharacter;	113	extern char VarioCharacter;
110	extern signed int AltitudeSetpointTrimming;	114	extern signed int AltitudeSetpointTrimming;
111	extern signed char WaypointTrimming;	115	extern signed char WaypointTrimming;
112	extern int HoverGas;	116	extern int HoverGas;
113	extern unsigned char Parameter_Luftdruck_D;	117	extern unsigned char Parameter_Luftdruck_D;
114	extern unsigned char Parameter_MaxHoehe;	118	extern unsigned char Parameter_MaxHoehe;
115	extern unsigned char Parameter_Hoehe_P;	119	extern unsigned char Parameter_Hoehe_P;
116	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	120	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
117	extern unsigned char Parameter_KompassWirkung;	121	extern unsigned char Parameter_KompassWirkung;
118	extern unsigned char Parameter_Gyro_P;	122	extern unsigned char Parameter_Gyro_P;
119	extern unsigned char Parameter_Gyro_I;	123	extern unsigned char Parameter_Gyro_I;
120	extern unsigned char Parameter_Gier_P;	124	extern unsigned char Parameter_Gier_P;
121	extern unsigned char Parameter_ServoNickControl;	125	extern unsigned char Parameter_ServoNickControl;
122	extern unsigned char Parameter_ServoRollControl;	126	extern unsigned char Parameter_ServoRollControl;
123	extern unsigned char Parameter_AchsKopplung1;	127	extern unsigned char Parameter_AchsKopplung1;
124	extern unsigned char Parameter_AchsKopplung2;	128	extern unsigned char Parameter_AchsKopplung2;
125	//extern unsigned char Parameter_AchsGegenKopplung1;	129	//extern unsigned char Parameter_AchsGegenKopplung1;
126	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	130	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
127	extern unsigned char Parameter_J16Timing; // for the J16 Output	131	extern unsigned char Parameter_J16Timing; // for the J16 Output
128	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	132	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
129	extern unsigned char Parameter_J17Timing; // for the J17 Output	133	extern unsigned char Parameter_J17Timing; // for the J17 Output
130	extern unsigned char Parameter_GlobalConfig;	134	extern unsigned char Parameter_GlobalConfig;
131	extern unsigned char Parameter_ExtraConfig;	135	extern unsigned char Parameter_ExtraConfig;
132	extern signed char MixerTable[MAX_MOTORS][4];	136	extern signed char MixerTable[MAX_MOTORS][4];
133	extern const signed char sintab[31];	137	extern const signed char sintab[31];
134	#endif //_FC_H	138	#endif //_FC_H
135		139
136		140