WebSVN - FlightCtrl - Diff - Rev 2541 and 2552


/*#######################################################################################
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
#define HEIGHT_CONTROL_STICKTHRESHOLD 15
#define SERVO_FS_TIME 10   // in Seconds
 
// 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
#define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground
#define FC_STATUS2_AUTO_STARTING                0x40
#define FC_STATUS2_AUTO_LANDING                 0x80
 
// FC_StatusFlags3 
#define FC_STATUS3_REDUNDANCE_AKTIVE        0x01
#define FC_STATUS3_BOAT                         0x02
#define FC_STATUS3_REDUNDANCE_ERROR         0x04
#define FC_STATUS3_REDUNDANCE_TEST                      0x08
 
//NC_To_FC_Flags
#define NC_TO_FC_FLYING_RANGE           0x01
#define NC_TO_FC_EMERGENCY_LANDING      0x02 // Forces a landing
#define NC_TO_FC_AUTOSTART                      0x04
#define NC_TO_FC_FAILSAFE_LANDING       0x08 // moves Servos into FS-Position
#define NC_TO_FC_SIMULATION_ACTIVE      0x10 // don't start motors
 
extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
extern unsigned char FC_StatusFlags3;
extern void ParameterZuordnung(void);
extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel
extern void ChannelAssingment(void);
extern void StoreNeutralToEeprom(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,NC_CompassSetpoint;
extern int  KompassRichtung;
extern char CalculateCompassTimer;
extern unsigned char KompassFusion;
extern unsigned char ControlHeading;
extern int  TrimNick, TrimRoll;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad,CompassCorrected; // 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 int BoatNeutralNick,BoatNeutralRoll,BoatNeutralGier;
extern unsigned int NeutralAccX, NeutralAccY;
extern unsigned char HoehenReglerAktiv;
extern int NeutralAccZ;
extern signed char NeutralAccZfine;
extern long Umschlag180Nick, Umschlag180Roll;
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 unsigned char SetNeutral(unsigned char AccAdjustment);  // retuns: "sucess"
extern void Piep(unsigned char Anzahl, unsigned int dauer);
extern void CopyDebugValues(void);
extern unsigned char ACC_AltitudeControl;
extern signed int CosAttitude;  // for projection of hoover gas
 
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_ServoNickComp;
extern unsigned char Parameter_ServoRollComp;
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];
extern unsigned char LowVoltageLandingActive;
extern unsigned char LowVoltageHomeActive;
extern unsigned char Parameter_MaximumAltitude;
extern char NeueKompassRichtungMerken;
extern unsigned char ServoFailsafeActive;
 
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/tags/V2.12a/fc.h @ 2743 - Rev 2541 → 2552

Rev 2541		Rev 2552
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	#define SERVO_FS_TIME 10 // in Seconds	13	#define SERVO_FS_TIME 10 // in Seconds
14		14
15	// FC_StatusFlags	15	// FC_StatusFlags
16	#define FC_STATUS_MOTOR_RUN 0x01	16	#define FC_STATUS_MOTOR_RUN 0x01
17	#define FC_STATUS_FLY 0x02	17	#define FC_STATUS_FLY 0x02
18	#define FC_STATUS_CALIBRATE 0x04	18	#define FC_STATUS_CALIBRATE 0x04
19	#define FC_STATUS_START 0x08	19	#define FC_STATUS_START 0x08
20	#define FC_STATUS_EMERGENCY_LANDING 0x10	20	#define FC_STATUS_EMERGENCY_LANDING 0x10
21	#define FC_STATUS_LOWBAT 0x20	21	#define FC_STATUS_LOWBAT 0x20
22	#define FC_STATUS_VARIO_TRIM_UP 0x40	22	#define FC_STATUS_VARIO_TRIM_UP 0x40
23	#define FC_STATUS_VARIO_TRIM_DOWN 0x80	23	#define FC_STATUS_VARIO_TRIM_DOWN 0x80
24		24
25	// FC_StatusFlags2	25	// FC_StatusFlags2
26	#define FC_STATUS2_CAREFREE 0x01	26	#define FC_STATUS2_CAREFREE 0x01
27	#define FC_STATUS2_ALTITUDE_CONTROL 0x02	27	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
28	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04	28	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
29	#define FC_STATUS2_OUT1_ACTIVE 0x08	29	#define FC_STATUS2_OUT1_ACTIVE 0x08
30	#define FC_STATUS2_OUT2_ACTIVE 0x10	30	#define FC_STATUS2_OUT2_ACTIVE 0x10
31	#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground	31	#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
32	#define FC_STATUS2_AUTO_STARTING 0x40	32	#define FC_STATUS2_AUTO_STARTING 0x40
33	#define FC_STATUS2_AUTO_LANDING 0x80	33	#define FC_STATUS2_AUTO_LANDING 0x80
34		34
35	// FC_StatusFlags3	35	// FC_StatusFlags3
36	#define FC_STATUS3_REDUNDANCE_AKTIVE 0x01	36	#define FC_STATUS3_REDUNDANCE_AKTIVE 0x01
37	#define FC_STATUS3_BOAT 0x02	37	#define FC_STATUS3_BOAT 0x02
38	#define FC_STATUS3_REDUNDANCE_ERROR 0x04	38	#define FC_STATUS3_REDUNDANCE_ERROR 0x04
39	#define FC_STATUS3_REDUNDANCE_TEST 0x08	39	#define FC_STATUS3_REDUNDANCE_TEST 0x08
40		40
41	//NC_To_FC_Flags	41	//NC_To_FC_Flags
42	#define NC_TO_FC_FLYING_RANGE 0x01	42	#define NC_TO_FC_FLYING_RANGE 0x01
43	#define NC_TO_FC_EMERGENCY_LANDING 0x02	43	#define NC_TO_FC_EMERGENCY_LANDING 0x02 // Forces a landing
44	#define NC_TO_FC_AUTOSTART 0x04	44	#define NC_TO_FC_AUTOSTART 0x04
45	#define NC_TO_FC_FAILSAFE_LANDING 0x08 // moves Servos into FS-Position	45	#define NC_TO_FC_FAILSAFE_LANDING 0x08 // moves Servos into FS-Position
46	#define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors	46	#define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors
47		47
48	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;	48	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
49	extern unsigned char FC_StatusFlags3;	49	extern unsigned char FC_StatusFlags3;
50	extern void ParameterZuordnung(void);	50	extern void ParameterZuordnung(void);
51	extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel	51	extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel
52	extern void ChannelAssingment(void);	52	extern void ChannelAssingment(void);
53	extern void StoreNeutralToEeprom(void);	53	extern void StoreNeutralToEeprom(void);
54		54
55	#define Poti1 Poti[0]	55	#define Poti1 Poti[0]
56	#define Poti2 Poti[1]	56	#define Poti2 Poti[1]
57	#define Poti3 Poti[2]	57	#define Poti3 Poti[2]
58	#define Poti4 Poti[3]	58	#define Poti4 Poti[3]
59	#define Poti5 Poti[4]	59	#define Poti5 Poti[4]
60	#define Poti6 Poti[5]	60	#define Poti6 Poti[5]
61	#define Poti7 Poti[6]	61	#define Poti7 Poti[6]
62	#define Poti8 Poti[7]	62	#define Poti8 Poti[7]
63		63
64	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	64	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
65	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	65	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
66	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	66	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
67		67
68	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}	68	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
69	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}	69	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
70	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}	70	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
71	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}	71	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
72		72
73	extern unsigned char Sekunde,Minute;	73	extern unsigned char Sekunde,Minute;
74	extern unsigned int BaroExpandActive;	74	extern unsigned int BaroExpandActive;
75	extern long IntegralNick;//,IntegralNick2;	75	extern long IntegralNick;//,IntegralNick2;
76	extern long IntegralRoll;//,IntegralRoll2;	76	extern long IntegralRoll;//,IntegralRoll2;
77	//extern int IntegralNick,IntegralNick2;	77	//extern int IntegralNick,IntegralNick2;
78	//extern int IntegralRoll,IntegralRoll2;	78	//extern int IntegralRoll,IntegralRoll2;
79	extern unsigned char Poti[9];	79	extern unsigned char Poti[9];
80		80
81	extern long Mess_IntegralNick;//,Mess_IntegralNick2;	81	extern long Mess_IntegralNick;//,Mess_IntegralNick2;
82	extern long Mess_IntegralRoll;//,Mess_IntegralRoll2;	82	extern long Mess_IntegralRoll;//,Mess_IntegralRoll2;
83	extern long IntegralAccNick,IntegralAccRoll;	83	extern long IntegralAccNick,IntegralAccRoll;
84	extern long SummeNick,SummeRoll;	84	extern long SummeNick,SummeRoll;
85	extern volatile long Mess_Integral_Hoch;	85	extern volatile long Mess_Integral_Hoch;
86	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	86	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
87	extern int KompassValue;	87	extern int KompassValue;
88	extern int KompassSollWert,NC_CompassSetpoint;	88	extern int KompassSollWert,NC_CompassSetpoint;
89	extern int KompassRichtung;	89	extern int KompassRichtung;
90	extern char CalculateCompassTimer;	90	extern char CalculateCompassTimer;
91	extern unsigned char KompassFusion;	91	extern unsigned char KompassFusion;
92	extern unsigned char ControlHeading;	92	extern unsigned char ControlHeading;
93	extern int TrimNick, TrimRoll;	93	extern int TrimNick, TrimRoll;
94	extern long ErsatzKompass;	94	extern long ErsatzKompass;
95	extern int ErsatzKompassInGrad,CompassCorrected; // Kompasswert in Grad	95	extern int ErsatzKompassInGrad,CompassCorrected; // Kompasswert in Grad
96	extern long HoehenWert;	96	extern long HoehenWert;
97	extern long SollHoehe;	97	extern long SollHoehe;
98	extern long FromNC_AltitudeSetpoint;	98	extern long FromNC_AltitudeSetpoint;
99	extern unsigned char FromNC_AltitudeSpeed;	99	extern unsigned char FromNC_AltitudeSpeed;
100	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250	100	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250
101	extern unsigned char CareFree;	101	extern unsigned char CareFree;
102	extern int MesswertNick,MesswertRoll,MesswertGier;	102	extern int MesswertNick,MesswertRoll,MesswertGier;
103	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	103	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
104	extern int BoatNeutralNick,BoatNeutralRoll,BoatNeutralGier;	104	extern int BoatNeutralNick,BoatNeutralRoll,BoatNeutralGier;
105	extern unsigned int NeutralAccX, NeutralAccY;	105	extern unsigned int NeutralAccX, NeutralAccY;
106	extern unsigned char HoehenReglerAktiv;	106	extern unsigned char HoehenReglerAktiv;
107	extern int NeutralAccZ;	107	extern int NeutralAccZ;
108	extern signed char NeutralAccZfine;	108	extern signed char NeutralAccZfine;
109	extern long Umschlag180Nick, Umschlag180Roll;	109	extern long Umschlag180Nick, Umschlag180Roll;
110	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	110	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
111	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	111	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
112	extern unsigned int modell_fliegt;	112	extern unsigned int modell_fliegt;
113	extern void MotorRegler(void);	113	extern void MotorRegler(void);
114	extern void SendMotorData(void);	114	extern void SendMotorData(void);
115	//void CalibrierMittelwert(void);	115	//void CalibrierMittelwert(void);
116	//void Mittelwert(void);	116	//void Mittelwert(void);
117	extern unsigned char SetNeutral(unsigned char AccAdjustment); // retuns: "sucess"	117	extern unsigned char SetNeutral(unsigned char AccAdjustment); // retuns: "sucess"
118	extern void Piep(unsigned char Anzahl, unsigned int dauer);	118	extern void Piep(unsigned char Anzahl, unsigned int dauer);
119	extern void CopyDebugValues(void);	119	extern void CopyDebugValues(void);
120	extern unsigned char ACC_AltitudeControl;	120	extern unsigned char ACC_AltitudeControl;
121	extern signed int CosAttitude; // for projection of hoover gas	121	extern signed int CosAttitude; // for projection of hoover gas
122		122
123	extern unsigned char h,m,s;	123	extern unsigned char h,m,s;
124	extern int StickNick,StickRoll,StickGier,StickGas;	124	extern int StickNick,StickRoll,StickGier,StickGas;
125	extern volatile unsigned char Timeout ;	125	extern volatile unsigned char Timeout ;
126	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	126	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
127	extern int DiffNick,DiffRoll;	127	extern int DiffNick,DiffRoll;
128	//extern int Poti1, Poti2, Poti3, Poti4;	128	//extern int Poti1, Poti2, Poti3, Poti4;
129	extern volatile unsigned char SenderOkay;	129	extern volatile unsigned char SenderOkay;
130	extern int StickNick,StickRoll,StickGier;	130	extern int StickNick,StickRoll,StickGier;
131	extern char MotorenEin;	131	extern char MotorenEin;
132	extern unsigned char CalibrationDone;	132	extern unsigned char CalibrationDone;
133	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	133	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
134	extern char VarioCharacter;	134	extern char VarioCharacter;
135	extern signed int AltitudeSetpointTrimming;	135	extern signed int AltitudeSetpointTrimming;
136	extern signed char WaypointTrimming;	136	extern signed char WaypointTrimming;
137	extern int HoverGas;	137	extern int HoverGas;
138	extern unsigned char Parameter_Luftdruck_D;	138	extern unsigned char Parameter_Luftdruck_D;
139	//extern unsigned char Parameter_MaxHoehe;	139	//extern unsigned char Parameter_MaxHoehe;
140	extern unsigned char Parameter_Hoehe_P;	140	extern unsigned char Parameter_Hoehe_P;
141	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	141	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
142	extern unsigned char Parameter_KompassWirkung;	142	extern unsigned char Parameter_KompassWirkung;
143	extern unsigned char Parameter_Gyro_P;	143	extern unsigned char Parameter_Gyro_P;
144	extern unsigned char Parameter_Gyro_I;	144	extern unsigned char Parameter_Gyro_I;
145	extern unsigned char Parameter_Gier_P;	145	extern unsigned char Parameter_Gier_P;
146	extern unsigned char Parameter_ServoNickControl;	146	extern unsigned char Parameter_ServoNickControl;
147	extern unsigned char Parameter_ServoRollControl;	147	extern unsigned char Parameter_ServoRollControl;
148	extern unsigned char Parameter_ServoNickComp;	148	extern unsigned char Parameter_ServoNickComp;
149	extern unsigned char Parameter_ServoRollComp;	149	extern unsigned char Parameter_ServoRollComp;
150	extern unsigned char Parameter_AchsKopplung1;	150	extern unsigned char Parameter_AchsKopplung1;
151	extern unsigned char Parameter_AchsKopplung2;	151	extern unsigned char Parameter_AchsKopplung2;
152	//extern unsigned char Parameter_AchsGegenKopplung1;	152	//extern unsigned char Parameter_AchsGegenKopplung1;
153	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	153	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
154	extern unsigned char Parameter_J16Timing; // for the J16 Output	154	extern unsigned char Parameter_J16Timing; // for the J16 Output
155	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	155	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
156	extern unsigned char Parameter_J17Timing; // for the J17 Output	156	extern unsigned char Parameter_J17Timing; // for the J17 Output
157	extern unsigned char Parameter_GlobalConfig;	157	extern unsigned char Parameter_GlobalConfig;
158	extern unsigned char Parameter_ExtraConfig;	158	extern unsigned char Parameter_ExtraConfig;
159	extern signed char MixerTable[MAX_MOTORS][4];	159	extern signed char MixerTable[MAX_MOTORS][4];
160	extern const signed char sintab[31];	160	extern const signed char sintab[31];
161	extern unsigned char LowVoltageLandingActive;	161	extern unsigned char LowVoltageLandingActive;
162	extern unsigned char LowVoltageHomeActive;	162	extern unsigned char LowVoltageHomeActive;
163	extern unsigned char Parameter_MaximumAltitude;	163	extern unsigned char Parameter_MaximumAltitude;
164	extern char NeueKompassRichtungMerken;	164	extern char NeueKompassRichtungMerken;
165	extern unsigned char ServoFailsafeActive;	165	extern unsigned char ServoFailsafeActive;
166		166
167	#endif //_FC_H	167	#endif //_FC_H
168		168
169		169