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5 | #ifndef _FC_H |
5 | #ifndef _FC_H |
6 | #define _FC_H |
6 | #define _FC_H |
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7 | 7 | ||
8 | typedef struct |
8 | typedef struct |
9 | { |
9 | { |
10 | uint8_t Hight_D; |
10 | uint8_t Height_D; |
11 | uint8_t MaxHight; |
11 | uint8_t MaxHeight; |
12 | uint8_t Hight_P; |
12 | uint8_t Height_P; |
13 | uint8_t Hight_ACC_Effect; |
13 | uint8_t Height_ACC_Effect; |
14 | uint8_t CompassYawEffect; |
14 | uint8_t CompassYawEffect; |
15 | uint8_t Gyro_P; |
15 | uint8_t Gyro_P; |
16 | uint8_t Gyro_I; |
16 | uint8_t Gyro_I; |
17 | uint8_t Gier_P; |
17 | uint8_t Gier_P; |
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51 | extern volatile int16_t CompassHeading; |
51 | extern volatile int16_t CompassHeading; |
52 | extern volatile int16_t CompassCourse; |
52 | extern volatile int16_t CompassCourse; |
53 | extern volatile int16_t CompassOffCourse; |
53 | extern volatile int16_t CompassOffCourse; |
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54 | 54 | ||
55 | // hight control |
55 | // hight control |
56 | extern int ReadingHight; |
56 | extern int ReadingHeight; |
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57 | extern int SetPointHight; |
57 | extern int SetPointHeight; |
58 | 58 | ||
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59 | // mean accelarations |
59 | // mean accelarations |