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void CalibrierMittelwert(void);
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void CalibrierMittelwert(void);
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void Mittelwert(void);
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void Mittelwert(void);
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void SetNeutral(void);
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void SetNeutral(void);
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void Piep(unsigned char Anzahl);
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void Piep(unsigned char Anzahl);
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extern void DefaultKonstanten(void);
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extern void DefaultKonstanten(void);
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void DefaultKonstanten1(void);
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void DefaultKonstanten2(void);
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extern unsigned char h,m,s;
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extern unsigned char h,m,s;
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extern volatile unsigned char Timeout ;
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extern volatile unsigned char Timeout ;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern volatile long Integral_Gier;
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extern volatile long Integral_Gier;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long Mess_Integral_Gier;
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extern volatile long Mess_Integral_Gier;
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extern volatile int  DiffNick,DiffRoll;
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extern volatile int  DiffNick,DiffRoll;
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extern int  Poti1, Poti2, Poti3, Poti4;
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extern int  Poti1, Poti2, Poti3, Poti4;
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extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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extern unsigned char MotorWert[5];
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extern unsigned char MotorWert[5];
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extern volatile unsigned char SenderOkay;
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extern volatile unsigned char SenderOkay;
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extern int StickNick,StickRoll,StickGier;
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extern int StickNick,StickRoll,StickGier;
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extern char MotorenEin;
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extern char MotorenEin;
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extern void DefaultKonstanten1(void);
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extern void DefaultKonstanten2(void);
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#define  STRUCT_PARAM_LAENGE  71
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#define  STRUCT_PARAM_LAENGE  71
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struct mk_param_struct
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struct mk_param_struct
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 {
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 {
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   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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   unsigned char AchsGegenKopplung1;     // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung)
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   unsigned char AchsGegenKopplung1;     // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung)
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   unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
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   unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
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   unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
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   unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
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   unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
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   unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
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   unsigned char Driftkomp;              
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   unsigned char Driftkomp;
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   unsigned char DynamicStability;
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   unsigned char DynamicStability;
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   unsigned char UserParam5;             // Wert : 0-250
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   unsigned char UserParam5;             // Wert : 0-250
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   unsigned char UserParam6;             // Wert : 0-250
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   unsigned char UserParam6;             // Wert : 0-250
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   unsigned char UserParam7;             // Wert : 0-250
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   unsigned char UserParam7;             // Wert : 0-250
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   unsigned char UserParam8;             // Wert : 0-250
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   unsigned char UserParam8;             // Wert : 0-250
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//------------------------------------------------
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//------------------------------------------------
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   unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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   unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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   unsigned char Reserved[4];
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   unsigned char Reserved[4];
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   char Name[12];
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   char Name[12];
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 };
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 };
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/*
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/*
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    unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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    unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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    unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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    unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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    unsigned char Reserved[4];
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    unsigned char Reserved[4];
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    char Name[12];
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    char Name[12];
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*/
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*/
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extern struct mk_param_struct EE_Parameter;
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extern struct mk_param_struct EE_Parameter;
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extern unsigned char Parameter_Luftdruck_D;
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extern unsigned char Parameter_Luftdruck_D;
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extern unsigned char Parameter_MaxHoehe;
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extern unsigned char Parameter_MaxHoehe;