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| Rev 690 | Rev 701 | ||
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| 4 | 4 | ||
| 5 | #ifndef _FC_H |
5 | #ifndef _FC_H |
| Line 6... | Line 6... | ||
| 6 | #define _FC_H |
6 | #define _FC_H |
| 7 | 7 | ||
| 8 | extern volatile unsigned int I2CTimeout; |
8 | extern volatile unsigned int I2CTimeout; |
| 9 | extern volatile long IntegralNick,IntegralNick2; |
9 | extern volatile long IntegralPitch,IntegralPitch2; |
| 10 | extern volatile long IntegralRoll,IntegralRoll2; |
10 | extern volatile long IntegralRoll,IntegralRoll2; |
| 11 | extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
11 | extern volatile long Reading_IntegralPitch,Reading_IntegralPitch2; |
| 12 | extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
12 | extern volatile long Reading_IntegralRoll,Reading_IntegralRoll2; |
| 13 | extern volatile long IntegralAccNick,IntegralAccRoll; |
13 | extern volatile long IntegralAccPitch,IntegralAccRoll; |
| 14 | extern volatile long Mess_Integral_Hoch; |
14 | extern volatile long Reading_Integral_Top; |
| 15 | extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
15 | extern volatile long Integral_Yaw,Reading_Integral_Yaw,Reading_Integral_Yaw2; |
| 16 | extern volatile int KompassValue; |
16 | extern volatile int CompassHeading; |
| 17 | extern volatile int KompassStartwert; |
17 | extern volatile int CompassCourse; |
| 18 | extern volatile int KompassRichtung; |
18 | extern volatile int CompassOffCourse; |
| 19 | extern int HoehenWert; |
19 | extern int ReadingHight; |
| 20 | extern int SollHoehe; |
20 | extern int SetPointHight; |
| 21 | extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
21 | extern volatile int16_t ReadingPitch,ReadingRoll,ReadingYaw; |
| 22 | extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
22 | extern volatile int AdNeutralPitch,AdNeutralRoll,AdNeutralYaw, Mean_AccPitch, Mean_AccRoll; |
| 23 | extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
23 | extern volatile int NeutralAccX, NeutralAccY,Mean_AccTop; |
| 24 | extern volatile float NeutralAccZ; |
24 | extern volatile float NeutralAccZ; |
| 25 | extern long Umschlag180Nick, Umschlag180Roll; |
25 | extern long TurnOver180Pitch, TurnOver180Roll; |
| Line 26... | Line 26... | ||
| 26 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
26 | extern signed int ExternStickPitch,ExternStickRoll,ExternStickYaw; |
| 27 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
27 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| 28 | 28 | ||
| 29 | void MotorRegler(void); |
29 | void MotorRegler(void); |
| 30 | void SendMotorData(void); |
30 | void SendMotorData(void); |
| 31 | void CalibrierMittelwert(void); |
31 | void CalibMean(void); |
| Line 32... | Line 32... | ||
| 32 | void Mittelwert(void); |
32 | void Mean(void); |
| 33 | void SetNeutral(void); |
33 | void SetNeutral(void); |
| 34 | void Piep(unsigned char Anzahl); |
34 | void Piep(unsigned char Anzahl); |
| 35 | 35 | ||
| 36 | extern unsigned char h,m,s; |
36 | extern unsigned char h,m,s; |
| 37 | extern volatile unsigned char Timeout; |
37 | extern volatile unsigned char Timeout; |
| 38 | extern volatile long IntegralNick,IntegralNick2; |
38 | extern volatile long IntegralPitch,IntegralPitch2; |
| 39 | extern volatile long IntegralRoll,IntegralRoll2; |
39 | extern volatile long IntegralRoll,IntegralRoll2; |
| 40 | extern volatile long Integral_Gier; |
40 | extern volatile long Integral_Yaw; |
| 41 | extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
41 | extern volatile long Reading_IntegralPitch,Reading_IntegralPitch2; |
| 42 | extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
42 | extern volatile long Reading_IntegralRoll,Reading_IntegralRoll2; |
| 43 | extern volatile long Mess_Integral_Gier; |
43 | extern volatile long Reading_Integral_Yaw; |
| 44 | extern volatile int DiffNick,DiffRoll; |
44 | extern volatile int DiffPitch,DiffRoll; |
| 45 | extern int Poti1, Poti2, Poti3, Poti4; |
45 | extern int Poti1, Poti2, Poti3, Poti4; |
| Line 46... | Line 46... | ||
| 46 | extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
46 | extern volatile unsigned char Motor_Front,Motor_Rear,Motor_Right,Motor_Left, Count; |
| 47 | extern unsigned char MotorWert[5]; |
47 | extern unsigned char MotorValue[5]; |
| 48 | extern int StickNick,StickRoll,StickGier; |
48 | extern int StickPitch,StickRoll,StickYaw; |
| 49 | extern char MotorenEin; |
49 | extern char MotorsOn; |
| 50 | 50 | ||
| 51 | 51 | ||
| 52 | 52 | ||
| 53 | extern unsigned char Parameter_Luftdruck_D; |
53 | extern unsigned char Parameter_Luftdruck_D; |
| 54 | extern unsigned char Parameter_MaxHoehe; |
54 | extern unsigned char Parameter_MaxHoehe; |
| 55 | extern unsigned char Parameter_Hoehe_P; |
55 | extern unsigned char Parameter_Hoehe_P; |
| 56 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
56 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| Line 57... | Line 57... | ||
| 57 | extern unsigned char Parameter_KompassWirkung; |
57 | extern unsigned char Parameter_CompassYawEffect; |