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27 | uint8_t UserParam4; |
27 | uint8_t UserParam4; |
28 | uint8_t UserParam5; |
28 | uint8_t UserParam5; |
29 | uint8_t UserParam6; |
29 | uint8_t UserParam6; |
30 | uint8_t UserParam7; |
30 | uint8_t UserParam7; |
31 | uint8_t UserParam8; |
31 | uint8_t UserParam8; |
32 | uint8_t ServoPitchControl; |
32 | uint8_t ServoNickControl; |
33 | uint8_t LoopThrustLimit; |
33 | uint8_t LoopGasLimit; |
34 | uint8_t Yaw_PosFeedback; |
34 | uint8_t Yaw_PosFeedback; |
35 | uint8_t Yaw_NegFeedback; |
35 | uint8_t Yaw_NegFeedback; |
36 | uint8_t DynamicStability; |
36 | uint8_t DynamicStability; |
37 | } fc_param_t; |
37 | } fc_param_t; |
Line 38... | Line 38... | ||
38 | 38 | ||
Line 39... | Line 39... | ||
39 | extern fc_param_t FCParam; |
39 | extern fc_param_t FCParam; |
Line 40... | Line 40... | ||
40 | 40 | ||
41 | extern volatile uint16_t I2CTimeout; |
41 | extern volatile uint16_t I2CTimeout; |
42 | 42 | ||
Line 43... | Line 43... | ||
43 | // attitude |
43 | // attitude |
44 | extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw; |
44 | extern volatile int32_t IntegralNick, IntegralRoll, IntegralYaw; |
45 | extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
45 | extern volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
46 | 46 | ||
Line 47... | Line 47... | ||
47 | // offsets |
47 | // offsets |
Line 63... | Line 63... | ||
63 | // hight control |
63 | // hight control |
64 | extern int ReadingHeight; |
64 | extern int ReadingHeight; |
65 | extern int SetPointHeight; |
65 | extern int SetPointHeight; |
Line 66... | Line 66... | ||
66 | 66 | ||
67 | // mean accelerations |
67 | // mean accelerations |
Line 68... | Line 68... | ||
68 | extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
68 | extern volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
69 | 69 | ||
Line 70... | Line 70... | ||
70 | // acceleration send to navi board |
70 | // acceleration send to navi board |
71 | extern int16_t NaviAccPitch, NaviAccRoll, NaviCntAcc; |
71 | extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
Line 72... | Line 72... | ||
72 | 72 | ||
73 | 73 | ||
Line 74... | Line 74... | ||
74 | // looping params |
74 | // looping params |
75 | extern long TurnOver180Pitch, TurnOver180Roll; |
75 | extern long TurnOver180Nick, TurnOver180Roll; |
76 | 76 | ||
Line 94... | Line 94... | ||
94 | #else |
94 | #else |
95 | extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
95 | extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
96 | #endif |
96 | #endif |
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97 | 97 | ||
98 | // current stick values |
98 | // current stick values |
99 | extern int16_t StickPitch; |
99 | extern int16_t StickNick; |
100 | extern int16_t StickRoll; |
100 | extern int16_t StickRoll; |
101 | extern int16_t StickYaw; |
101 | extern int16_t StickYaw; |
102 | extern int16_t GPS_Pitch; |
102 | extern int16_t GPS_Nick; |
Line 103... | Line 103... | ||
103 | extern int16_t GPS_Roll; |
103 | extern int16_t GPS_Roll; |
104 | 104 | ||
105 | // current stick elongations |
105 | // current stick elongations |
106 | extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw; |
106 | extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
107 | extern uint8_t MotorsOn; |
107 | extern uint8_t MotorsOn; |