Rev 885 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 885 | Rev 886 | ||
---|---|---|---|
Line 2... | Line 2... | ||
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
Line 4... | Line 4... | ||
4 | 4 | ||
5 | #ifndef _FC_H |
5 | #ifndef _FC_H |
- | 6 | #define _FC_H |
|
6 | #define _FC_H |
7 | |
- | 8 | #include <inttypes.h> |
|
7 | //#define GIER_GRAD_FAKTOR 1450L // Abhängigkeit wzischen GyroIntegral und Winkel |
9 | |
8 | #define GIER_GRAD_FAKTOR 1550L // Abhängigkeit wzischen GyroIntegral und Winkel |
10 | #define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
- | 11 | #define STICK_GAIN 4 |
|
- | 12 | ||
- | 13 | typedef struct |
|
- | 14 | { |
|
- | 15 | uint8_t Height_D; |
|
- | 16 | uint8_t MaxHeight; |
|
9 | #define STICK_GAIN 4 |
17 | uint8_t Height_P; |
10 | extern volatile unsigned int I2CTimeout; |
18 | uint8_t Height_ACC_Effect; |
- | 19 | uint8_t CompassYawEffect; |
|
- | 20 | uint8_t Gyro_P; |
|
- | 21 | uint8_t Gyro_I; |
|
- | 22 | uint8_t Gier_P; |
|
- | 23 | uint8_t I_Factor; |
|
11 | extern unsigned char Sekunde,Minute; |
24 | uint8_t UserParam1; |
12 | extern long IntegralNick,IntegralNick2; |
25 | uint8_t UserParam2; |
13 | extern long IntegralRoll,IntegralRoll2; |
26 | uint8_t UserParam3; |
14 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
27 | uint8_t UserParam4; |
15 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
28 | uint8_t UserParam5; |
16 | extern long IntegralAccNick,IntegralAccRoll; |
29 | uint8_t UserParam6; |
17 | extern volatile long Mess_Integral_Hoch; |
30 | uint8_t UserParam7; |
18 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
31 | uint8_t UserParam8; |
19 | extern volatile int KompassValue; |
32 | uint8_t ServoPitchControl; |
20 | extern volatile int KompassStartwert; |
33 | uint8_t LoopThrustLimit; |
21 | extern volatile int KompassRichtung; |
34 | uint8_t Yaw_PosFeedback; |
22 | extern long ErsatzKompass; |
35 | uint8_t Yaw_NegFeedback; |
- | 36 | uint8_t DynamicStability; |
|
- | 37 | } fc_param_t; |
|
23 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
38 | |
- | 39 | extern fc_param_t FCParam; |
|
24 | extern int HoehenWert; |
40 | |
- | 41 | extern volatile uint16_t I2CTimeout; |
|
- | 42 | ||
25 | extern int SollHoehe; |
43 | // attitude |
- | 44 | extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw; |
|
- | 45 | extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
|
- | 46 | ||
26 | extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
47 | // offsets |
27 | extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
48 | extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw; |
28 | extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
49 | extern volatile int16_t NeutralAccX, NeutralAccY; |
- | 50 | extern volatile float NeutralAccZ; |
|
- | 51 | ||
- | 52 | ||
- | 53 | extern volatile int32_t Reading_Integral_Top; // calculated in analog.c |
|
- | 54 | ||
- | 55 | // compass navigation |
|
- | 56 | extern volatile int16_t CompassHeading; |
|
- | 57 | extern volatile int16_t CompassCourse; |
|
29 | extern volatile float NeutralAccZ; |
58 | extern volatile int16_t CompassOffCourse; |
- | 59 | extern volatile uint8_t CompassCalState; |
|
- | 60 | extern int32_t YawGyroHeading; |
|
- | 61 | extern int16_t YawGyroHeadingInDeg; |
|
- | 62 | ||
- | 63 | // hight control |
|
- | 64 | extern int ReadingHeight; |
|
- | 65 | extern int SetPointHeight; |
|
- | 66 | ||
30 | extern long Umschlag180Nick, Umschlag180Roll; |
67 | // mean accelerations |
- | 68 | extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
|
31 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
69 | |
32 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
70 | // acceleration send to navi board |
- | 71 | extern int16_t NaviAccPitch, NaviAccRoll, NaviCntAcc; |
|
- | 72 | ||
- | 73 | ||
33 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
74 | // looping params |
- | 75 | extern long TurnOver180Pitch, TurnOver180Roll; |
|
- | 76 | ||
- | 77 | // external control |
|
- | 78 | extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw; |
|
- | 79 | ||
34 | extern unsigned int modell_fliegt; |
80 | |
35 | void MotorRegler(void); |
81 | void MotorControl(void); |
36 | void SendMotorData(void); |
82 | void SendMotorData(void); |
37 | void CalibrierMittelwert(void); |
83 | void CalibMean(void); |
38 | void Mittelwert(void); |
84 | void Mean(void); |
39 | void SetNeutral(void); |
85 | void SetNeutral(void); |
40 | void Piep(unsigned char Anzahl); |
- | |
41 | extern void DefaultKonstanten(void); |
- | |
42 | void DefaultKonstanten1(void); |
- | |
43 | void DefaultKonstanten2(void); |
86 | void Beep(uint8_t numbeeps); |
44 | - | ||
45 | extern unsigned char h,m,s; |
- | |
46 | extern volatile unsigned char Timeout ; |
- | |
47 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
- | |
48 | extern volatile int DiffNick,DiffRoll; |
- | |
49 | extern int Poti1, Poti2, Poti3, Poti4; |
- | |
50 | extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
- | |
51 | extern volatile unsigned char SenderOkay; |
- | |
52 | extern int StickNick,StickRoll,StickGier; |
- | |
53 | extern char MotorenEin; |
- | |
54 | extern void DefaultKonstanten1(void); |
- | |
55 | extern void DefaultKonstanten2(void); |
87 | |
56 | - | ||
57 | #define STRUCT_PARAM_LAENGE 71 |
- | |
58 | struct mk_param_struct |
- | |
59 | { |
- | |
60 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
- | |
61 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
- | |
62 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
- | |
63 | unsigned char Luftdruck_D; // Wert : 0-250 |
- | |
64 | unsigned char MaxHoehe; // Wert : 0-32 |
- | |
65 | unsigned char Hoehe_P; // Wert : 0-32 |
- | |
66 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
- | |
67 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
- | |
68 | unsigned char Stick_P; // Wert : 1-6 |
- | |
69 | unsigned char Stick_D; // Wert : 0-64 |
- | |
70 | unsigned char Gier_P; // Wert : 1-20 |
- | |
71 | unsigned char Gas_Min; // Wert : 0-32 |
- | |
72 | unsigned char Gas_Max; // Wert : 33-250 |
- | |
73 | unsigned char GyroAccFaktor; // Wert : 1-64 |
- | |
74 | unsigned char KompassWirkung; // Wert : 0-32 |
- | |
75 | unsigned char Gyro_P; // Wert : 10-250 |
- | |
76 | unsigned char Gyro_I; // Wert : 0-250 |
- | |
77 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
- | |
78 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
- | |
79 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
- | |
80 | unsigned char UfoAusrichtung; // X oder + Formation |
- | |
81 | unsigned char I_Faktor; // Wert : 0-250 |
- | |
82 | unsigned char UserParam1; // Wert : 0-250 |
- | |
83 | unsigned char UserParam2; // Wert : 0-250 |
- | |
84 | unsigned char UserParam3; // Wert : 0-250 |
- | |
85 | unsigned char UserParam4; // Wert : 0-250 |
- | |
86 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
- | |
87 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
- | |
88 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
- | |
89 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
- | |
90 | unsigned char ServoNickRefresh; // |
88 | |
91 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
- | |
92 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
- | |
93 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
- | |
94 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
- | |
95 | unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
- | |
96 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
- | |
97 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
- | |
98 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
- | |
99 | unsigned char Driftkomp; |
- | |
100 | unsigned char DynamicStability; |
- | |
101 | unsigned char UserParam5; // Wert : 0-250 |
- | |
102 | unsigned char UserParam6; // Wert : 0-250 |
- | |
103 | unsigned char UserParam7; // Wert : 0-250 |
- | |
104 | unsigned char UserParam8; // Wert : 0-250 |
89 | extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
105 | 90 | ||
106 | //------------------------------------------------ |
- | |
107 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
91 | // setpoints for motors |
108 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
- | |
109 | unsigned char Reserved[4]; |
- | |
110 | char Name[12]; |
- | |
111 | }; |
- | |
112 | 92 | extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
|
113 | - | ||
114 | /* |
93 | |
115 | unsigned char ServoNickMax; // Wert : 0-250 |
94 | // current stick values |
116 | unsigned char ServoNickRefresh; // |
- | |
117 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
- | |
118 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
95 | extern int16_t StickPitch; |
119 | //------------------------------------------------ |
- | |
120 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
- | |
121 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
96 | extern int16_t StickRoll; |
122 | unsigned char Reserved[4]; |
97 | extern int16_t StickYaw; |
123 | char Name[12]; |
- | |
124 | */ |
- | |
125 | 98 | extern int16_t GPS_Pitch; |
|
126 | extern struct mk_param_struct EE_Parameter; |
99 | extern int16_t GPS_Roll; |
127 | - | ||
128 | extern unsigned char Parameter_Luftdruck_D; |
100 | |
129 | extern unsigned char Parameter_MaxHoehe; |
- | |
130 | extern unsigned char Parameter_Hoehe_P; |
101 | // current stick elongations |
131 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
- | |
132 | extern unsigned char Parameter_KompassWirkung; |
102 | extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw; |
133 | extern unsigned char Parameter_Gyro_P; |
103 | extern uint8_t MotorsOn; |
134 | extern unsigned char Parameter_Gyro_I; |
104 | extern uint8_t EmergencyLanding; |
135 | extern unsigned char Parameter_Gier_P; |
- | |
136 | extern unsigned char Parameter_ServoNickControl; |
- | |
137 | extern unsigned char Parameter_AchsKopplung1; |
- | |
Line 138... | Line 105... | ||
138 | extern unsigned char Parameter_AchsGegenKopplung1; |
105 | extern uint16_t Model_Is_Flying; |