Subversion Repositories FlightCtrl

// scaling from IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw -> Attitude in deg

// scaling from IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw -> Attitude in deg

// i.e. Nick Angle in deg = IntegralGyroNick / GYRO_DEG_FACTOR

// i.e. Nick Angle in deg = IntegralGyroNick / GYRO_DEG_FACTOR

#define GYRO_DEG_FACTOR    ((int16_t)(ParamSet.GyroAccFactor) * ACC_DEG_FACTOR)

#define GYRO_DEG_FACTOR    ((int16_t)(ParamSet.GyroAccFactor) * ACC_DEG_FACTOR)

extern uint8_t RequiredMotors;

typedef struct

typedef struct

{

{

        uint8_t HeightD;

        uint8_t HeightD;

void Beep(uint8_t numbeeps);

void Beep(uint8_t numbeeps);

// setpoints for motors

extern volatile uint8_t Motor1, Motor2, Motor3, Motor4, Motor5, Motor6, Motor7, Motor8;

extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;

// current stick values

// current stick values

extern int16_t StickNick;

extern int16_t StickNick;

#define MKFLAG_EMERGENCY_LANDING        0x10

#define MKFLAG_EMERGENCY_LANDING        0x10

#define MKFLAG_RESERVE1                         0x20

#define MKFLAG_RESERVE1                         0x20

#define MKFLAG_RESERVE2                         0x40

#define MKFLAG_RESERVE2                         0x40

#define MKFLAG_RESERVE3                         0x80

#define MKFLAG_RESERVE3                         0x80

extern uint8_t MKFlags;

extern volatile uint8_t MKFlags;