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| Rev 1166 | Rev 1209 | ||
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| Line 11... | Line 11... | ||
| 11 | 11 | ||
| 12 | #define FLAG_MOTOR_RUN 1 |
12 | #define FLAG_MOTOR_RUN 1 |
| 13 | #define FLAG_FLY 2 |
13 | #define FLAG_FLY 2 |
| 14 | #define FLAG_CALIBRATE 4 |
14 | #define FLAG_CALIBRATE 4 |
| - | 15 | #define FLAG_START 8 |
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| Line 15... | Line 16... | ||
| 15 | #define FLAG_START 8 |
16 | #define MAX_MOTORS 12 |
| Line 16... | Line 17... | ||
| 16 | 17 | ||
| 17 | #define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
18 | #define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
| 18 | 19 | ||
| Line 19... | Line 20... | ||
| 19 | extern unsigned char MikroKopterFlags; |
20 | extern volatile unsigned char MikroKopterFlags; |
| 20 | extern volatile unsigned int I2CTimeout; |
21 | extern volatile unsigned int I2CTimeout; |
| Line 63... | Line 64... | ||
| 63 | extern int DiffNick,DiffRoll; |
64 | extern int DiffNick,DiffRoll; |
| 64 | extern int Poti1, Poti2, Poti3, Poti4; |
65 | extern int Poti1, Poti2, Poti3, Poti4; |
| 65 | extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
66 | extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| 66 | extern volatile unsigned char Motor1, Motor2,Motor3,Motor4,Motor5,Motor6,Motor7,Motor8; |
67 | extern volatile unsigned char Motor1, Motor2,Motor3,Motor4,Motor5,Motor6,Motor7,Motor8; |
| 67 | extern volatile unsigned char SenderOkay; |
68 | extern volatile unsigned char SenderOkay; |
| - | 69 | extern unsigned char RequiredMotors; |
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| 68 | extern int StickNick,StickRoll,StickGier; |
70 | extern int StickNick,StickRoll,StickGier; |
| 69 | extern char MotorenEin; |
71 | extern char MotorenEin; |
| 70 | extern void DefaultKonstanten1(void); |
72 | extern void DefaultKonstanten1(void); |
| 71 | extern void DefaultKonstanten2(void); |
73 | extern void DefaultKonstanten2(void); |
| Line 72... | Line -... | ||
| 72 | - | ||
| 73 | 74 | ||
| 74 | #define STRUCT_PARAM_LAENGE 92 |
75 | #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| 75 | struct mk_param_struct |
76 | struct mk_param_struct |
| 76 | { |
77 | { |
| 77 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
78 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| 78 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
79 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| Line 150... | Line 151... | ||
| 150 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
151 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| 151 | unsigned char Reserved[4]; |
152 | unsigned char Reserved[4]; |
| 152 | char Name[12]; |
153 | char Name[12]; |
| 153 | }; |
154 | }; |
| Line -... | Line 155... | ||
| - | 155 | ||
| - | 156 | ||
| - | 157 | struct |
|
| - | 158 | { |
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| - | 159 | char Name[12]; |
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| - | 160 | signed char Motor[16][4]; |
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| Line 154... | Line 161... | ||
| 154 | 161 | } Mixer; |
|
| 155 | - | ||
| 156 | extern struct mk_param_struct EE_Parameter; |
162 | |
| 157 | 163 | extern struct mk_param_struct EE_Parameter; |
|
| 158 | extern unsigned char Parameter_Luftdruck_D; |
164 | extern unsigned char Parameter_Luftdruck_D; |
| 159 | extern unsigned char Parameter_MaxHoehe; |
165 | extern unsigned char Parameter_MaxHoehe; |
| 160 | extern unsigned char Parameter_Hoehe_P; |
166 | extern unsigned char Parameter_Hoehe_P; |
| Line 169... | Line 175... | ||
| 169 | //extern unsigned char Parameter_AchsGegenKopplung1; |
175 | //extern unsigned char Parameter_AchsGegenKopplung1; |
| 170 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
176 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 171 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
177 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
| 172 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
178 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
| 173 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
179 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
| 174 | /* |
- | |
| 175 | extern unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
- | |
| 176 | extern unsigned char Parameter_NaviGpsGain; |
- | |
| 177 | extern unsigned char Parameter_NaviGpsP; |
180 | extern signed char MixerTable[MAX_MOTORS][4]; |
| 178 | extern unsigned char Parameter_NaviGpsI; |
- | |
| 179 | extern unsigned char Parameter_NaviGpsD; |
181 | extern unsigned char Motor[MAX_MOTORS]; |
| 180 | extern unsigned char Parameter_NaviGpsACC; |
- | |
| 181 | extern unsigned char Parameter_NaviOperatingRadius; |
- | |
| 182 | extern unsigned char Parameter_NaviWindCorrection; |
- | |
| 183 | extern unsigned char Parameter_NaviSpeedCompensation; |
- | |
| 184 | */ |
- | |
| 185 | #endif //_FC_H |
182 | #endif //_FC_H |