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| 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 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
| 8 | //#define GIER_GRAD_FAKTOR 1160L |
8 | //#define GIER_GRAD_FAKTOR 1160L |
| 9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
| Line 10... | Line 10... | ||
| 10 | #define STICK_GAIN 4 |
10 | #define STICK_GAIN 4 |
| 11 | 11 | ||
| Line 58... | Line 58... | ||
| 58 | 58 | ||
| 59 | extern unsigned char h,m,s; |
59 | extern unsigned char h,m,s; |
| 60 | extern volatile unsigned char Timeout ; |
60 | extern volatile unsigned char Timeout ; |
| 61 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
61 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| 62 | extern int DiffNick,DiffRoll; |
62 | extern int DiffNick,DiffRoll; |
| 63 | extern int Poti1, Poti2, Poti3, Poti4; |
63 | extern int Poti1, Poti2, Poti3, Poti4; |
| - | 64 | extern volatile unsigned char SenderOkay; |
|
| 64 | extern volatile unsigned char SenderOkay; |
65 | extern volatile unsigned char SenderRSSI; |
| 65 | extern unsigned char RequiredMotors; |
66 | extern unsigned char RequiredMotors; |
| 66 | extern int StickNick,StickRoll,StickGier; |
67 | extern int StickNick,StickRoll,StickGier; |
| 67 | extern char MotorenEin; |
68 | extern char MotorenEin; |
| 68 | extern void DefaultKonstanten1(void); |
69 | extern void DefaultKonstanten1(void); |
| 69 | extern void DefaultKonstanten2(void); |
70 | extern void DefaultKonstanten2(void); |
| 70 | extern void DefaultKonstanten3(void); |
71 | extern void DefaultKonstanten3(void); |
| Line 71... | Line 72... | ||
| 71 | extern void DefaultStickMapping(void); |
72 | extern void DefaultStickMapping(void); |
| 72 | 73 | ||
| 73 | #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
74 | #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| 74 | struct mk_param_struct |
75 | struct mk_param_struct |
| 75 | { |
76 | { |
| 76 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
77 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| Line 118... | Line 119... | ||
| 118 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
119 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| 119 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
120 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| 120 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
121 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| 121 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
122 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| 122 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
123 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| 123 | unsigned char Driftkomp; |
124 | unsigned char Driftkomp; |
| 124 | unsigned char DynamicStability; |
125 | unsigned char DynamicStability; |
| 125 | unsigned char UserParam5; // Wert : 0-250 |
126 | unsigned char UserParam5; // Wert : 0-250 |
| 126 | unsigned char UserParam6; // Wert : 0-250 |
127 | unsigned char UserParam6; // Wert : 0-250 |
| 127 | unsigned char UserParam7; // Wert : 0-250 |
128 | unsigned char UserParam7; // Wert : 0-250 |
| 128 | unsigned char UserParam8; // Wert : 0-250 |
129 | unsigned char UserParam8; // Wert : 0-250 |
| Line 131... | Line 132... | ||
| 131 | unsigned char J16Timing; // for the J16 Output |
132 | unsigned char J16Timing; // for the J16 Output |
| 132 | unsigned char J17Bitmask; // for the J17 Output |
133 | unsigned char J17Bitmask; // for the J17 Output |
| 133 | unsigned char J17Timing; // for the J17 Output |
134 | unsigned char J17Timing; // for the J17 Output |
| 134 | //---NaviCtrl--------------------------------------------- |
135 | //---NaviCtrl--------------------------------------------- |
| 135 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
136 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
| 136 | unsigned char NaviGpsGain; |
137 | unsigned char NaviGpsGain; |
| 137 | unsigned char NaviGpsP; |
138 | unsigned char NaviGpsP; |
| 138 | unsigned char NaviGpsI; |
139 | unsigned char NaviGpsI; |
| 139 | unsigned char NaviGpsD; |
140 | unsigned char NaviGpsD; |
| 140 | unsigned char NaviGpsPLimit; |
141 | unsigned char NaviGpsPLimit; |
| 141 | unsigned char NaviGpsILimit; |
142 | unsigned char NaviGpsILimit; |
| 142 | unsigned char NaviGpsDLimit; |
143 | unsigned char NaviGpsDLimit; |
| 143 | unsigned char NaviGpsACC; |
144 | unsigned char NaviGpsACC; |
| 144 | unsigned char NaviGpsMinSat; |
145 | unsigned char NaviGpsMinSat; |
| 145 | unsigned char NaviStickThreshold; |
146 | unsigned char NaviStickThreshold; |
| 146 | unsigned char NaviWindCorrection; |
147 | unsigned char NaviWindCorrection; |
| 147 | unsigned char NaviSpeedCompensation; |
148 | unsigned char NaviSpeedCompensation; |
| 148 | unsigned char NaviOperatingRadius; |
149 | unsigned char NaviOperatingRadius; |
| 149 | unsigned char NaviAngleLimitation; |
150 | unsigned char NaviAngleLimitation; |
| 150 | unsigned char NaviPH_LoginTime; |
151 | unsigned char NaviPH_LoginTime; |
| 151 | //---Ext.Ctrl--------------------------------------------- |
152 | //---Ext.Ctrl--------------------------------------------- |
| 152 | unsigned char ExternalControl; // for serial Control |
153 | unsigned char ExternalControl; // for serial Control |
| 153 | //------------------------------------------------ |
154 | //------------------------------------------------ |
| 154 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
155 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| 155 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
156 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
| 156 | unsigned char Reserved[4]; |
157 | unsigned char Reserved[4]; |
| 157 | char Name[12]; |
158 | char Name[12]; |
| 158 | }; |
159 | }; |
| Line 159... | Line 160... | ||
| 159 | 160 | ||
| 160 | struct |
161 | struct |
| 161 | { |
162 | { |
| 162 | char Revision; |
163 | char Revision; |
| 163 | char Name[12]; |
164 | char Name[12]; |
| 164 | signed char Motor[16][4]; |
165 | signed char Motor[16][4]; |
| 165 | } Mixer; |
166 | } Mixer; |
| 166 | 167 | ||
| 167 | extern struct mk_param_struct EE_Parameter; |
168 | extern struct mk_param_struct EE_Parameter; |
| 168 | extern unsigned char Parameter_Luftdruck_D; |
169 | extern unsigned char Parameter_Luftdruck_D; |
| 169 | extern unsigned char Parameter_MaxHoehe; |
170 | extern unsigned char Parameter_MaxHoehe; |
| 170 | extern unsigned char Parameter_Hoehe_P; |
171 | extern unsigned char Parameter_Hoehe_P; |
| Line 180... | Line 181... | ||
| 180 | //extern unsigned char Parameter_AchsGegenKopplung1; |
181 | //extern unsigned char Parameter_AchsGegenKopplung1; |
| 181 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
182 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 182 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
183 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
| 183 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
184 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
| 184 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
185 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
| 185 | extern signed char MixerTable[MAX_MOTORS][4]; |
186 | extern signed char MixerTable[MAX_MOTORS][4]; |
| 186 | extern unsigned char Motor[MAX_MOTORS]; |
187 | extern unsigned char Motor[MAX_MOTORS]; |
| 187 | #endif //_FC_H |
188 | #endif //_FC_H |