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Rev 1378 Rev 1550
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//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
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//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
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//#define GIER_GRAD_FAKTOR 1160L
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//#define GIER_GRAD_FAKTOR 1160L
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extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
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extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
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#define STICK_GAIN 4
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#define STICK_GAIN 4
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#define FLAG_MOTOR_RUN  1
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#define FCFLAG_MOTOR_RUN        0x01
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#define FLAG_FLY        2
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#define FCFLAG_FLY              0x02
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#define FLAG_CALIBRATE  4
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#define FCFLAG_CALIBRATE        0x04
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#define FLAG_START      8
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#define FCFLAG_START            0x08
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#define FLAG_NOTLANDUNG 16
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#define FCFLAG_NOTLANDUNG       0x10
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#define FCFLAG_LOWBAT           0x20
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#define FCFLAG_SPI_RX_ERR       0x40
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#define FCFLAG_I2CERR           0x80
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#define Poti1 Poti[0]
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#define Poti2 Poti[1]
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#define Poti3 Poti[2]
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#define Poti4 Poti[3]
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#define Poti5 Poti[4]
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#define Poti6 Poti[5]
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#define Poti7 Poti[6]
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#define FLAG_LOWBAT             32
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#define Poti8 Poti[7]
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#define MAX_MOTORS      12
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#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
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#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
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extern volatile unsigned char MikroKopterFlags;
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extern volatile unsigned char FCFlags;
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extern volatile unsigned int I2CTimeout;
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extern volatile unsigned int I2CTimeout;
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extern unsigned char Sekunde,Minute;
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extern unsigned char Sekunde,Minute;
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extern unsigned int BaroExpandActive;
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extern unsigned int BaroExpandActive;
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extern long IntegralNick,IntegralNick2;
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extern long IntegralNick,IntegralNick2;
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extern long IntegralRoll,IntegralRoll2;
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extern long IntegralRoll,IntegralRoll2;
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//extern int IntegralNick,IntegralNick2;
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//extern int IntegralNick,IntegralNick2;
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//extern int IntegralRoll,IntegralRoll2;
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//extern int IntegralRoll,IntegralRoll2;
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extern unsigned char Poti[9];
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extern unsigned char h,m,s;
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extern unsigned char h,m,s;
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extern volatile unsigned char Timeout ;
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extern volatile unsigned char Timeout ;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern int  DiffNick,DiffRoll;
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extern int  DiffNick,DiffRoll;
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extern int  Poti1, Poti2, Poti3, Poti4;
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//extern int  Poti1, Poti2, Poti3, Poti4;
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extern volatile unsigned char SenderOkay;
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extern volatile unsigned char SenderOkay;
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extern volatile unsigned char SenderRSSI;
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extern unsigned char RequiredMotors;
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extern volatile unsigned char SenderRSSI;
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extern int StickNick,StickRoll,StickGier;
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extern int StickNick,StickRoll,StickGier;
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extern char MotorenEin;
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extern char MotorenEin;
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extern void DefaultKonstanten1(void);
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extern void DefaultKonstanten1(void);
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extern void DefaultKonstanten2(void);
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extern void DefaultKonstanten2(void);
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extern void DefaultKonstanten3(void);
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extern void DefaultKonstanten3(void);
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extern void DefaultStickMapping(void);
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extern void DefaultStickMapping(void);
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extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
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#define  STRUCT_PARAM_LAENGE  sizeof(EE_Parameter)
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#define  STRUCT_PARAM_LAENGE  sizeof(EE_Parameter)
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struct mk_param_struct
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struct mk_param_struct
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 {
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 {
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   unsigned char Kanalbelegung[8];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
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   unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
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   unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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   unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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   unsigned char Hoehe_MinGas;           // Wert : 0-100
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   unsigned char Hoehe_MinGas;           // Wert : 0-100
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   unsigned char Luftdruck_D;            // Wert : 0-250
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   unsigned char Luftdruck_D;            // Wert : 0-250
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   unsigned char Gyro_Gier_P;                 // Wert : 10-250
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   unsigned char Gyro_Gier_P;                 // Wert : 10-250
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   unsigned char Gyro_Gier_I;                 // Wert : 0-250
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   unsigned char Gyro_Gier_I;                 // Wert : 0-250
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   unsigned char UnterspannungsWarnung;  // Wert : 0-250
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   unsigned char UnterspannungsWarnung;  // Wert : 0-250
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   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
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   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
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   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
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   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
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   unsigned char UfoAusrichtung;         // X oder + Formation
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   unsigned char Receiver;                       // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
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   unsigned char I_Faktor;               // Wert : 0-250
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   unsigned char I_Faktor;               // Wert : 0-250
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   unsigned char UserParam1;             // Wert : 0-250
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   unsigned char UserParam1;             // Wert : 0-250
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   unsigned char UserParam2;             // Wert : 0-250
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   unsigned char UserParam2;             // Wert : 0-250
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   unsigned char UserParam3;             // Wert : 0-250
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   unsigned char UserParam3;             // Wert : 0-250
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   unsigned char UserParam4;             // Wert : 0-250
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   unsigned char UserParam4;             // Wert : 0-250
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   unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
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   unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
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   unsigned char ServoRollComp;          // Wert : 0-250
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   unsigned char ServoRollComp;          // Wert : 0-250
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   unsigned char ServoRollMin;           // Wert : 0-250
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   unsigned char ServoRollMin;           // Wert : 0-250
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   unsigned char ServoRollMax;           // Wert : 0-250
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   unsigned char ServoRollMax;           // Wert : 0-250
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//---
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//---
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   unsigned char ServoNickRefresh;       //
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   unsigned char ServoNickRefresh;       // Speed of the Servo
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   unsigned char Servo3;                         // Value or mapping of the Servo Output
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   unsigned char Servo4;                         // Value or mapping of the Servo Output
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   unsigned char Servo5;                         // Value or mapping of the Servo Output
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   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
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   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
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   unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
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   unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
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   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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   unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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   unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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extern unsigned char Parameter_J16Bitmask;             // for the J16 Output
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extern unsigned char Parameter_J16Bitmask;             // for the J16 Output
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extern unsigned char Parameter_J16Timing;              // for the J16 Output
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extern unsigned char Parameter_J16Timing;              // for the J16 Output
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extern unsigned char Parameter_J17Bitmask;             // for the J17 Output
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extern unsigned char Parameter_J17Bitmask;             // for the J17 Output
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extern unsigned char Parameter_J17Timing;              // for the J17 Output
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extern unsigned char Parameter_J17Timing;              // for the J17 Output
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extern signed char MixerTable[MAX_MOTORS][4];
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extern signed char MixerTable[MAX_MOTORS][4];
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extern unsigned char Motor[MAX_MOTORS];
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#endif //_FC_H
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#endif //_FC_H