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Flight Control
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Flight Control
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#######################################################################################*/
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#######################################################################################*/
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#ifndef _FC_H
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#ifndef _FC_H
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#define _FC_H
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#define _FC_H
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#define GIER_GRAD_FAKTOR 1300L // Abhängigkeit wzischen GyroIntegral und Winkel
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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 volatile long IntegralNick,IntegralNick2;
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extern long IntegralNick,IntegralNick2;
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extern volatile long IntegralRoll,IntegralRoll2;
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extern long IntegralRoll,IntegralRoll2;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long IntegralAccNick,IntegralAccRoll;
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extern long IntegralAccNick,IntegralAccRoll;
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extern volatile long Mess_Integral_Hoch;
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extern volatile long Mess_Integral_Hoch;
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extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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extern volatile int  KompassValue;
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extern volatile int  KompassValue;
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extern volatile int  KompassStartwert;
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extern volatile int  KompassStartwert;
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extern volatile int  KompassRichtung;
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extern volatile int  KompassRichtung;
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void DefaultKonstanten2(void);
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void DefaultKonstanten2(void);
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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 volatile long IntegralNick,IntegralNick2;
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extern volatile long IntegralRoll,IntegralRoll2;
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extern volatile long Integral_Gier;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long Mess_Integral_Gier;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern volatile int  DiffNick,DiffRoll;
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extern volatile 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 Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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extern unsigned char MotorWert[5];
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extern unsigned char MotorWert[5];