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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 1450L // Abhängigkeit wzischen GyroIntegral und Winkel
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//#define GIER_GRAD_FAKTOR 1450L // Abhängigkeit wzischen GyroIntegral und Winkel
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#define GIER_GRAD_FAKTOR 1550L // Abhängigkeit wzischen GyroIntegral und Winkel
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#define GIER_GRAD_FAKTOR 1550L // Abhängigkeit wzischen 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 FLAG_FLY        2
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#define FLAG_CALIBRATE  4
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#define FLAG_START      8
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extern unsigned char MikroKopterFlags;
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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 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 long Mess_IntegralNick,Mess_IntegralNick2;
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extern long Mess_IntegralNick,Mess_IntegralNick2;
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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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#define  STRUCT_PARAM_LAENGE  71
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#define  STRUCT_PARAM_LAENGE  83
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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[8];       // 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 MaxHoehe;                // Wert : 0-32
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   unsigned char MaxHoehe;               // Wert : 0-32
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   unsigned char Hoehe_P;                 // Wert : 0-32
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   unsigned char Hoehe_P;                // Wert : 0-32
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   unsigned char Hoehe_Verstaerkung;      // Wert : 0-50
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   unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
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   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
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   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
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   unsigned char Stick_P;                // Wert : 1-6
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   unsigned char Stick_P;                // Wert : 1-6
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   unsigned char Stick_D;                // Wert : 0-64
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   unsigned char Stick_D;                // Wert : 0-64
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   unsigned char Gier_P;                 // Wert : 1-20
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   unsigned char Gier_P;                 // Wert : 1-20
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   unsigned char DynamicStability;
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   unsigned char DynamicStability;
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   unsigned char UserParam5;             // Wert : 0-250
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   unsigned char UserParam5;             // Wert : 0-250
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   unsigned char UserParam6;             // Wert : 0-250
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   unsigned char UserParam6;             // Wert : 0-250
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   unsigned char UserParam7;             // Wert : 0-250
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   unsigned char UserParam7;             // Wert : 0-250
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   unsigned char UserParam8;             // Wert : 0-250
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   unsigned char UserParam8;             // Wert : 0-250
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//---Output ---------------------------------------------
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   unsigned char J16Bitmask;             // for the J16 Output
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   unsigned char J16Timing;              // for the J16 Output
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   unsigned char J17Bitmask;             // for the J17 Output
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   unsigned char J17Timing;              // for the J17 Output
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//---NaviCtrl---------------------------------------------
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   unsigned char NaviGpsModeControl;     // Parameters for the Naviboard
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   unsigned char NaviGpsGain;    
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   unsigned char NaviGpsP;        
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   unsigned char NaviGpsI;        
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   unsigned char NaviGpsD;        
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   unsigned char NaviGpsACC;        
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   unsigned char NaviGpsMinSat;        
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   unsigned char NaviStickThreshold;        
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//---Ext.Ctrl---------------------------------------------
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   unsigned char ExternalControl;        // for serial Control
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//------------------------------------------------
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//------------------------------------------------
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   unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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   unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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   unsigned char Reserved[4];
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   unsigned char Reserved[4];
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   char Name[12];
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   char Name[12];
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extern unsigned char Parameter_Gyro_I;
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extern unsigned char Parameter_Gyro_I;
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extern unsigned char Parameter_Gier_P;
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extern unsigned char Parameter_Gier_P;
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extern unsigned char Parameter_ServoNickControl;
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extern unsigned char Parameter_ServoNickControl;
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extern unsigned char Parameter_AchsKopplung1;
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extern unsigned char Parameter_AchsKopplung1;
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extern unsigned char Parameter_AchsGegenKopplung1;
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extern unsigned char Parameter_AchsGegenKopplung1;
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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_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_NaviGpsModeControl;     // Parameters for the Naviboard
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extern unsigned char Parameter_NaviGpsGain;    
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extern unsigned char Parameter_NaviGpsP;        
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extern unsigned char Parameter_NaviGpsI;        
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extern unsigned char Parameter_NaviGpsD;        
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extern unsigned char Parameter_NaviGpsACC;        
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#endif //_FC_H
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#endif //_FC_H