Subversion Repositories FlightCtrl

/*#######################################################################################
Flight Control
#######################################################################################*/

#ifndef _FC_H
#define _FC_H

extern volatile unsigned int I2CTimeout;
extern volatile long IntegralPitch,IntegralPitch2;
extern volatile long IntegralRoll,IntegralRoll2;
extern volatile long Reading_IntegralPitch,Reading_IntegralPitch2;
extern volatile long Reading_IntegralRoll,Reading_IntegralRoll2;
extern volatile long IntegralAccPitch,IntegralAccRoll;
extern volatile long Reading_Integral_Top;
extern volatile long Integral_Yaw,Reading_Integral_Yaw,Reading_Integral_Yaw2;
extern volatile int  CompassHeading;
extern volatile int  CompassCourse;
extern volatile int  CompassOffCourse;
extern int ReadingHight;
extern int SetPointHight;
extern volatile int16_t ReadingPitch,ReadingRoll,ReadingYaw;
extern volatile int AdNeutralPitch,AdNeutralRoll,AdNeutralYaw, Mean_AccPitch, Mean_AccRoll;
extern volatile int NeutralAccX, NeutralAccY,Mean_AccTop;
extern volatile float NeutralAccZ;
extern long TurnOver180Pitch, TurnOver180Roll;
extern signed int ExternStickPitch,ExternStickRoll,ExternStickYaw;
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;

void MotorRegler(void);
void SendMotorData(void);
void CalibMean(void);
void Mean(void);
void SetNeutral(void);
void Piep(unsigned char Anzahl);

extern unsigned char h,m,s;
extern volatile unsigned char Timeout;
extern volatile long IntegralPitch,IntegralPitch2;
extern volatile long IntegralRoll,IntegralRoll2;
extern volatile long Integral_Yaw;
extern volatile long Reading_IntegralPitch,Reading_IntegralPitch2;
extern volatile long Reading_IntegralRoll,Reading_IntegralRoll2;
extern volatile long Reading_Integral_Yaw;
extern volatile int  DiffPitch,DiffRoll;
extern int  Poti1, Poti2, Poti3, Poti4;
extern volatile unsigned char Motor_Front,Motor_Rear,Motor_Right,Motor_Left, Count;
extern unsigned char MotorValue[5];
extern int StickPitch,StickRoll,StickYaw;
extern char MotorsOn;



extern unsigned char Parameter_Luftdruck_D;
extern unsigned char Parameter_MaxHoehe;
extern unsigned char Parameter_Hoehe_P;
extern unsigned char Parameter_Hoehe_ACC_Wirkung;
extern unsigned char Parameter_CompassYawEffect;
extern unsigned char Parameter_Gyro_P;
extern unsigned char Parameter_Gyro_I;
extern unsigned char Parameter_Gier_P;
extern unsigned char Parameter_ServoPitchControl;
extern unsigned char Parameter_AchsKopplung1;
extern unsigned char Parameter_AchsGegenKopplung1;


#endif //_FC_H