MikroKopterFlightController/fc.h at master · cehberlin/MikroKopterFlightController · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
/*#######################################################################################
Flight Control
#######################################################################################*/

#ifndef _FC_H
#define _FC_H
//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
//#define GIER_GRAD_FAKTOR 1160L
extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
#define STICK_GAIN 4
#define ACC_AMPLIFY    6
#define HEIGHT_CONTROL_STICKTHRESHOLD 15
#define SERVO_FS_TIME 10   // in Seconds

// FC_StatusFlags
#define FC_STATUS_MOTOR_RUN  				0x01
#define FC_STATUS_FLY        				0x02
#define FC_STATUS_CALIBRATE  				0x04
#define FC_STATUS_START      				0x08
#define FC_STATUS_EMERGENCY_LANDING      	0x10
#define FC_STATUS_LOWBAT		      		0x20
#define FC_STATUS_VARIO_TRIM_UP      		0x40
#define FC_STATUS_VARIO_TRIM_DOWN      		0x80

// FC_StatusFlags2
#define FC_STATUS2_CAREFREE                 0x01
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
#define FC_STATUS2_OUT1_ACTIVE       		0x08
#define FC_STATUS2_OUT2_ACTIVE       		0x10
#define FC_STATUS2_WAIT_FOR_TAKEOFF       	0x20   // Motor Running, but still on the ground
#define FC_STATUS2_AUTO_STARTING       		0x40
#define FC_STATUS2_AUTO_LANDING       		0x80

// FC_StatusFlags3
#define FC_STATUS3_REDUNDANCE_AKTIVE        0x01
#define FC_STATUS3_BOAT		                0x02
#define FC_STATUS3_REDUNDANCE_ERROR         0x04
#define FC_STATUS3_REDUNDANCE_TEST			0x08

//NC_To_FC_Flags
#define NC_TO_FC_FLYING_RANGE      	0x01
#define NC_TO_FC_EMERGENCY_LANDING 	0x02 // Forces a landing
#define NC_TO_FC_AUTOSTART 			0x04
#define NC_TO_FC_FAILSAFE_LANDING	0x08 // moves Servos into FS-Position
#define NC_TO_FC_SIMULATION_ACTIVE	0x10 // don't start motors

extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
extern unsigned char FC_StatusFlags3;
extern void ParameterZuordnung(void);
extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel
extern void ChannelAssingment(void);
extern void StoreNeutralToEeprom(void);

#define Poti1 Poti[0]
#define Poti2 Poti[1]
#define Poti3 Poti[2]
#define Poti4 Poti[3]
#define Poti5 Poti[4]
#define Poti6 Poti[5]
#define Poti7 Poti[6]
#define Poti8 Poti[7]

#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}

#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}

extern unsigned char Sekunde,Minute;
extern unsigned int BaroExpandActive;
extern long IntegralNick;//,IntegralNick2;
extern long IntegralRoll;//,IntegralRoll2;
//extern int IntegralNick,IntegralNick2;
//extern int IntegralRoll,IntegralRoll2;
extern unsigned char Poti[9];

extern long Mess_IntegralNick;//,Mess_IntegralNick2;
extern long Mess_IntegralRoll;//,Mess_IntegralRoll2;
extern long IntegralAccNick,IntegralAccRoll;
extern long SummeNick,SummeRoll;
extern volatile long Mess_Integral_Hoch;
extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
extern int  KompassValue;
extern int  KompassSollWert,NC_CompassSetpoint;
extern int  KompassRichtung;
extern char CalculateCompassTimer;
extern unsigned char KompassFusion;
extern unsigned char ControlHeading;
extern int  TrimNick, TrimRoll;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad,CompassCorrected; // Kompasswert in Grad
extern long HoehenWert;
extern long SollHoehe;
extern long FromNC_AltitudeSetpoint;
extern unsigned char FromNC_AltitudeSpeed;
extern unsigned char Parameter_HoehenSchalter;      // Wert : 0-250
extern unsigned char CareFree;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern int BoatNeutralNick,BoatNeutralRoll,BoatNeutralGier;
extern unsigned int NeutralAccX, NeutralAccY;
extern unsigned char HoehenReglerAktiv;
extern int NeutralAccZ;
extern signed char NeutralAccZfine;
extern long Umschlag180Nick, Umschlag180Roll;
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
extern unsigned int modell_fliegt;
extern void MotorRegler(void);
extern void SendMotorData(void);
//void CalibrierMittelwert(void);
//void Mittelwert(void);
extern unsigned char SetNeutral(unsigned char AccAdjustment);  // retuns: "sucess"
extern void Piep(unsigned char Anzahl, unsigned int dauer);
extern void CopyDebugValues(void);
extern unsigned char ACC_AltitudeControl;
extern signed int CosAttitude;	// for projection of hoover gas

extern unsigned char h,m,s;
extern int StickNick,StickRoll,StickGier,StickGas;
extern volatile unsigned char Timeout ;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
extern int  DiffNick,DiffRoll;
//extern int  Poti1, Poti2, Poti3, Poti4;
extern volatile unsigned char SenderOkay;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern unsigned char CalibrationDone;
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
extern char VarioCharacter;
extern signed int AltitudeSetpointTrimming;
extern signed char WaypointTrimming;
extern int HoverGas;
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_KompassWirkung;
extern unsigned char Parameter_Gyro_P;
extern unsigned char Parameter_Gyro_I;
extern unsigned char Parameter_Gier_P;
extern unsigned char Parameter_ServoNickControl;
extern unsigned char Parameter_ServoRollControl;
extern unsigned char Parameter_ServoNickComp;
extern unsigned char Parameter_ServoRollComp;
extern unsigned char Parameter_AchsKopplung1;
extern unsigned char Parameter_AchsKopplung2;
//extern unsigned char Parameter_AchsGegenKopplung1;
extern unsigned char Parameter_J16Bitmask;             // for the J16 Output
extern unsigned char Parameter_J16Timing;              // for the J16 Output
extern unsigned char Parameter_J17Bitmask;             // for the J17 Output
extern unsigned char Parameter_J17Timing;              // for the J17 Output
extern unsigned char Parameter_GlobalConfig;
extern unsigned char Parameter_ExtraConfig;
extern signed char MixerTable[MAX_MOTORS][4];
extern const signed char sintab[31];
extern unsigned char LowVoltageLandingActive;
extern unsigned char LowVoltageHomeActive;
extern unsigned char Parameter_MaximumAltitude;
extern char NeueKompassRichtungMerken;
extern unsigned char ServoFailsafeActive;

#endif //_FC_H