#ifndef MULTIWII_H_ #define MULTIWII_H_ #define VERSION 240 #define NAVI_VERSION 7 //This allow sync with GUI #include "types.h" #include "Alarms.h" #define MINCHECK 1100 #define MAXCHECK 1900 extern volatile unsigned long timer0_overflow_count; extern const char pidnames[]; extern const char boxnames[]; extern const uint8_t boxids[]; extern uint32_t currentTime; extern uint16_t previousTime; extern uint16_t cycleTime; extern uint16_t calibratingA; extern uint16_t calibratingB; extern uint16_t calibratingG; extern int16_t magHold,headFreeModeHold; extern uint8_t vbatMin; extern uint8_t rcOptions[CHECKBOXITEMS]; extern int32_t AltHold; extern int16_t sonarAlt; extern int16_t BaroPID; extern int16_t errorAltitudeI; extern int16_t i2c_errors_count; extern uint8_t alarmArray[ALRM_FAC_SIZE]; extern global_conf_t global_conf; extern imu_t imu; extern analog_t analog; extern alt_t alt; extern att_t att; #ifdef LOG_PERMANENT extern plog_t plog; #endif extern int16_t debug[4]; extern conf_t conf; extern int16_t annex650_overrun_count; extern flags_struct_t f; extern uint16_t intPowerTrigger1; extern int16_t gyroZero[3]; extern int16_t angle[2]; #if BARO extern int32_t baroPressure; extern int16_t baroTemperature; // temp in 0.01 deg extern int32_t baroPressureSum; #endif extern int16_t axisPID[3]; extern int16_t motor[8]; extern int16_t servo[8]; extern int16_t failsafeEvents; extern volatile int16_t failsafeCnt; extern int16_t rcData[RC_CHANS]; extern int16_t rcSerial[8]; extern int16_t rcCommand[4]; extern uint8_t rcSerialCount; extern int16_t lookupPitchRollRC[5]; extern uint16_t lookupThrottleRC[11]; #if defined(POWERMETER) || ( defined(LOG_VALUES) && (LOG_VALUES >= 3) ) #define PMOTOR_SUM 8 // index into pMeter[] for sum extern uint32_t pMeter[PMOTOR_SUM + 1]; // we use [0:7] for eight motors,one extra for sum extern uint8_t pMeterV; // dummy to satisfy the paramStruct logic in ConfigurationLoop() extern uint32_t pAlarm; // we scale the eeprom value from [0:255] to this value we can directly compare to the sum in pMeter[6] extern uint16_t powerValue; // last known current #endif #if defined(LCD_TELEMETRY) extern uint8_t telemetry; extern uint8_t telemetry_auto; #endif #ifdef LCD_TELEMETRY_STEP extern char telemetryStepSequence[]; extern uint8_t telemetryStepIndex; #endif #if defined(LOG_VALUES) || defined(LCD_TELEMETRY) extern uint16_t cycleTimeMax; // highest ever cycle timen extern uint16_t cycleTimeMin; // lowest ever cycle timen extern int32_t BAROaltMax; // maximum value extern uint16_t GPS_speedMax; // maximum speed from gps extern uint16_t powerValueMaxMAH; extern uint16_t wattsMax; #endif #if defined(LOG_VALUES) || defined(LCD_TELEMETRY) || defined(ARMEDTIMEWARNING) || defined(LOG_PERMANENT) extern uint32_t armedTime; #endif #if GPS // *************************************** begin GPS common variables and defines ****************************************************************** extern gps_conf_struct GPS_conf; extern int16_t GPS_angle[2]; // the angles that must be applied for GPS correction extern int32_t GPS_coord[2]; extern int32_t GPS_home[2]; extern int32_t GPS_hold[2]; extern int32_t GPS_prev[2]; extern int32_t GPS_poi[2]; // Coordinates of the current poi extern int32_t GPS_directionToPoi; // direction to the actual poi (used to set heading to poi) extern uint8_t GPS_numSat; extern uint16_t GPS_distanceToHome; // distance to home - unit: meter extern int16_t GPS_directionToHome; // direction to home - unit: degree extern uint16_t GPS_altitude; // GPS altitude - unit: meter extern uint16_t GPS_speed; // GPS speed - unit: cm/s extern uint8_t GPS_update; // a binary toogle to distinct a GPS position update extern uint16_t GPS_ground_course; // - unit: degree*10 extern uint32_t GPS_time; extern uint8_t GPS_mode; // contains the current selected gps flight mode extern uint8_t NAV_error; //Last error situation of the nav engine extern uint8_t NAV_state; //State of the nav engine extern uint8_t GPS_saved_mission_state; //The mission state saved when poshold invoked during mission extern uint8_t prv_gps_modes; //GPS_checkbox items packed into 1 byte for checking GPS mode changes extern uint32_t nav_timer_stop; //common timer used in navigation (contains the desired stop time in millis() extern uint16_t nav_hold_time; //time in seconds to hold position extern uint8_t NAV_paused_at; //This contains the mission step where poshold paused the runing mission. extern uint8_t next_step; //The mission step which is upcoming it equals with the mission_step stored in EEPROM //Altitude control state #define ASCENDING 1 #define DESCENDING -1 #define REACHED_ALT 0 // The orginal altitude used as base our new altitude during nav extern int32_t original_altitude; //This is the target what we want to reach extern int32_t target_altitude; //This is the interim value which is feeded into the althold controller extern int32_t alt_to_hold; extern uint32_t alt_change_timer; extern int8_t alt_change_flag; extern uint32_t alt_change; extern int16_t jump_times; //How many loops do we have to do (alt/100 from mission step) -10 means not used jet, -1 unlimited extern uint8_t land_detect; //land detector variable // ************************ // mission step structure // ************************ extern mission_step_struct mission_step; //possible action codes for a mission step #define MISSION_WAYPOINT 1 //Set waypoint #define MISSION_HOLD_UNLIM 2 //Poshold unlimited #define MISSION_HOLD_TIME 3 //Hold for a predetermined time #define MISSION_RTH 4 //Return to HOME #define MISSION_SET_POI 5 //Set POINT of interest #define MISSION_JUMP 6 //Jump to the given step (#times) #define MISSION_SET_HEADING 7 //Set heading to a given orientation (parameter 1 is the waym 0-359 degree #define MISSION_LAND 8 //Land at the given position #define MISSION_FLAG_END 0xA5 //Flags that this is the last step #define MISSION_FLAG_CRC_ERROR 0xFE //Returned WP had an EEPROM CRC error #define MISSION_FLAG_HOME 0x01 //Returned WP is the home position #define MISSION_FLAG_HOLD 0x02 //Returned WP is the hold position #define MISSION_FLAG_DO_LAND 0x20 //Land when reached desired point (used in RTH) #define MISSION_FLAG_NAV_IN_PROG 0xff //Navigation is in progress, returned wp is home #define LAT 0 #define LON 1 extern int16_t nav[2]; #endif // default POSHOLD control gains #define POSHOLD_P .15 #define POSHOLD_I 0.0 #define POSHOLD_IMAX 20 // degrees #define POSHOLD_RATE_P 3.4 #define POSHOLD_RATE_I 0.14 // Wind control #define POSHOLD_RATE_D 0.053 // try 2 or 3 for POSHOLD_RATE 1 #define POSHOLD_RATE_IMAX 20 // degrees // default Navigation PID gains #define NAV_P 2.5 #define NAV_I 0.33 // Wind control #define NAV_D 0.083 // #define NAV_IMAX 20 // degrees // *************************************** end GPS common variables and defines ****************************************************************** extern volatile uint8_t spekFrameFlags; extern volatile uint32_t spekTimeLast; extern uint8_t spekFrameDone; #if defined(OPENLRSv2MULTI) extern uint8_t pot_P,pot_I; // OpenLRS onboard potentiometers for P and I trim or other usages #endif // ********************** //Automatic ACC Offset Calibration // ********************** #if defined(INFLIGHT_ACC_CALIBRATION) extern uint16_t InflightcalibratingA; extern int16_t AccInflightCalibrationArmed; extern uint16_t AccInflightCalibrationMeasurementDone; extern uint16_t AccInflightCalibrationSavetoEEProm; extern uint16_t AccInflightCalibrationActive; #endif #if defined(ARMEDTIMEWARNING) extern uint32_t ArmedTimeWarningMicroSeconds; #endif #if defined(THROTTLE_ANGLE_CORRECTION) extern int16_t throttleAngleCorrection; extern int8_t cosZ; #endif void annexCode(); void go_disarm(); #endif /* MULTIWII_H_ */