Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software LICENSING TERMS

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "libfc.h"

#include "printf_P.h"

#include "main.h"

#include "spi.h"

#include "capacity.h"

unsigned char NaviData_WaypointIndex = 0;

unsigned char NaviData_WaypointNumber = 0, NaviData_TargetHoldTime = 0, ToNC_Load_WP_List = 0, NaviData_MaxWpListIndex = 0;

unsigned char ToNC_Load_SingePoint = 0, ToNC_Store_SingePoint = 0;

char WPL_Name[10];// = {"         \0"};

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

#define HoTT_printf(format, args...)                    {  _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);}

#define HoTT_printfxy(x,y,format, args...)              { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);}

#define HoTT_printfxy_INV(x,y,format, args...)          { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);}

#define HoTT_printfxy_BLINK(x,y,format, args...)        { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);}

#define HoTT_printf_BLINK(format, args...)              { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);}

#define HoTT_printf_INV(format, args...)                        { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);}

#define VOICE_MINIMALE_EINGANSSPANNUNG    16

#define VOICE_BEEP                         5

#define HoTT_GRAD       96

#define HoTT_LINKS      123

#define HoTT_RECHTS 124

#define HoTT_OBEN       125

#define HoTT_UNTEN      126

#define HOTT_KEY_RIGHT  1

#define HOTT_KEY_DOWN   2

#define HOTT_KEY_UP     4

#define HOTT_KEY_SET    6

#define HOTT_KEY_LEFT   8

#define VARIO_ZERO 30000

unsigned int NaviData_TargetDistance = 0;

unsigned char MaxBlTemperture = 0;

unsigned char MinBlTemperture = 0;

unsigned char HottestBl = 0;

GPSPacket_t GPSPacket;

VarioPacket_t VarioPacket;

ASCIIPacket_t ASCIIPacket;

ElectricAirPacket_t ElectricAirPacket;

HoTTGeneral_t HoTTGeneral;

unsigned char SpeakHoTT = SPEAK_MIKROKOPTER;

unsigned char ToNC_SpeakHoTT = 0, ShowSettingNameTime = 0;

int HoTTVarioMeter = 0;

const char PROGMEM MIKROKOPTER[] =      {"     MikroKopter     "};

const char PROGMEM UNDERVOLTAGE[] =     {" !! LiPo voltage !!  "};

const char PROGMEM LANDING[] =      {" !!   LANDING    !!  "};

const char PROGMEM SIMULATION[] =       {"  SIMULATION active  "};

const char PROGMEM BOAT_MODE[] =        {" MikroKopter (Boat)  "};

const char PROGMEM SETTING[] =  {"Set  :"};

const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] =

{

//0123456789123456

 "No Error        \0",  // 0

 "Not compatible  \0",  // 1

 "MK3Mag not compa\0",  // 2

 "No FC communicat\0",  // 3

 "Compass communic\0",  // 4

 "GPS communicatio\0",  // 5

 "compass value   \0",  // 6

 "RC Signal lost  \0",  // 7

 "FC spi rx error \0",  // 8

 "No NC communicat\0",  // 9

 "FC Nick Gyro    \0",  // 10

 "FC Roll Gyro    \0",  // 11

 "FC Yaw Gyro     \0",  // 12

 "FC Nick ACC     \0",  // 13

 "FC Roll ACC     \0",  // 14

 "FC Z-ACC        \0",  // 15

 "Pressure sensor \0",  // 16

 "I2C FC->BL-Ctrl \0",  // 17

 "Bl Missing      \0",  // 18

 "Mixer Error     \0",  // 19

 "Carefree Error  \0",  // 20

 "GPS Fix lost    \0",  // 21

 "Magnet Error    \0",  // 22

 "Motor restart   \0",  // 23

 "BL Limitation   \0",  // 24

 "GPS Range       \0",  // 25

 "No SD-Card      \0",  // 26

 "SD-Logging error\0",  // 27

 "Flying range!   \0",  // 28

 "Max Altitude!   \0",  // 29

 "No GPS fix      \0",  // 30

 "compass not cal.\0",  // 31

 "BL-Selftest     \0",  // 32

 "no ext. compass \0",  // 33

 "compass sensor  \0",  // 34

 "Failsafe postion\0",  // 35

 "No Redundancy!  \0",  // 36

 "Redundancy test \0",  // 37

 "GPS Update Rate \0"   // 38

 };

const char PROGMEM HOTT_ERROR[MAX_ERR_NUMBER][2] =

{       // 1 -> only in flight   0 -> also on ground

//0123456789123456

         {0,0},// "No Error        \0",  // 0

         {SPEAK_ERROR,0},               // "Not compatible  \0",        // 1

         {SPEAK_ERROR,0},               // "MK3Mag not compa\0",        // 2

         {SPEAK_ERR_NAVI,1},    // "No FC communicat\0",        // 3

         {SPEAK_ERR_COMPASS,1}, // "MK3Mag communica\0",        // 4

         {SPEAK_ERR_GPS,0},             // "GPS communicatio\0",        // 5

         {SPEAK_ERR_COMPASS,1}, // "compass value   \0",        // 6

         {SPEAK_ERR_RECEICER,0},// "RC Signal lost  \0",        // 7

         {SPEAK_ERR_NAVI,0},    // "FC spi rx error \0",        // 8

         {SPEAK_ERR_NAVI,0},    // "No NC communicat\0",        // 9

         {SPEAK_ERR_SENSOR,0},  // "FC Nick Gyro    \0",        // 10

         {SPEAK_ERR_SENSOR,0},  // "FC Roll Gyro    \0",        // 11

         {SPEAK_ERR_SENSOR,0},  // "FC Yaw Gyro     \0",        // 12

         {SPEAK_ERR_SENSOR,0},  // "FC Nick ACC     \0",        // 13

         {SPEAK_ERR_SENSOR,0},  // "FC Roll ACC     \0",        // 14

         {SPEAK_ERR_SENSOR,0},  // "FC Z-ACC        \0",        // 15

         {SPEAK_ERR_SENSOR,0},  // "Pressure sensor \0",        // 16

         {SPEAK_ERR_DATABUS,1}, // "I2C FC->BL-Ctrl \0",        // 17

         {SPEAK_ERR_DATABUS,1}, // "Bl Missing      \0",        // 18

         {SPEAK_ERROR,0},               // "Mixer Error     \0",        // 19

         {SPEAK_CF_OFF,1},              // "Carefree Error  \0",        // 20

         {SPEAK_GPS_FIX,1},             // "GPS Fix lost    \0",        // 21

         {SPEAK_ERR_COMPASS,0}, // "Magnet Error    \0",        // 22

         {SPEAK_ERR_MOTOR,1},   // "Motor restart   \0",        // 23

         {SPEAK_MAX_TEMPERAT,1},// "BL Limitation   \0",        // 24

         {SPEAK_MAX_RANGE,1},   // "GPS Range       \0",        // 25

         {SPEAK_ERROR,1},               // "No SD-Card      \0",        // 26

         {SPEAK_ERROR,1},               // "SD-Logging error\0",        // 27

         {SPEAK_MAX_RANGE,1},   // "Flying range!   \0",        // 28

         {SPEAK_MAX_ALTITUD,1}, // "Max Altitude!   \0"         // 29

         {SPEAK_GPS_FIX,1},             // "No GPS fix      \0"         // 30

         {SPEAK_ERR_CALIBARTION,0},// "compass not cal."        // 31

         {SPEAK_ERR_MOTOR,0},   // "BL-Selftest     \0"         // 32

         {SPEAK_ERR_COMPASS,0}, // "no ext. compass"            // 33

         {SPEAK_ERR_COMPASS,0}, // "compass sensor"             // 34

         {SPEAK_ERROR,1},               // "Failsafe postion0",         // 35

         {SPEAK_ERROR,0},               // "No Redundancy!",            // 36

         {0,0},                                 // "Redundancy test",           // 37

         {SPEAK_ERR_GPS,0},             // "GPS Update Rate",           // 38

};

/*

//------------------------------------------------------------------------------------------

// HoTT-Plus

//------------------------------------------------------------------------------------------

char dummy=0;

const Parameter_List_t Parameter_List[] =

{ //offset,min,max,name,variable

        {127, 0, 247,"SP1", (unsigned char *) &PPM_in[13] },

        {127, 0, 247,"SP2", (unsigned char *) &PPM_in[14] },   

        {127, 0, 247,"SP3", (unsigned char *) &PPM_in[15] },   

        {127, 0, 247,"SP4", (unsigned char *) &PPM_in[16] },   

        {  0, 0, 247,"HD ", (unsigned char *) &EE_Parameter.Luftdruck_D },

        {  0, 0, 247,"HP ", (unsigned char *) &EE_Parameter.Hoehe_P },

        {  0, 0, 247,"HA ", (unsigned char *) &EE_Parameter.Hoehe_ACC_Wirkung },

        {  0, 0, 247,"HM ", (unsigned char *) &EE_Parameter.Hoehe_MinGas },

        {  0, 0, 247,"HV ", (unsigned char *) &EE_Parameter.Hoehe_HoverBand },

        {  0, 0, 247,"HG ", (unsigned char *) &EE_Parameter.Hoehe_Verstaerkung },

        {  0, 0, 247,"NG ", (unsigned char *) &EE_Parameter.NotGas },

        {  0, 0, 247,"StP", (unsigned char *) &EE_Parameter.Stick_P },

        {  0, 0, 247,"StD", (unsigned char *) &EE_Parameter.Stick_D },

        {  0, 0, 247,"SGP", (unsigned char *) &EE_Parameter.StickGier_P },

        {  0, 0, 247,"DrC", (unsigned char *) &EE_Parameter.Driftkomp },

        {  0, 0, 247,"GYP", (unsigned char *) &EE_Parameter.Gyro_P },

        {  0, 0, 247,"GYD", (unsigned char *) &EE_Parameter.Gyro_D },

        {  0, 0, 247,"GYI", (unsigned char *) &EE_Parameter.Gyro_I },

        {  0, 0, 247,"MaI", (unsigned char *) &EE_Parameter.I_Faktor },

        {  0, 0, 247,"GGP", (unsigned char *) &EE_Parameter.Gyro_Gier_P },

        {  0, 0, 247,"GGI", (unsigned char *) &EE_Parameter.Gyro_Gier_I },

        {  0, 0,  15,"GSt", (unsigned char *) &EE_Parameter.Gyro_Stability },

        {  0, 0, 247,"DSt", (unsigned char *) &EE_Parameter.DynamicStability },

        {  0, 0, 247,"NGG", (unsigned char *) &EE_Parameter.NaviGpsGain },

        {  0, 0, 247,"NWC", (unsigned char *) &EE_Parameter.NaviWindCorrection },

        {  0, 0, 247,"NSC", (unsigned char *) &EE_Parameter.NaviAccCompensation },

        {  0, 0, 247,"NAL", (unsigned char *) &EE_Parameter.NaviAngleLimitation },

        {  0, 0, 247,"NP ", (unsigned char *) &EE_Parameter.NaviGpsP },

        {  0, 0, 247,"ND ", (unsigned char *) &EE_Parameter.NaviGpsI },

        {  0, 0, 247,"NI ", (unsigned char *) &EE_Parameter.NaviGpsD },

        {  0, 0, 247,"LGL", (unsigned char *) &EE_Parameter.LoopGasLimit },

        {  0, 0, 247,"LHy", (unsigned char *) &EE_Parameter.LoopHysterese },

        {  0, 0, 247,"LTh", (unsigned char *) &EE_Parameter.LoopThreshold },

        {  0, 0,   0,"   ", (unsigned char *) &dummy },

        {  0, 0, 247,"FGP", (unsigned char *) &EE_Parameter.AchsKopplung1},

        {  0, 0, 247,"FNR", (unsigned char *) &EE_Parameter.AchsKopplung2},

        {  0, 0, 247,"CYC", (unsigned char *) &EE_Parameter.CouplingYawCorrection},

        {  0, 0, 247,"MSH", (unsigned char *) &EE_Parameter.MotorSmooth},

        {  0, 0, 247,"NCT", (unsigned char *) &EE_Parameter.ServoNickControl },

        {  0, 0, 247,"NCP", (unsigned char *) &EE_Parameter.ServoNickComp },

        {  0, 0, 247,"RCT", (unsigned char *) &EE_Parameter.ServoRollControl },

        {  0, 0, 247,"RCP", (unsigned char *) &EE_Parameter.ServoRollComp }

};

unsigned char settingdest = 0;

//------------------------------------------------------------------------------------------

// HoTT-Plus

//------------------------------------------------------------------------------------------

*/

void GetHottestBl(void)

{

 static unsigned char search = 0,tmp_max,tmp_min,who;

                if(Motor[search].Temperature > tmp_max) { tmp_max = Motor[search].Temperature; who = search;}

                else

                if(Motor[search].Temperature) if(Motor[search].Temperature < tmp_min) tmp_min = Motor[search].Temperature;

                if(++search >= MAX_MOTORS)

                {

                 search = 0;

                 if(tmp_min != 255) MinBlTemperture = tmp_min; else MinBlTemperture = 0;

                 MaxBlTemperture = tmp_max;

                 HottestBl = who;

                 tmp_min = 255;

                 tmp_max = 0;

                 who = 0;

                 }

}

//---------------------------------------------------------------

void Hott_ClearLine(unsigned char line)

{

 HoTT_printfxy(0,line,"                     ");

}

//---------------------------------------------------------------

unsigned char HoTT_Waring(void)

{

  unsigned char status = 0;

  static char old_status = 0;

  static int repeat;

//if(Parameter_UserParam1) SpeakHoTT = Parameter_UserParam1;

  ToNC_SpeakHoTT = SpeakHoTT;

  if(FC_StatusFlags & FC_STATUS_LOWBAT)

   {

    if(LowVoltageLandingActive && (EE_Parameter.Receiver == RECEIVER_HOTT)) status = SPEAK_LANDING;

        else status = VOICE_MINIMALE_EINGANSSPANNUNG; // Jeti hat kein wort: "LANDEN"

        if(SpeakHoTT && old_status == VOICE_MINIMALE_EINGANSSPANNUNG) status = SpeakHoTT; // das soll auch noch durch kommen

   }   

  else

  if(NC_ErrorCode && NC_ErrorCode < MAX_ERR_NUMBER)     // Fehlercodes

   {

    if(MotorenEin || !pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][1])) status = pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][0]);

   }

  if(!status)    // Sprachansagen

   {

//      if(!(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01)) SpeakHoTT = 0;  // is the voice wanted?

    if(!(EE_Parameter.GlobalConfig3 & CFG3_SPEAK_ALL)) SpeakHoTT = 0;  // is the voice wanted?

    else status = SpeakHoTT;

   }

   else ToNC_SpeakHoTT = status;

  if(old_status == status) // Gleichen Fehler nur alle 4 sek bringen

   {

    if(!CheckDelay(repeat)) return(0);

        repeat = SetDelay(4000);

   }

   else repeat = SetDelay(2000);

  if(status)

   {

    if(status == SpeakHoTT) SpeakHoTT = 0;

   }   

  old_status = status;

//  DebugOut.Analog[16] = status;

  return(status);

}

//---------------------------------------------------------------

void NC_Fills_HoTT_Telemety(void)

{

 unsigned char *ptr = NULL;

 unsigned char max = 0,i,z;

 switch(FromNaviCtrl.Param.Byte[11])

  {

   case HOTT_VARIO_PACKET_ID:

                ptr = (unsigned char *) &VarioPacket;

                max = sizeof(VarioPacket);

                break;

   case HOTT_GPS_PACKET_ID:

                ptr = (unsigned char *) &GPSPacket;

                max = sizeof(GPSPacket);

                break;

   case HOTT_ELECTRIC_AIR_PACKET_ID:

                ptr = (unsigned char *) &ElectricAirPacket;

                max = sizeof(ElectricAirPacket);

                break;

   case HOTT_GENERAL_PACKET_ID:

                ptr = (unsigned char *) &HoTTGeneral;

                max = sizeof(HoTTGeneral);

                break;

   case JETI_GPS_PACKET_ID1:

                ptr = (unsigned char *) &JetiExData[14].Value;

                max = sizeof(JetiExData[14].Value);

                break;

   case JETI_GPS_PACKET_ID2:

                ptr = (unsigned char *) &JetiExData[15].Value;

                max = sizeof(JetiExData[15].Value);

                break;

   case HOTT_WPL_NAME:

                ptr = (unsigned char *) WPL_Name;

                max = sizeof(WPL_Name)-1;

                break;

  }

 z = FromNaviCtrl.Param.Byte[0]; // Data allocation

 for(i=0; i < FromNaviCtrl.Param.Byte[1]; i++)

  {

   if(z >= max) break;

   ptr[z] = FromNaviCtrl.Param.Byte[2+i];

   z++;

  }

}

unsigned int BuildHoTT_Vario(void)

{

 unsigned int tmp = VARIO_ZERO;

 if(VarioCharacter == '+' || VarioCharacter == '-')

  {

   tmp = VARIO_ZERO + (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 3;

   if(tmp < VARIO_ZERO && tmp > VARIO_ZERO - 50) tmp = VARIO_ZERO - 50; // weil es sonst erst bei < 0,5m/sek piept

  }

 else

 if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY))

  {

   tmp = VARIO_ZERO + HoTTVarioMeter;

   if(tmp > VARIO_ZERO)

    {

     if(tmp < VARIO_ZERO + 100) tmp = VARIO_ZERO;

         else tmp -= 100;

        }

   if(tmp < VARIO_ZERO)

    {

     if(tmp > VARIO_ZERO - 100) tmp = VARIO_ZERO;

         else tmp += 100;

        }

  }

 else

 if(VarioCharacter == '^') tmp = VARIO_ZERO + FromNC_AltitudeSpeed * 10;

 else

 if(VarioCharacter == 'v') tmp = VARIO_ZERO - FromNC_AltitudeSpeed * 10;

 return(tmp);

}

//---------------------------------------------------------------

unsigned char HoTT_Telemety(unsigned char packet_request)

{

 unsigned char i = 0;

 static unsigned char SpeechMessage = 0;

  //Debug("rqst: %02X",packet_request);

 switch(packet_request)

 {

  case HOTT_VARIO_PACKET_ID:

                if(GPSPacket.WarnBeep == SpeechMessage) SpeechMessage = HoTT_Waring(); // Achtung: das ist richtig hier, damit der Varioton schon vorher abgestellt wird

                VarioPacket.Altitude = HoehenWert/100 + 500;  

                if(!SpeechMessage) VarioPacket.m_sec = BuildHoTT_Vario(); else VarioPacket.m_sec = VARIO_ZERO;

                VarioPacket.m_3sec = VarioPacket.m_sec;

                VarioPacket.m_10sec = VarioPacket.m_sec;

                if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude;

                if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude;            

                VarioPacket.WarnBeep = 0;//HoTT_Waring();

                HoTT_DataPointer = (unsigned char *) &VarioPacket;

        VarioPacket.FreeCharacters[0] = VarioCharacter;

    if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' ';

//      VarioPacket.FreeCharacters[2] = ' ';

    if(NC_ErrorCode)

         {

                VarioPacket.Text[0] = NC_ErrorCode/10 + '0';

                VarioPacket.Text[1] = NC_ErrorCode%10 + '0';

                VarioPacket.Text[2] = ':';

                for(i=0; i<16;i++) VarioPacket.Text[i+3] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]);

                VarioPacket.Text[19] = ' ';

                VarioPacket.Text[20] = ' ';

         }

         else

         if(LowVoltageLandingActive) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&LANDING[i]); // no Error

     else

         if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error

         else

         if(ShowSettingNameTime) // no Error

         {                  

          for(i=0; i<sizeof(SETTING);i++) VarioPacket.Text[i] = pgm_read_byte(&SETTING[i]);

      VarioPacket.Text[4] = '0' + ActiveParamSet;

          for(i=0; i<sizeof(EE_Parameter.Name);i++) VarioPacket.Text[i+7] = EE_Parameter.Name[i]; // no Error

      if(FC_StatusFlags3 & FC_STATUS3_BOAT)

                {

         VarioPacket.Text[17] = 'B';

         VarioPacket.Text[18] = 'O';

         VarioPacket.Text[19] = 'A';

         VarioPacket.Text[20] = 'T';

                }

          else

                {

         VarioPacket.Text[18] = ' ';

         VarioPacket.Text[19] = ' ';

         VarioPacket.Text[20] = ' ';

                }

         }

         else    

     if(NaviData_WaypointNumber)

         {    

          unsigned int tmp_int;

      unsigned char tmp;

      VarioPacket.Text[0] = 'W'; VarioPacket.Text[1] = 'P';

      VarioPacket.Text[2] = ' ';

      VarioPacket.Text[3] = '0'+(NaviData_WaypointIndex) / 10;

      VarioPacket.Text[4] = '0'+(NaviData_WaypointIndex) % 10;

      VarioPacket.Text[5] = '/';

      VarioPacket.Text[6] = '0'+(NaviData_WaypointNumber) / 10;

      VarioPacket.Text[7] = '0'+(NaviData_WaypointNumber) % 10;

      VarioPacket.Text[8] = ' ';

          tmp_int = NaviData_TargetDistance;

      if(tmp_int > 1000) { VarioPacket.Text[9] = '0'+(tmp_int) / 1000; tmp_int %= 1000;}

          else VarioPacket.Text[9] = ' ';

      if(tmp_int > 100) { VarioPacket.Text[10] = '0'+(tmp_int) / 100; tmp_int %= 100;}

          else VarioPacket.Text[10] = ' ';

      VarioPacket.Text[11] = '0'+(tmp_int) / 10;

      VarioPacket.Text[12] = '0'+(tmp_int) % 10;

      VarioPacket.Text[13] = 'm';

      VarioPacket.Text[14] = ' ';

      tmp = NaviData_TargetHoldTime;

          if(tmp > 100) { VarioPacket.Text[15] = '0'+(tmp) / 100; tmp %= 100;} else VarioPacket.Text[15] = ' ';

      VarioPacket.Text[16] = '0'+(tmp) / 10;

      VarioPacket.Text[17] = '0'+(tmp) % 10;

      VarioPacket.Text[18] = 's';

      VarioPacket.Text[19] = ' ';

      VarioPacket.Text[20] = ' ';

         }

         else

         if(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)

         {

          for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&SIMULATION[i]);

         }

         else

         if(!CalibrationDone)

         {

          for(i=0; i<17;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i+2]); // no Error and not calibrated

      VarioPacket.Text[16] = '0'+VERSION_MAJOR;

      VarioPacket.Text[17] = '.';

      VarioPacket.Text[18] = '0'+VERSION_MINOR/10;

      VarioPacket.Text[19] = '0'+VERSION_MINOR%10;

      VarioPacket.Text[20] = 'a'+VERSION_PATCH;

         }

         else

         {

          if(FC_StatusFlags3 & FC_STATUS3_BOAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&BOAT_MODE[i]); // no Error

          else  for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error

          if(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE)  VarioPacket.Text[0] = 'R';

         }

                return(sizeof(VarioPacket));

                break;

  case HOTT_GPS_PACKET_ID:

                GPSPacket.Altitude = HoehenWert/100 + 500;  

//              GPSPacket.Distance = GPSInfo.HomeDistance/10;  // macht die NC

//              GPSPacket.Heading = GPSInfo.HomeBearing/2;     // macht die NC

//              GPSPacket.Speed = (GPSInfo.Speed * 36) / 10;   // macht die NC

                GPSPacket.WarnBeep = SpeechMessage;

                if(!GPSPacket.WarnBeep) GPSPacket.m_sec = BuildHoTT_Vario(); else GPSPacket.m_sec = VARIO_ZERO;

                GPSPacket.m_3sec = 120;

                GPSPacket.NumOfSats = GPSInfo.NumOfSats;

                if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D';

                else

        if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' ';

                else GPSPacket.SatFix = '!';

                HoTT_DataPointer = (unsigned char *) &GPSPacket;

                GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter;

                GPSPacket.FreeCharacters[2] = GPSPacket.SatFix;

                GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230;

                return(sizeof(GPSPacket));  

                break;

  case HOTT_ELECTRIC_AIR_PACKET_ID:

                GetHottestBl();

                ElectricAirPacket.Altitude = HoehenWert/100 + 500;

                ElectricAirPacket.Battery1 = UBat;

                ElectricAirPacket.Battery2 = UBat;

                ElectricAirPacket.VoltageCell1 = CompassCorrected / 2;

                ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1;

                ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2;

                ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20;

                ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6;

                ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7;

        if(!SpeechMessage) ElectricAirPacket.m_sec = BuildHoTT_Vario(); else ElectricAirPacket.m_sec = VARIO_ZERO;

                ElectricAirPacket.m_3sec = 120;

                ElectricAirPacket.InputVoltage = UBat;

                ElectricAirPacket.Temperature1 = MinBlTemperture + 20;

                ElectricAirPacket.Temperature2 = MaxBlTemperture + 20;

                ElectricAirPacket.Capacity = Capacity.UsedCapacity/10;

                ElectricAirPacket.WarnBeep = 0;//HoTT_Waring();

//ElectricAirPacket.WarnBeep = SpeechMessage;

                ElectricAirPacket.Current = Capacity.ActualCurrent;

                HoTT_DataPointer = (unsigned char *) &ElectricAirPacket;

                ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60;

                ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60;

                return(sizeof(ElectricAirPacket));

                break;

  case HOTT_GENERAL_PACKET_ID:

                GetHottestBl();

                HoTTGeneral.Rpm = GPSInfo.HomeDistance/100;

                HoTTGeneral.VoltageCell1 = CompassCorrected / 2;

                HoTTGeneral.VoltageCell2 = KompassValue / 2;

                //HoTTGeneral.VoltageCell3 = Magnetstaerke -> macht NC

                //HoTTGeneral.VoltageCell4 = Inclinition -> macht NC

                HoTTGeneral.VoltageCell5 = DebugOut.Analog[28]; // I2C ErrorCounter

                HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2;

                if(UBat > BattLowVoltageWarning + 2) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 2)) * 3;

                else HoTTGeneral.FuelPercent = 0;

                if(HoTTGeneral.FuelPercent > 100) HoTTGeneral.FuelPercent = 100;

                HoTTGeneral.FuelCapacity = NC_ErrorCode;//HoehenWert/100; // Oelpegel

//              if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0;

                HoTTGeneral.Altitude = HoehenWert/100 + 500;

                HoTTGeneral.Battery1 = UBat;

                HoTTGeneral.Battery2 = UBat;

                if(!SpeechMessage) HoTTGeneral.m_sec =  BuildHoTT_Vario(); else  HoTTGeneral.m_sec = VARIO_ZERO;

                HoTTGeneral.m_3sec = 120 + SpeechMessage;

                HoTTGeneral.InputVoltage = UBat;

                HoTTGeneral.Temperature1 = MinBlTemperture + 20;

                HoTTGeneral.Temperature2 = MaxBlTemperture + 20;

                HoTTGeneral.Capacity = Capacity.UsedCapacity/10;

HoTTGeneral.WarnBeep = 0;

                HoTTGeneral.Current = Capacity.ActualCurrent;

//HoTTGeneral.ErrorNumber = HoTTErrorCode();

                HoTT_DataPointer = (unsigned char *) &HoTTGeneral;

                return(sizeof(HoTTGeneral));

                break;

  default: return(0);

  }            

}

//---------------------------------------------------------------

void HoTT_Menu(void)

{

 static unsigned char line, page = 0,show_current = 0,show_mag = 0, show_poti = 0,hyterese = 1;

 unsigned char tmp;

 HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8;

 static int delay;

// if(HottKeyboard) {beeptime = 1000;};  

 switch(page)

 {

  case 0:

  switch(line++)

  {

        case 0:  

                if(FC_StatusFlags & FC_STATUS_LOWBAT)

                         HoTT_printfxy_BLINK(0,0,"  %2i.%1iV  ",UBat/10, UBat%10)

                        else

                         HoTT_printfxy(0,0,"  %2i.%1iV  ",UBat/10, UBat%10)

                        if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)

                          {

                           if(HoehenReglerAktiv)        HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter)

                           else                                         HoTT_printfxy(10,0,"ALT:%4im  ", (int16_t)(HoehenWert/100))

                           }

            else    HoTT_printfxy(10,0,"ALT:---- ");

                        break;

        case 1:  

                if(FC_StatusFlags & FC_STATUS_LOWBAT)

                         HoTT_printfxy_BLINK(0,1,"  %2i:%02i  ",FlugSekunden/60,FlugSekunden%60)

            else   HoTT_printfxy(0,1,"  %2i:%02i  ",FlugSekunden/60,FlugSekunden%60);                      

                        HoTT_printfxy(10,1,"DIR: %3d%c",CompassCorrected, HoTT_GRAD);

                        if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," ");

            break;

        case 2:

                if(FC_StatusFlags & FC_STATUS_LOWBAT)

                         HoTT_printfxy_BLINK(0,2,"  %5i  ",Capacity.UsedCapacity)

            else   HoTT_printfxy(0,2,"  %5i  ",Capacity.UsedCapacity);                     

                        HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);

                        break;

        case 3:

                        HoTT_printfxy(9,0,":");

                        HoTT_printfxy(9,1,":");

                        HoTT_printfxy(9,2,":");

                        HoTT_printfxy(0,3,"---------+-----------");

//                      HoTT_printfxy(0,3,"---------------------");

                        HoTT_printfxy(0,6,"---------------------");

                        break;

        case 4:  

                        if(NaviDataOkay)

                        {

                                HoTT_printfxy(9,4,":");

                                HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats);

                            HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10);

                                switch (GPSInfo.SatFix)

                                {

                                        case SATFIX_3D:

                                                        if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ")

                                                        else HoTT_printfxy(7,4,"3D");

                                                break;

                                        default:

                                                HoTT_printfxy_BLINK(7,4,"!!");

                                                break;

                                }      

                        }

                        else

                        {                    

                                Hott_ClearLine(4);

                        }

                        break;

        case 5:

                        if(NaviDataOkay)

                        {

                        if(show_mag)

                          {

                                HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField);

                            HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter);

                                HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic);

              }

                         else

                          {

                                HoTT_printfxy(0,5,"    %2um/s:  HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter);

                          }    

            }

                        else Hott_ClearLine(5);

                        break;

        case 6:

                        break;

        case 7: if(NC_ErrorCode)

                  {

                           if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER)

                            {

                             Hott_ClearLine(7);

                             HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode);

                            }

                                else

                                {

                                 HoTT_printfxy(0,7,"ERR: ");     _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);};

                                }

                        else

                        if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!")

                        else HoTT_printfxy(0,7," www.MikroKopter.de  ");

                        break;

        case 8: //ASCIIPacket.WarnBeep = HoTT_Waring();

                        // ASCIIPacket.WarnBeep = Parameter_UserParam1;

        case 9:

        case 10:

        case 11:

        case 12:

        case 13:

        case 14:  

        case 15:  

        case 16:  

                        if(HottKeyboard == HOTT_KEY_DOWN) { LIBFC_HoTT_Clear(); page = 5; line = 0;}