Subversion Repositories FlightCtrl

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

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

// + www.MikroKopter.com

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

// + 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 "jetimenu.h"

#include "libfc.h"

#include "printf_P.h"

#include "main.h"

#include "spi.h"

#include "capacity.h"

#include "hottmenu.h"

#define JETIBOX_KEY_RIGHT       0x1F

#define JETIBOX_KEY_UP          0x2F

#define JETIBOX_KEY_DOWN        0x4F

#define JETIBOX_KEY_LEFT        0x8F

#define JETIBOX_KEY_NONE        0x0F

#define JETIBOX_KEY_UNDEF       0x00

#define JetiBox_printfxy(x,y,format, args...)  { LIBFC_JetiBox_SetPos(y * 16 + x); _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);}

#define JetiBox_printf(format, args...)        {  _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);}

unsigned char JumpToMenu = 0xff;

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

// the menu functions

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

void Menu_Status(uint8_t key)

{                                               //0123456789ABCDEF

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

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

        if(NaviDataOkay)

        {

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

                if(CamCtrlCharacter != ' ')

                 {

                  if(GPSInfo.HomeDistance < 1000*10)

                        JetiBox_printfxy(4,0," %3d%c%c%4dm%c",CompassCorrected, 0xDF,CamCtrlCharacter, GPSInfo.HomeDistance/10,NC_GPS_ModeCharacter) // 'V' weg lassen

          else

                        JetiBox_printfxy(4,0," %3d%c%c %4d%c",CompassCorrected, 0xDF,CamCtrlCharacter, GPSInfo.HomeDistance/10,NC_GPS_ModeCharacter); // 'V' und 'm' weg lassen

                 }

                else

#endif

                JetiBox_printfxy(6,0,"%3d%c%4dm%c",CompassCorrected, 0xDF, GPSInfo.HomeDistance/10,NC_GPS_ModeCharacter);

        }

        else

        {

                JetiBox_printfxy(6,0,"Status    ");

        }

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

        if(NC_ErrorCode)

        {

         static unsigned int timer;

         static char toggle = 1;

         if(CheckDelay(timer)) { if(toggle) toggle = 0; else toggle = 1; timer = SetDelay(1500);};

     if(toggle)

          {

       LIBFC_JetiBox_SetPos(0);

           _printf_P(&LIBFC_JetiBox_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);

          }

          else

          {

           JetiBox_printfxy(6,0,"ERROR: %2d ",NC_ErrorCode);

//         if(MotorenEin) JetiBeep = 'O'; 

          }

        }

        else

        if(Partner_ErrorCode)

        {

         static unsigned int timer;

         static char toggle = 1;

         if(CheckDelay(timer)) { if(toggle) toggle = 0; else toggle = 1; timer = SetDelay(1500);};

     if(toggle)

          {

       LIBFC_JetiBox_SetPos(0);

           _printf_P(&LIBFC_JetiBox_Putchar, NC_ERROR_TEXT[Partner_ErrorCode] , 0);

          }

          else

          {

           if(IamMaster == SLAVE) JetiBox_printfxy(6,0,"MA-ERR:%2d ",Partner_ErrorCode)

           else JetiBox_printfxy(6,0,"SL-ERR:%2d ",Partner_ErrorCode);

//         if(MotorenEin) JetiBeep = 'O'; 

          }

        }

        else

         if(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)

         {

           JetiBox_printfxy(6,0,"SIMULATION");

         }

        else

        if(ShowSettingNameTime)

        {

         LIBFC_JetiBox_Clear();

         JetiBox_printfxy(0,0,"Set%d:%s",ActiveParamSet,EE_Parameter.Name);

         if(FC_StatusFlags3 & FC_STATUS3_BOAT) JetiBox_printfxy(0,1,"(Boat-Mode)");

         return; // nichts weiter ausgeben

        }

#else

        if(NC_ErrorCode) { JetiBox_printfxy(6,0,"ERROR: %2d ",NC_ErrorCode); if(MotorenEin) JetiBeep = 'S';};

#endif

        JetiBox_printfxy(0,1,"%4i %2i:%02i",Capacity.UsedCapacity,FlugSekunden/60,FlugSekunden%60);

        if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)

        {

                JetiBox_printfxy(10,1,"%4im%c", (int16_t)(HoehenWert/100),VarioCharacter);

        }

        if(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) JetiBox_printfxy(10,1,"R");

#endif

}

void Menu_Temperature(uint8_t key)

{                       //0123456789ABCDEF

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

  JetiBox_printfxy(0,0,"%3i %3i %3i %3i", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature);

  JetiBox_printfxy(0,1,"%3i %3i %3i %3i", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature);

  if(RequiredMotors <= 4)

        {

         JetiBox_printfxy(0,1,"Temperatures    ");

    }

        else

    if(RequiredMotors <= 6)

        {

         JetiBox_printfxy(8,1,"\%cC     ",0xdf);

        }

#endif

}

void Menu_Battery(uint8_t key)

{                       //0123456789ABCDEF

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

        JetiBox_printfxy(0,0,"%2i.%1iV %3i.%1iA", UBat/10, UBat%10, Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);

        JetiBox_printfxy(0,1,"%4iW %6imAh",Capacity.ActualPower, Capacity.UsedCapacity);

#endif

}

void Magnet_Values(uint8_t key)

{                       //0123456789ABCDEF

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

        JetiBox_printfxy(0,0,"Magnet:%3i%% %3i%c",EarthMagneticField, KompassValue,0xDF);

        JetiBox_printfxy(0,1,"Incli.:%3i%c (%i) ",EarthMagneticInclination, 0xDF,EarthMagneticInclinationTheoretic);

#endif

}

void Menu_WPL_A1(uint8_t key)

{                       //0123456789ABCDEF

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

        JetiBox_printfxy(0,0,"Load Waypoints");

        JetiBox_printfxy(0,1,"(Fixed)      ");

#endif

}

void Menu_WPL_R1(uint8_t key)

{                       //0123456789ABCDEF

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

        JetiBox_printfxy(0,0,"Load Waypoints");

        JetiBox_printfxy(0,1,"(Relative)   ");

#endif

}

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

void Menu_POINT_LD(uint8_t key)

{                       //0123456789ABCDEF

        JetiBox_printfxy(0,0,"Load singl.Point");

//      JetiBox_printfxy(0,1,"(Fixed)      ");

}

#endif

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

void Menu_POINT_SV(uint8_t key)

{                       //0123456789ABCDEF

        JetiBox_printfxy(0,0,"Save singl.Point");

//      JetiBox_printfxy(0,1,"(Relative)   ");

}

void Menu_AccCal_Ask(uint8_t key)

{                       //0123456789ABCDEF

        JetiBox_printfxy(0,0,"ACC calibration");

//      JetiBox_printfxy(0,1,"(Relative)   ");

}

void Menu_AccCal(uint8_t key)

{

 static unsigned char changed = 0;

                                                //0123456789ABCDEF

        JetiBox_printfxy(0,0,"ACC calibration");

        if((FC_StatusFlags & FC_STATUS_MOTOR_RUN) && ((NC_GPS_ModeCharacter == ' ') || (NC_GPS_ModeCharacter == '/') || (NC_GPS_ModeCharacter == '-')))

         {

          if(!EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 6; // enables the Gyro-Drift compensation to make sure that a litlte calibration error won't effect the attitude                                   

          JetiBox_printfxy(0,0,"ACC  N=%3i R=%3i",NeutralAccX,NeutralAccY);

          if(ChannelNick || ChannelRoll)

                                        JetiBox_printfxy(0,1,"Stick! (%i/%i)",ChannelNick,ChannelRoll)

          else                             //0123456789ABCDEF

          if(changed)   JetiBox_printfxy(0,1,"land to save    ")

          else                  JetiBox_printfxy(0,1,"use keys now    ")

          if(key== JETIBOX_KEY_UP   )  {NeutralAccX++;JetiBeep=130; changed = 1;}

          if(key== JETIBOX_KEY_DOWN )  {NeutralAccX--;JetiBeep=130; changed = 1;}

          if(key== JETIBOX_KEY_RIGHT ) {NeutralAccY++;JetiBeep=130; changed = 1;}

          if(key== JETIBOX_KEY_LEFT)   {NeutralAccY--;JetiBeep=130; changed = 1;}

    }

         else

         {

          if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN))    // motors are off 

                 {

             if(key == JETIBOX_KEY_LEFT) { JumpToMenu = 0; changed = 0; }// Exit

                 if(changed == 0) JetiBox_printfxy(0,1,"Fly with GPS off")

                 else

                 if(changed == 1)

                   {

                          JetiBox_printfxy(0,1,"       save -->")

                    if(key== JETIBOX_KEY_RIGHT)

                         {

                          StoreNeutralToEeprom();

                          JetiBeep = 130;

                          changed = 2;

                         }

                  }

                 else

                 if(changed == 2)

                   {

                          JetiBox_printfxy(0,1," values stored  ");

           }

           }                        //0123456789ABCDEF

           else JetiBox_printfxy(0,1,"switch GPS off  ")

         }  

//      JetiBox_printfxy(0,1,"(Relative)   ");

}

#endif

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

void Menu_POINT_SV2(uint8_t key)

{                       //0123456789ABCDEF

static unsigned char load_waypoint_tmp = 0, changed, hyterese = 1;

static int delay;

//  if(WPL_Name[0] == 0) JetiBox_printfxy(0,0,"Relative WPs ")

//  else JetiBox_printfxy(0,0,"Rel:%s",WPL_Name);

  JetiBox_printfxy(0,0,"Save Point:");

  if(NaviData_MaxWpListIndex == 0) JetiBox_printfxy(0,1,"no SD-Card")

  else

  if(GPSInfo.SatFix != SATFIX_3D) JetiBox_printfxy(0,1,"no GPS-Fix")

  else

  {

        if(load_waypoint_tmp)   JetiBox_printfxy(11,0,"%2d",load_waypoint_tmp)

        else JetiBox_printfxy(11,0,"--");

//      if(NaviData_WaypointNumber)     JetiBox_printfxy(8,1,"%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber)

//      else JetiBox_printfxy(8,1,"--/--")

        JetiBox_printfxy(0,1,"Dir:%3d Alt:%3dm",CompassCorrected,(int16_t)(HoehenWert/100))

    if(changed)         JetiBox_printfxy(14,0,"->")

        else            JetiBox_printfxy(14,0,"  ");

        if(key == JETIBOX_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { load_waypoint_tmp++; changed = 1;}

        if(key == JETIBOX_KEY_DOWN && load_waypoint_tmp > 1) { load_waypoint_tmp--; changed = 1; }

        if(key == JETIBOX_KEY_RIGHT && load_waypoint_tmp)

        {

         ToNC_Store_SingePoint = load_waypoint_tmp;

         changed = 0;

        }

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

// Bedienung per Taster am Sender

  if(PPM_in[EE_Parameter.MenuKeyChannel] > 50)  // 

   {

    hyterese = 2;

    if(CheckDelay(delay)) { load_waypoint_tmp = 0; hyterese = 1;}

   }

  else

  if(PPM_in[EE_Parameter.MenuKeyChannel] < -50)  

   {

        delay = SetDelay(2500);

        if(hyterese == 2 && (load_waypoint_tmp < NaviData_MaxWpListIndex))

         {

          load_waypoint_tmp++;

          ToNC_Store_SingePoint = load_waypoint_tmp;

          changed = 0;

//        JetiBeep = 'A'; // "MikroKopter"

         }

    hyterese = 0;

   }

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

  }

}

#endif

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

void Menu_POINT_LD2(uint8_t key)

{                       //0123456789ABCDEF

static unsigned char load_waypoint_tmp = 0, changed, hyterese = 1;

static int delay;  

//  if(WPL_Name[0] == 0) JetiBox_printfxy(0,0,"FIX Waypoints")

//  else JetiBox_printfxy(0,0,"FIX:%s",WPL_Name);

  JetiBox_printfxy(0,0,"Load Point")

  if(NaviData_MaxWpListIndex == 0) JetiBox_printfxy(0,1,"no SD-Card")

  else

  {

        if(load_waypoint_tmp)   JetiBox_printfxy(11,0,"%2d",load_waypoint_tmp)

        else JetiBox_printfxy(11,0,"--");

        if(NaviData_WaypointNumber)     JetiBox_printfxy(0,1,"Dist:%3d Alt:%3d ",NaviData_TargetDistance,(int16_t)(FromNC_AltitudeSetpoint/100))

        else JetiBox_printfxy(8,1,"                ");

    if(changed)         JetiBox_printfxy(14,0,"->")

        else            JetiBox_printfxy(14,0,"  ");

        if(key == JETIBOX_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { load_waypoint_tmp++; changed = 1;}

        if(key == JETIBOX_KEY_DOWN && load_waypoint_tmp > 1) { load_waypoint_tmp--; changed = 1; }

        if(key == JETIBOX_KEY_RIGHT && load_waypoint_tmp)

        {

         ToNC_Load_SingePoint = load_waypoint_tmp;

         changed = 0;

        }

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

// Bedienung per Taster am Sender

  if(PPM_in[EE_Parameter.MenuKeyChannel] > 50)  // 

   {

    hyterese = 2;

    if(CheckDelay(delay)) { load_waypoint_tmp = 0; hyterese = 1;}

   }

  else

  if(PPM_in[EE_Parameter.MenuKeyChannel] < -50)  

   {

        delay = SetDelay(2500);

        if(hyterese == 2 && (load_waypoint_tmp < NaviData_MaxWpListIndex))

         {

          load_waypoint_tmp++;

          ToNC_Load_SingePoint = load_waypoint_tmp;

          changed = 0;

//        JetiBeep = 'A'; // "MikroKopter"

         }

    hyterese = 0;

   }

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

  }

}

#endif

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

void Menu_ShowWpInfo(uint8_t key)

{                       //0123456789ABCDEF

  if(!NaviData_WaypointNumber)

   {

    JetiBox_printfxy(0,0,"No active");

    JetiBox_printfxy(0,1,"Waypoint");

   }   

   else

   {

        JetiBox_printfxy(0,0,"WP:%2d/%02d",NaviData_WaypointIndex,NaviData_WaypointNumber);

        if(NaviData_WaypointNumber)    

         {

         if(NaviData_TargetDistance < 100)  JetiBox_printfxy(9,0,"Dst:%2dm ",NaviData_TargetDistance)

         else JetiBox_printfxy(9,0,"D:%3dm ",NaviData_TargetDistance);

     if(FromNC_AltitudeSpeed) JetiBox_printfxy(0,1,"%2ds Alt:%2i(%02i)m ",NaviData_TargetHoldTime,(int16_t)(HoehenWert/100),(int16_t)(FromNC_AltitudeSetpoint/100))

         else JetiBox_printfxy(0,1,"%2ds Alt:%2im       ",NaviData_TargetHoldTime,(int16_t)(HoehenWert/100))

     }

         else

          {

           JetiBox_printfxy(8,1,"                ");

          }

   }

}

#endif

void Menu_WPL_A2(uint8_t key)

{                       //0123456789ABCDEF

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

static unsigned char load_waypoint_tmp = 1, changed;

  if(WPL_Name[0] == 0) JetiBox_printfxy(0,0,"FIX Waypoints")

  else JetiBox_printfxy(0,0,"FIX:%s",WPL_Name);

  if(NaviData_MaxWpListIndex == 0) JetiBox_printfxy(0,1,"no SD-Card")

  else

  {

        JetiBox_printfxy(0,1,"#%2d WP:",load_waypoint_tmp);

        if(NaviData_WaypointNumber)     JetiBox_printfxy(8,1,"%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber)

        else JetiBox_printfxy(8,1,"--/--")

    if(changed)         JetiBox_printfxy(14,1,"->")

        else            JetiBox_printfxy(14,1,"  ");

        if(key == JETIBOX_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { load_waypoint_tmp++; changed = 1;}

        if(key == JETIBOX_KEY_DOWN && load_waypoint_tmp > 1) { load_waypoint_tmp--; changed = 1; }

        if(key == JETIBOX_KEY_RIGHT && load_waypoint_tmp)

        {

         ToNC_Load_WP_List = load_waypoint_tmp;

         changed = 0;

        }

  }

#endif

}

void Menu_WPL_R2(uint8_t key)

{                       //0123456789ABCDEF

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

static unsigned char load_waypoint_tmp = 1, changed;

  if(WPL_Name[0] == 0) JetiBox_printfxy(0,0,"Relative WPs ")

  else JetiBox_printfxy(0,0,"Rel:%s",WPL_Name);

  if(NaviData_MaxWpListIndex == 0) JetiBox_printfxy(0,1,"no SD-Card")

  else

  if(GPSInfo.SatFix != SATFIX_3D) JetiBox_printfxy(0,1,"no GPS-Fix")

  else

  {

        JetiBox_printfxy(0,1,"#%2d WPs:",load_waypoint_tmp);

        if(NaviData_WaypointNumber)     JetiBox_printfxy(8,1,"%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber)

        else JetiBox_printfxy(8,1,"--/--")

    if(changed)         JetiBox_printfxy(14,1,"->")

        else            JetiBox_printfxy(14,1,"  ");

        if(key == JETIBOX_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { load_waypoint_tmp++; changed = 1;}

        if(key == JETIBOX_KEY_DOWN && load_waypoint_tmp > 1) { load_waypoint_tmp--; changed = 1; }

        if(key == JETIBOX_KEY_RIGHT && load_waypoint_tmp)

        {

         ToNC_Load_WP_List = load_waypoint_tmp | 0x80;

         changed = 0;

        }

  }

#endif

}

void Menu_PosInfo(uint8_t key)

{

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

        if(NaviDataOkay)

        {

                JetiBox_printfxy(0,0,"%2um/s Sat:%d ",GPSInfo.Speed,GPSInfo.NumOfSats);

                switch (GPSInfo.SatFix)

                {

                        case SATFIX_3D:

                                JetiBox_printfxy(12,0,"  3D");

                                break;

//                      case SATFIX_2D:

//                      case SATFIX_NONE:

                        default:

                                JetiBox_printfxy(12,0,"NoFx");

                                break;

                }

                if(GPSInfo.Flags & FLAG_DIFFSOLN)

                {

                        JetiBox_printfxy(12,0,"DGPS");

                }

                JetiBox_printfxy(0,1,"Home:%3dm %3d%c %c", GPSInfo.HomeDistance/10, GPSInfo.HomeBearing, 0xDF,NC_GPS_ModeCharacter);

        }

        else

        {                     //0123456789ABCDEF

                JetiBox_printfxy(2,0,"No NaviCtrl!");

        }

#endif

}

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

// the menu topology

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

typedef void (*pFctMenu) (uint8_t);  // the menu item handler function pointer

typedef struct{

  int8_t left;

  int8_t right;

  int8_t up;

  int8_t down;

  pFctMenu pHandler;

} MENU_ENTRY;

// the menu navigation structure

/*                                              |

3 - 0 - 1 - 2 - 3 - 0

*/

const MENU_ENTRY JetiBox_Menu[] PROGMEM=

{ // l  r  u  d  pHandler

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

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

#define ACC_CAL  13

        {9, 1, 0, 0, &Menu_Status },    // 0

        {0, 2, 1, 1, &Menu_Temperature },       // 1

        {1, 3, 2, 2, &Menu_Battery },   // 2

        {2, 4, 3, 3, &Menu_PosInfo },   // 3

        {3, 5, 4, 4, &Menu_ShowWpInfo},// 4

        {4, 6, 5,11, &Menu_WPL_A1 },    // 5

        {5, 7, 6,12, &Menu_WPL_R1 },    // 6

        {6, 8, 7,13, &Menu_POINT_LD},   // 7

        {7, 9, 8,14, &Menu_POINT_SV},   // 8

        {8,10, 9, 9, &Magnet_Values },  // 9

        {9, 0, 9,14, &Menu_AccCal_Ask},// 10

        {5,11,11,11, &Menu_WPL_A2 },    // 11

        {6,12,12,12, &Menu_WPL_R2 },    // 12

        {7,13,13,13, &Menu_POINT_LD2},  // 13

        {8,14,14,14, &Menu_POINT_SV2},  // 14

        {15,15,15,15, &Menu_AccCal},    // 15

#else

        {6, 1, 0, 0, &Menu_Status },    // 0

        {0, 2, 1, 1, &Menu_Temperature },       // 1

        {1, 3, 2, 2, &Menu_Battery },   // 2

        {2, 4, 3, 3, &Menu_PosInfo },   // 3

        {3, 5, 7, 7, &Menu_WPL_A1 },    // 4

        {4, 6, 8, 8, &Menu_WPL_R1 },    // 5

        {5, 0, 6, 6, &Magnet_Values },  // 6

        {4, 7, 7, 7, &Menu_WPL_A2 },    // 7

        {5, 8, 8, 8, &Menu_WPL_R2 },    // 8

#endif

#endif

};

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

// Update display buffer

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

unsigned char JetiBox_Update(unsigned char key)

{

#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)

        static uint8_t item = 0, last_item = 0; // the menu item

        static uint8_t updateDelay = 1 , last_key;

        // navigate within the menu by key action

        last_item = item;

        switch(key)

        {

                case JETIBOX_KEY_LEFT:

                        //if (item == 0) return (1);                                                                    // switch back to jeti expander menu

                        // else 

                         item = pgm_read_byte(&JetiBox_Menu[item].left);                //trigger to left menu item

                        break;

                case JETIBOX_KEY_RIGHT:

                        item = pgm_read_byte(&JetiBox_Menu[item].right);        //trigger to right menu item

                        break;

                case JETIBOX_KEY_UP:

                        item = pgm_read_byte(&JetiBox_Menu[item].up);           //trigger to up menu item

                        break;

                case JETIBOX_KEY_DOWN:

                        item = pgm_read_byte(&JetiBox_Menu[item].down);         //trigger to down menu item

                        break;

                default:

                        break;

        }

        if(JumpToMenu != 0xff) { item = JumpToMenu; JumpToMenu = 0xff;};

        // if the menu item has been changed, do not pass the key to the item handler

        // to avoid jumping over to items

        if(item != last_item) key = JETIBOX_KEY_UNDEF;

//      if((updateDelay++ & 0x01) || (key != last_key))

        if((updateDelay++ & 0x01) || (key != JETIBOX_KEY_NONE))

        {      

                last_key = key;

                LIBFC_JetiBox_Clear();

                //execute menu item handler

                ((pFctMenu)(pgm_read_word(&(JetiBox_Menu[item].pHandler))))(key);

        }      

#endif

        return (0);

}