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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
| 41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 40 | // + with our written permission |
| 41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 57 | #include <stdlib.h> |
| 58 | #include "91x_lib.h" |
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| 1 | ingob | 59 | #include "main.h" |
| 264 | killagreg | 60 | #include "led.h" |
| 41 | ingob | 61 | #include "ubx.h" |
| 62 | #include "GPS.h" |
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| 119 | killagreg | 63 | #include "timer1.h" |
| 242 | killagreg | 64 | #include "compass.h" |
| 41 | ingob | 65 | #include "spi_slave.h" |
| 66 | #include "menu.h" |
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| 708 | holgerb | 67 | #include "uart0.h" |
| 41 | ingob | 68 | #include "uart1.h" |
| 267 | holgerb | 69 | #include "ncmag.h" |
| 380 | holgerb | 70 | #include "logging.h" |
| 426 | holgerb | 71 | #include "settings.h" |
| 548 | holgerb | 72 | #include "sdc.h" |
| 677 | holgerb | 73 | #include "analog.h" |
| 697 | holgerb | 74 | #include "canbus.h" |
| 708 | holgerb | 75 | #include "triggerlog.h" |
| 724 | holgerb | 76 | #include "CamCtrl.h" |
| 780 | holgerb | 77 | #include "eeprom.h" |
| 1 | ingob | 78 | |
| 79 | u8 DispPtr = 0; |
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| 201 | killagreg | 80 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
| 1 | ingob | 81 | |
| 201 | killagreg | 82 | |
| 41 | ingob | 83 | u8 MenuItem = 0; |
| 780 | holgerb | 84 | u8 MaxMenuItem = 31; |
| 41 | ingob | 85 | |
| 203 | killagreg | 86 | void Menu_Putchar(char c) |
| 87 | { |
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| 516 | holgerb | 88 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
| 203 | killagreg | 89 | } |
| 90 | |||
| 201 | killagreg | 91 | void Menu_Clear(void) |
| 1 | ingob | 92 | { |
| 201 | killagreg | 93 | u8 i; |
| 94 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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| 1 | ingob | 95 | } |
| 96 | |||
| 41 | ingob | 97 | // Display with 20 characters in 4 lines |
| 201 | killagreg | 98 | void Menu_Update(u8 Keys) |
| 41 | ingob | 99 | { |
| 516 | holgerb | 100 | s32 i1,i2; |
| 51 | killagreg | 101 | u8 sign; |
| 41 | ingob | 102 | |
| 201 | killagreg | 103 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
| 104 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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| 105 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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| 41 | ingob | 106 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| 201 | killagreg | 107 | Menu_Clear(); |
| 41 | ingob | 108 | // print menu item number in the upper right corner |
| 516 | holgerb | 109 | if(MenuItem < 10) |
| 110 | { |
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| 41 | ingob | 111 | LCD_printfxy(17,0,"[%i]",MenuItem); |
| 112 | } |
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| 201 | killagreg | 113 | else // Menuitem >= 10 |
| 41 | ingob | 114 | { |
| 115 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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| 116 | } |
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| 117 | |||
| 516 | holgerb | 118 | switch(MenuItem) |
| 119 | { |
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| 41 | ingob | 120 | // Version Info |
| 121 | case 0: |
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| 708 | holgerb | 122 | if(IamMaster == SLAVE) LCD_printfxy(0,0,"+ Navi-Ctrl (S) +") |
| 123 | else |
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| 124 | if(IamMaster == MASTER)LCD_printfxy(0,0,"+ Navi-Ctrl (M) +") |
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| 125 | else LCD_printfxy(0,0,"++ Navi-Ctrl ++") |
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| 126 | |||
| 530 | holgerb | 127 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| 617 | holgerb | 128 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) LCD_printfxy(19,1,"R"); |
| 516 | holgerb | 129 | if(ErrorCode) |
| 264 | killagreg | 130 | { |
| 131 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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| 516 | holgerb | 132 | LCD_printfxy(0,3,"%s",ErrorMSG); |
| 264 | killagreg | 133 | } |
| 489 | killagreg | 134 | else |
| 697 | holgerb | 135 | if(Partner.ErrorCode) |
| 489 | killagreg | 136 | { |
| 697 | holgerb | 137 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
| 138 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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| 139 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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| 140 | } |
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| 141 | else |
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| 142 | { |
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| 693 | holgerb | 143 | LCD_printfxy(0,2,"Set:%d %s", Parameter.ActiveSetting,EE_Parameter.Name); |
| 144 | LCD_printfxy(0,3,"%s",ErrorMSG); |
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| 145 | // LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
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| 321 | holgerb | 146 | } |
| 574 | holgerb | 147 | if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
| 41 | ingob | 148 | break; |
| 149 | case 1: |
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| 697 | holgerb | 150 | if(IamMaster == SLAVE) LCD_printfxy(0,0,"++ Master - NC ++") |
| 151 | else LCD_printfxy(0,0,"++ Slave - NC ++"); |
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| 152 | |||
| 153 | if(CanRxMessage[CAN_ID_VERSION].D.Byte[3]) |
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| 154 | { |
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| 155 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", CanRxMessage[CAN_ID_VERSION].D.Byte[3]/10, CanRxMessage[CAN_ID_VERSION].D.Byte[3]%10, CanRxMessage[CAN_ID_VERSION].D.Byte[7], CanRxMessage[CAN_ID_VERSION].D.Byte[6], 'a'+ CanRxMessage[CAN_ID_VERSION].D.Byte[5]); |
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| 156 | if(Partner.ErrorCode) |
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| 157 | { |
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| 158 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
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| 159 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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| 160 | } |
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| 161 | else |
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| 162 | { |
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| 163 | LCD_printfxy(0,2,"Set:%d", CanRxMessage[CAN_ID_VERSION].D.Byte[1]); |
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| 164 | } |
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| 165 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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| 166 | if(Partner.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
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| 167 | } |
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| 168 | else |
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| 169 | LCD_printfxy(0,2,"not connected", CanTxMessage[CAN_ID_VERSION].D.Byte[1]); |
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| 170 | break; |
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| 171 | case 2: |
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| 41 | ingob | 172 | if (GPSData.Status == INVALID) |
| 173 | { |
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| 174 | LCD_printfxy(0,0,"No GPS data"); |
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| 175 | LCD_printfxy(0,1,"Lon: "); |
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| 176 | LCD_printfxy(0,2,"Lat: "); |
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| 177 | LCD_printfxy(0,3,"Alt: "); |
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| 178 | } |
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| 179 | else // newdata or processed |
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| 180 | { |
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| 122 | killagreg | 181 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 182 | switch (GPSData.SatFix) |
| 183 | { |
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| 184 | case SATFIX_NONE: |
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| 127 | killagreg | 185 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 186 | break; |
| 187 | case SATFIX_2D: |
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| 127 | killagreg | 188 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 189 | break; |
| 190 | case SATFIX_3D: |
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| 127 | killagreg | 191 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 192 | break; |
| 193 | default: |
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| 127 | killagreg | 194 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 195 | break; |
| 196 | } |
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| 121 | killagreg | 197 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 198 | { |
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| 127 | killagreg | 199 | LCD_printfxy(12,0,"/DGPS"); |
| 121 | killagreg | 200 | } |
| 201 | else |
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| 202 | { |
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| 127 | killagreg | 203 | LCD_printfxy(12,0," "); |
| 121 | killagreg | 204 | } |
| 205 | |||
| 51 | killagreg | 206 | if(GPSData.Position.Longitude < 0) sign = '-'; |
| 207 | else sign = '+'; |
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| 53 | killagreg | 208 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
| 209 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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| 54 | killagreg | 210 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 211 | if(GPSData.Position.Latitude < 0) sign = '-'; |
| 212 | else sign = '+'; |
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| 53 | killagreg | 213 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
| 214 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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| 54 | killagreg | 215 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 216 | if(GPSData.Position.Altitude < 0) sign = '-'; |
| 217 | else sign = '+'; |
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| 53 | killagreg | 218 | i1 = abs(GPSData.Position.Altitude)/1000L; |
| 219 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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| 708 | holgerb | 220 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm V%d", sign, i1, i2, GPS_Version/1000); |
| 41 | ingob | 221 | } |
| 222 | break; |
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| 697 | holgerb | 223 | case 3: |
| 41 | ingob | 224 | if (GPSData.Status == INVALID) |
| 225 | { |
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| 226 | LCD_printfxy(0,0,"No GPS data"); |
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| 227 | LCD_printfxy(0,1,"Speed N: "); |
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| 228 | LCD_printfxy(0,2,"Speed E: "); |
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| 229 | LCD_printfxy(0,3,"Speed T: "); |
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| 230 | } |
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| 231 | else // newdata or processed |
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| 232 | { |
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| 124 | killagreg | 233 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 234 | switch (GPSData.SatFix) |
| 235 | { |
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| 236 | case SATFIX_NONE: |
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| 127 | killagreg | 237 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 238 | break; |
| 239 | case SATFIX_2D: |
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| 127 | killagreg | 240 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 241 | break; |
| 242 | case SATFIX_3D: |
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| 127 | killagreg | 243 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 244 | break; |
| 245 | default: |
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| 127 | killagreg | 246 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 247 | break; |
| 248 | } |
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| 124 | killagreg | 249 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 250 | { |
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| 127 | killagreg | 251 | LCD_printfxy(12,0,"/DGPS"); |
| 124 | killagreg | 252 | } |
| 253 | else |
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| 254 | { |
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| 127 | killagreg | 255 | LCD_printfxy(12,0," "); |
| 124 | killagreg | 256 | } |
| 257 | |||
| 41 | ingob | 258 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
| 259 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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| 260 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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| 261 | } |
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| 262 | break; |
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| 697 | holgerb | 263 | case 4: |
| 41 | ingob | 264 | LCD_printfxy(0,0,"GPS UTC Time"); |
| 265 | if (!SystemTime.Valid) |
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| 266 | { |
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| 267 | LCD_printfxy(0,1," "); |
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| 268 | LCD_printfxy(0,2," No time data! "); |
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| 269 | LCD_printfxy(0,3," "); |
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| 270 | } |
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| 271 | else // newdata or processed |
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| 272 | { |
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| 273 | LCD_printfxy(0,1," "); |
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| 274 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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| 275 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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| 276 | } |
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| 277 | break; |
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| 697 | holgerb | 278 | case 5: // Navi Params 1 from FC |
| 41 | ingob | 279 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
| 516 | holgerb | 280 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
| 281 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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| 282 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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| 41 | ingob | 283 | break; |
| 697 | holgerb | 284 | case 6: // Navi Params 2 from FC |
| 59 | killagreg | 285 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
| 532 | holgerb | 286 | LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m); |
| 516 | holgerb | 287 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
| 288 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
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| 59 | killagreg | 289 | break; |
| 697 | holgerb | 290 | case 7: // Navi Params 3 from FC |
| 59 | killagreg | 291 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
| 516 | holgerb | 292 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
| 293 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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| 294 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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| 59 | killagreg | 295 | break; |
| 697 | holgerb | 296 | case 8: // Max Ranges |
| 351 | holgerb | 297 | LCD_printfxy(0,0,"Maximum flying "); |
| 532 | holgerb | 298 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m); |
| 299 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m); |
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| 516 | holgerb | 300 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
| 532 | holgerb | 301 | if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled"); |
| 302 | if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled"); |
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| 355 | holgerb | 303 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
| 351 | holgerb | 304 | break; |
| 697 | holgerb | 305 | case 9: |
| 41 | ingob | 306 | LCD_printfxy(0,0,"Home Position"); |
| 215 | killagreg | 307 | if(NaviData.HomePosition.Status == INVALID) |
| 41 | ingob | 308 | { |
| 309 | LCD_printfxy(0,1," "); |
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| 310 | LCD_printfxy(0,2," Is not set. "); |
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| 311 | LCD_printfxy(0,3," "); |
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| 312 | } |
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| 313 | else |
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| 314 | { |
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| 215 | killagreg | 315 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
| 51 | killagreg | 316 | else sign = '+'; |
| 215 | killagreg | 317 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
| 318 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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| 55 | killagreg | 319 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 320 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
| 51 | killagreg | 321 | else sign = '+'; |
| 215 | killagreg | 322 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
| 323 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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| 55 | killagreg | 324 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 325 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
| 51 | killagreg | 326 | else sign = '+'; |
| 215 | killagreg | 327 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
| 328 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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| 589 | holgerb | 329 | LCD_printfxy(0,3,"Alt:%c%04ld.%1dm",sign, i1, i2/1000); |
| 588 | holgerb | 330 | switch(Parameter.HomeYawMode) |
| 331 | { |
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| 332 | case NO_CHANGE: LCD_printfxy(17,3,"(-)"); break; |
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| 333 | case FRONT_TO_HOME: LCD_printfxy(17,3,"(F)"); break; |
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| 334 | case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break; |
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| 335 | case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break; |
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| 336 | } |
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| 41 | ingob | 337 | } |
| 338 | break; |
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| 697 | holgerb | 339 | case 10: |
| 318 | holgerb | 340 | LCD_printfxy(0,0,"Target Position"); |
| 341 | if(NaviData.TargetPosition.Status == INVALID) |
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| 342 | { |
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| 343 | LCD_printfxy(0,1," "); |
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| 344 | LCD_printfxy(0,2," Is not set. "); |
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| 345 | LCD_printfxy(0,3," "); |
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| 346 | } |
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| 347 | else |
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| 348 | { |
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| 349 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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| 350 | else sign = '+'; |
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| 351 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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| 352 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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| 353 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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| 354 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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| 355 | else sign = '+'; |
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| 356 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
||
| 357 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
||
| 358 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
||
| 359 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
||
| 360 | else sign = '+'; |
||
| 361 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
||
| 362 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
||
| 588 | holgerb | 363 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2); |
| 318 | holgerb | 364 | } |
| 365 | break; |
||
| 697 | holgerb | 366 | case 11: // RC stick controls from FC |
| 41 | ingob | 367 | LCD_printfxy(0,0,"RC-Sticks" ); |
| 516 | holgerb | 368 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
| 369 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
||
| 370 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
||
| 41 | ingob | 371 | break; |
| 697 | holgerb | 372 | case 12: // RC poti controls from FC |
| 190 | killagreg | 373 | LCD_printfxy(0,0,"RC-Potis 1" ); |
| 516 | holgerb | 374 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
| 375 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
||
| 41 | ingob | 376 | break; |
| 697 | holgerb | 377 | case 13: // RC poti controls from FC |
| 190 | killagreg | 378 | LCD_printfxy(0,0,"RC-Potis 2" ); |
| 516 | holgerb | 379 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
| 380 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
||
| 190 | killagreg | 381 | break; |
| 697 | holgerb | 382 | case 14: // attitude from FC |
| 66 | killagreg | 383 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
| 384 | else sign = '+'; |
||
| 385 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
||
| 386 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
||
| 201 | killagreg | 387 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
| 66 | killagreg | 388 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
| 389 | else sign = '+'; |
||
| 390 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
||
| 391 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
||
| 516 | holgerb | 392 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
| 688 | holgerb | 393 | if(FromFlightCtrl_AccNick < 0) sign = '-'; |
| 67 | killagreg | 394 | else sign = '+'; |
| 688 | holgerb | 395 | i1 = abs(FromFlightCtrl_AccNick)/10; |
| 396 | i2 = abs(FromFlightCtrl_AccNick)%10; |
||
| 201 | killagreg | 397 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
| 688 | holgerb | 398 | if(FromFlightCtrl_AccRoll < 0) sign = '-'; |
| 67 | killagreg | 399 | else sign = '+'; |
| 688 | holgerb | 400 | i1 = abs(FromFlightCtrl_AccRoll)/10; |
| 401 | i2 = abs(FromFlightCtrl_AccRoll)%10; |
||
| 516 | holgerb | 402 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
| 41 | ingob | 403 | break; |
| 697 | holgerb | 404 | case 15: |
| 688 | holgerb | 405 | LCD_printfxy(0,0,"Analog inputs"); |
| 406 | LCD_printfxy(0,1,"A5:%3i ",AnalogData.Ch5); |
||
| 407 | LCD_printfxy(0,2,"A6:%3i ",AnalogData.Ch6); |
||
| 408 | LCD_printfxy(0,3,"A7:%3i ",AnalogData.Ch7); |
||
| 41 | ingob | 409 | break; |
| 697 | holgerb | 410 | case 16: |
| 475 | holgerb | 411 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
| 412 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
||
| 413 | if(FC.FromFC_DisableDeclination) |
||
| 516 | holgerb | 414 | { |
| 489 | killagreg | 415 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
| 475 | holgerb | 416 | } |
| 417 | else |
||
| 418 | { |
||
| 489 | killagreg | 419 | if(GeoMagDec < 0) sign = '-'; |
| 420 | else sign = '+'; |
||
| 421 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 475 | holgerb | 422 | } |
| 463 | holgerb | 423 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
| 516 | holgerb | 424 | break; |
| 697 | holgerb | 425 | case 17: // User Parameter |
| 153 | killagreg | 426 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
| 427 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
| 428 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
| 429 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
| 41 | ingob | 430 | break; |
| 697 | holgerb | 431 | case 18: // User Parameter |
| 426 | holgerb | 432 | LCD_printfxy(0,0,"SD-Card Logs"); |
| 548 | holgerb | 433 | if(SDCardInfo.Valid == 1) |
| 434 | { |
||
| 708 | holgerb | 435 | LCD_printfxy(0,1,"GPX: %4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
| 436 | LCD_printfxy(0,2,"KML: %4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
| 437 | LCD_printfxy(0,3,"Trig:%4i ",Logged_TRIG_Counter); |
||
| 548 | holgerb | 438 | } |
| 439 | else |
||
| 440 | LCD_printfxy(0,1,"no card in slot "); |
||
| 380 | holgerb | 441 | break; |
| 697 | holgerb | 442 | case 19: // magnetic field |
| 292 | killagreg | 443 | if(Compass_CalState) |
| 254 | killagreg | 444 | { |
| 292 | killagreg | 445 | LCD_printfxy(0,0,"Calibration:"); |
| 446 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
| 516 | holgerb | 447 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
| 292 | killagreg | 448 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
| 449 | switch(Compass_CalState) |
||
| 254 | killagreg | 450 | { |
| 292 | killagreg | 451 | case 1: |
| 452 | case 3: |
||
| 453 | LCD_printfxy(7,1,"pause"); |
||
| 454 | break; |
||
| 455 | |||
| 456 | case 2: |
||
| 457 | LCD_printfxy(7,1,"horizontal"); |
||
| 458 | break; |
||
| 459 | |||
| 460 | case 4: |
||
| 461 | LCD_printfxy(7,1,"vertical"); |
||
| 462 | break; |
||
| 463 | |||
| 464 | case 5: |
||
| 465 | LCD_printfxy(7,1,"data saved"); |
||
| 466 | LCD_printfxy(8,3," (END) "); |
||
| 467 | break; |
||
| 489 | killagreg | 468 | |
| 292 | killagreg | 469 | default: |
| 470 | break; |
||
| 254 | killagreg | 471 | } |
| 472 | } |
||
| 292 | killagreg | 473 | else |
| 254 | killagreg | 474 | { |
| 330 | holgerb | 475 | if(GeoMagDec < 0) sign = '-'; |
| 476 | else sign = '+'; |
||
| 254 | killagreg | 477 | LCD_printfxy(0,0,"Magnetic Field"); |
| 516 | holgerb | 478 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
| 292 | killagreg | 479 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
| 480 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
| 330 | holgerb | 481 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
| 489 | killagreg | 482 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
| 483 | else LCD_printfxy(11,2,"Intern"); |
||
| 338 | holgerb | 484 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
| 485 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
| 292 | killagreg | 486 | LCD_printfxy(15,3,"(CAL)"); |
| 487 | } |
||
| 488 | if(Keys & KEY4) // next step |
||
| 489 | { |
||
| 490 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
| 491 | else Compass_SetCalState(0); |
||
| 492 | } |
||
| 493 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
| 41 | ingob | 494 | break; |
| 697 | holgerb | 495 | case 20: |
| 345 | holgerb | 496 | if(GeoMagDec < 0) sign = '-'; |
| 497 | else sign = '+'; |
||
| 338 | holgerb | 498 | LCD_printfxy(0,0,"Magnetic Field"); |
| 499 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
| 500 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 501 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
| 502 | break; |
||
| 697 | holgerb | 503 | case 21: |
| 426 | holgerb | 504 | LCD_printfxy(0,0,"SD-Setting "); |
| 505 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
| 506 | break; |
||
| 697 | holgerb | 507 | case 22: |
| 453 | holgerb | 508 | LCD_printfxy(0,0,"CPU Processing "); |
| 659 | holgerb | 509 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10); |
| 663 | holgerb | 510 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10); |
| 659 | holgerb | 511 | if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
| 663 | holgerb | 512 | if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
| 453 | holgerb | 513 | break; |
| 697 | holgerb | 514 | case 23: |
| 489 | killagreg | 515 | LCD_printfxy(0,0,"BL Current" ); |
| 516 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
| 517 | for(i1 = 0; i1 < 3; i1++) |
||
| 518 | { |
||
| 502 | killagreg | 519 | LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i1*4),BL3_Current(i1*4+1),BL3_Current(i1*4+2),BL3_Current(i1*4+3)); |
| 520 | if(Motor[4 + i1 * 4].State == 0) break; |
||
| 489 | killagreg | 521 | } |
| 471 | holgerb | 522 | break; |
| 489 | killagreg | 523 | |
| 697 | holgerb | 524 | case 24: |
| 489 | killagreg | 525 | LCD_printfxy(0,0,"Ext. Compass" ); |
| 686 | holgerb | 526 | if(NCMAG_Compass_use_Orientation) |
| 489 | killagreg | 527 | { |
| 516 | holgerb | 528 | u8 tmp; |
| 529 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
| 530 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
||
| 531 | tmp = NCMAG_GetOrientationFromAcc(); |
||
| 532 | LCD_printfxy(0,3,"Orientat.: "); |
||
| 533 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
| 534 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
||
| 489 | killagreg | 535 | } |
| 536 | else |
||
| 537 | { |
||
| 538 | LCD_printfxy(0,1,"Not connected"); |
||
| 539 | } |
||
| 473 | holgerb | 540 | break; |
| 697 | holgerb | 541 | case 25: |
| 498 | killagreg | 542 | { |
| 504 | holgerb | 543 | static u8 index = 1; |
| 498 | killagreg | 544 | if(Keys & KEY3) // next step |
| 545 | { |
||
| 503 | holgerb | 546 | if(index < ToFC_MaxWpListIndex) index++; |
| 498 | killagreg | 547 | else index = 1; |
| 548 | } |
||
| 503 | holgerb | 549 | if(Keys & KEY4) FromFC_LoadWP_List = index; |
| 550 | LCD_printfxy(0,0,"Load WPL (fix)" ); |
||
| 498 | killagreg | 551 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 552 | // 12345678901234567890 |
||
| 553 | LCD_printfxy(0,2,"Points Index "); |
||
| 554 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 516 | holgerb | 555 | } |
| 498 | killagreg | 556 | break; |
| 697 | holgerb | 557 | case 26: |
| 504 | holgerb | 558 | { |
| 559 | static u8 index = 1; |
||
| 516 | holgerb | 560 | if(Keys & KEY3) |
| 504 | holgerb | 561 | { |
| 562 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 563 | else index = 1; |
||
| 564 | } |
||
| 514 | holgerb | 565 | LCD_printfxy(0,0,"Load WPL (Rel)" ); |
| 504 | holgerb | 566 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 567 | // 12345678901234567890 |
||
| 568 | LCD_printfxy(0,2,"Points Index "); |
||
| 516 | holgerb | 569 | if(GPSData.SatFix == SATFIX_3D) |
| 570 | { |
||
| 571 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 572 | if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80; |
||
| 573 | } |
||
| 574 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 514 | holgerb | 575 | |
| 516 | holgerb | 576 | } |
| 504 | holgerb | 577 | break; |
| 697 | holgerb | 578 | case 27: |
| 514 | holgerb | 579 | { |
| 580 | static u8 index = 1; |
||
| 516 | holgerb | 581 | if(Keys & KEY3) |
| 514 | holgerb | 582 | { |
| 583 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 584 | else index = 1; |
||
| 585 | } |
||
| 586 | if(Keys & KEY4) FromFC_Load_SinglePoint = index; |
||
| 587 | LCD_printfxy(0,0,"Load Point" ); |
||
| 588 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
| 589 | // 12345678901234567890 |
||
| 590 | // LCD_printfxy(0,2,"Points Index "); |
||
| 591 | LCD_printfxy(0,3,"Number: %3d (LOAD)", index); |
||
| 516 | holgerb | 592 | } |
| 514 | holgerb | 593 | break; |
| 697 | holgerb | 594 | case 28: |
| 514 | holgerb | 595 | { |
| 596 | static u8 index = 1; |
||
| 597 | if(Keys & KEY3) |
||
| 598 | { |
||
| 599 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 600 | else index = 1; |
||
| 601 | } |
||
| 602 | LCD_printfxy(0,0,"Save Point" ); |
||
| 740 | holgerb | 603 | LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter_5cm/20); |
| 514 | holgerb | 604 | // 12345678901234567890 |
| 605 | LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
||
| 516 | holgerb | 606 | if(GPSData.SatFix == SATFIX_3D) |
| 514 | holgerb | 607 | { |
| 608 | LCD_printfxy(0,3,"Number: %3d (SAVE)", index); |
||
| 609 | if(Keys & KEY4) FromFC_Save_SinglePoint = index; |
||
| 610 | } |
||
| 611 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 516 | holgerb | 612 | } |
| 514 | holgerb | 613 | break; |
| 677 | holgerb | 614 | /* case 28: |
| 615 | LCD_printfxy(0,0,"Analog inputs"); |
||
| 616 | LCD_printfxy(0,0,"A0:%3i A1:%3i",AnalogData.Ch0,AnalogData.Ch1); |
||
| 617 | LCD_printfxy(0,1,"A2:%3i A3:%3i",AnalogData.Ch2,AnalogData.Ch3); |
||
| 618 | LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5); |
||
| 619 | LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7); |
||
| 620 | break; |
||
| 621 | */ |
||
| 688 | holgerb | 622 | |
| 697 | holgerb | 623 | case 29: |
| 708 | holgerb | 624 | LCD_printfxy(0,0,"Trigger Input"); |
| 625 | if(UART_VersionInfo.HWMajor >= 30) |
||
| 626 | { |
||
| 627 | if(BlitzSchuhConnected) LCD_printfxy(0,1,"External") |
||
| 628 | else LCD_printfxy(0,1,"Internal"); |
||
| 629 | LCD_printfxy(0,2,"Counter:%4d ",TrigLogging.Count); |
||
| 630 | LCD_printfxy(0,3,"Logfile:%4i ",Logged_TRIG_Counter); |
||
| 631 | } |
||
| 632 | else |
||
| 633 | { |
||
| 634 | LCD_printfxy(0,1,"Not Supported in "); |
||
| 635 | LCD_printfxy(0,2,"Hardware V%d ", UART_VersionInfo.HWMajor/10); |
||
| 636 | LCD_printfxy(0,3,"(V3 required)"); |
||
| 637 | } |
||
| 724 | holgerb | 638 | break; |
| 639 | case 30: |
||
| 640 | LCD_printfxy(0,0,"CamCtrl"); |
||
| 641 | if(!(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK)) |
||
| 642 | { |
||
| 643 | LCD_printfxy(0,2,"Not connected"); |
||
| 729 | holgerb | 644 | if(CamCtrlTimeout < 10) LCD_printfxy(14,3,"(conn)"); // connect manually |
| 724 | holgerb | 645 | if(Keys & KEY4) CamCtrlTimeout = 65000; |
| 646 | } |
||
| 647 | else |
||
| 648 | { |
||
| 729 | holgerb | 649 | LCD_printfxy(8,0,"V%i.%02i",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
| 650 | |||
| 724 | holgerb | 651 | switch(FromCamCtrl.Type) |
| 652 | { |
||
| 729 | holgerb | 653 | case TYPE_LANC: LCD_printfxy(13,0,"L"); break; |
| 654 | case TYPE_IR: LCD_printfxy(13,0,"I"); break; |
||
| 655 | case TYPE_MULTI: LCD_printfxy(13,0,"M"); break; |
||
| 724 | holgerb | 656 | } |
| 657 | LCD_printfxy(0,0,"CamCtrl"); |
||
| 729 | holgerb | 658 | LCD_printfxy(0,1,"Stat:"); |
| 659 | if(FromCamCtrl.CamStatus & CAM_STATE_RDY) LCD_printfxy(5,1,"RDY") |
||
| 660 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) LCD_printfxy(10,1,"REC"); |
||
| 661 | if(FromCamCtrl.CamStatus & CAM_STATE_PHOTO_MODE) LCD_printfxy(14,1,"PHOTO"); |
||
| 662 | if(FromCamCtrl.CamStatus & CAM_STATE_ZOOM) LCD_printfxy(5,1,"ZOOM "); |
||
| 663 | if(!(FromCamCtrl.CamStatus & CAM_STATE_RDY)) LCD_printfxy(5,1," ---"); |
||
| 708 | holgerb | 664 | |
| 729 | holgerb | 665 | LCD_printfxy(17,1,"(%c)",CamCtrlCharacter); |
| 666 | |||
| 724 | holgerb | 667 | if(FromCamCtrl.CamStatus & CAM_STATE_CAM_DISCONN) LCD_printfxy(0,2,"Disconn.") |
| 668 | else |
||
| 669 | { |
||
| 729 | holgerb | 670 | if(FromCamCtrl.CamStatus & CAM_STATE_OFF) LCD_printfxy(1,2,"Cam:OFF") else LCD_printfxy(1,2,"Cam:ON"); |
| 724 | holgerb | 671 | } |
| 729 | holgerb | 672 | LCD_printfxy(11,2,"Pics:%3d ",FromCamCtrl.PhotoCount); |
| 673 | //LCD_printfxy(5,2,"x%2x ",FromCamCtrl.CamStatus); |
||
| 724 | holgerb | 674 | if(FromCamCtrl.PPM1Okay) LCD_printfxy(0,3,"Zoom:%3i",FromCamCtrl.PPM1Data); |
| 675 | if(!FromCamCtrl.PPM2Okay) // there is PPM Input connected to the CamCtrl |
||
| 676 | { |
||
| 677 | LCD_printfxy(14,3,"(TRIG)"); |
||
| 678 | if(EE_Parameter.CamCtrlModeChannel == 0) |
||
| 679 | { |
||
| 729 | holgerb | 680 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) LCD_printfxy(9,3,"(off)") |
| 681 | else LCD_printfxy(9,3,"(REC)"); // Control only possible if no switch is assigned |
||
| 724 | holgerb | 682 | } |
| 729 | holgerb | 683 | else LCD_printfxy(2,3,"CH:%3i",127+PPM_In[EE_Parameter.CamCtrlModeChannel]); |
| 724 | holgerb | 684 | |
| 685 | if(Keys & KEY3) |
||
| 686 | { |
||
| 687 | ToCamCtrl.CamCommand &= ~(CAM_CMD_REC_OFF|CAM_CMD_REC_ON); |
||
| 688 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) ToCamCtrl.CamCommand |= CAM_CMD_REC_OFF; |
||
| 689 | else ToCamCtrl.CamCommand |= CAM_CMD_REC_ON; |
||
| 690 | } |
||
| 691 | if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SHUTTER; |
||
| 692 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_RESET_CAM; |
||
| 693 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_ON; |
||
| 694 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_OFF; |
||
| 695 | } |
||
| 696 | else |
||
| 697 | { |
||
| 698 | if(FromCamCtrl.PPM2Okay) LCD_printfxy(10,3,"PPM:%3i",FromCamCtrl.PPM2Data); |
||
| 699 | } |
||
| 700 | } |
||
| 688 | holgerb | 701 | break; |
| 780 | holgerb | 702 | case 31: // Temperaturecompensation of the Barosensor |
| 703 | { |
||
| 704 | static s32 dT = 0, tAlt = 0, faktor = 0; |
||
| 705 | static s32 dP = 0, pAlt = 0; |
||
| 706 | static u8 stored = 0, heateroff_msg = 0; |
||
| 724 | holgerb | 707 | |
| 780 | holgerb | 708 | if(BaroCalState) |
| 709 | { |
||
| 710 | dP = NaviData.Altimeter_5cm/2 - pAlt; |
||
| 711 | dT = FC_Temperatur - tAlt; |
||
| 712 | faktor = (dP * 100) / dT; |
||
| 713 | |||
| 714 | if(abs(dT) < 130) LCD_printfxy(0,0,"Warm up slowly") |
||
| 715 | else |
||
| 716 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) LCD_printfxy(0,0,"Motors off! ") |
||
| 717 | else LCD_printfxy(0,0,"Wait... "); |
||
| 718 | |||
| 719 | if((abs(FC_Temperatur_raw/10 - tAlt) >= 250)) heateroff_msg = 1; |
||
| 720 | if((abs(FC_Temperatur_raw/10 - tAlt) <= 150)) heateroff_msg = 0; |
||
| 721 | if(heateroff_msg) LCD_printfxy(0,0,"Heater off! "); |
||
| 722 | |||
| 723 | LCD_printfxy(0,1,"T=%4dC dT=%3dC ",FC_Temperatur_raw/100,dT/10 ); |
||
| 724 | LCD_printfxy(0,2,"P=%4dm dP=%3dm ",NaviData.Altimeter_5cm/20,dP/10 ); |
||
| 725 | |||
| 726 | if(dT > 30) LCD_printfxy(0,3,"K=%4dcm/C ",faktor) |
||
| 727 | else LCD_printfxy(0,3," (cancel)",faktor); |
||
| 728 | |||
| 729 | if(abs(dT) > 120 && (abs(FC_Temperatur_raw/10 - FC_Temperatur) <= 5)) // kein Temperaturgradient und mehr als 12°C erwärmt |
||
| 730 | { |
||
| 731 | heateroff_msg = 0; |
||
| 732 | LCD_printfxy(12,3,"(save)"); |
||
| 733 | LCD_printfxy(0,0,"Okay "); |
||
| 734 | |||
| 735 | if(Keys & KEY4) // Store |
||
| 736 | { |
||
| 737 | LuftdruckTemperaturKompensation = faktor; |
||
| 738 | WriteBaroCalibrationToEEprom(); |
||
| 739 | BaroCalState = 0; |
||
| 740 | stored = 1; |
||
| 741 | } |
||
| 742 | } |
||
| 743 | else LCD_printfxy(15,3,"(--) "); |
||
| 744 | } |
||
| 745 | else |
||
| 746 | if(UART_VersionInfo.HWMajor >= 30) |
||
| 747 | { |
||
| 748 | LCD_printfxy(0,0,"Barometer"); |
||
| 749 | LCD_printfxy(0,1,"Temperat.= %4d.%1dC ",FC_Temperatur_raw/100,abs(FC_Temperatur_raw%100)/10); |
||
| 750 | LCD_printfxy(0,2,"Faktor = %4dcm/C ",LuftdruckTemperaturKompensation); |
||
| 751 | //LCD_printfxy(0,3,"Offset =%4dcm ",LuftdruckTemperaturOffset); |
||
| 752 | if(stored) LCD_printfxy(0,3,"Stored "); |
||
| 753 | |||
| 754 | if((abs(FC_Temperatur_raw/10 - FC_Temperatur) <= 5)) // kein Temperaturgradient |
||
| 755 | { |
||
| 756 | LCD_printfxy(15,3,"(CAL)"); |
||
| 757 | if(Keys & KEY4) // next step |
||
| 758 | { |
||
| 759 | pAlt = NaviData.Altimeter_5cm/2; |
||
| 760 | tAlt = FC_Temperatur_raw/10; |
||
| 761 | FC_Temperatur = FC_Temperatur_raw/10; |
||
| 762 | BaroCalState = 1; |
||
| 763 | stored = 0; |
||
| 764 | } |
||
| 765 | |||
| 766 | } |
||
| 767 | else LCD_printfxy(15,3,"(---)"); |
||
| 768 | } |
||
| 769 | else |
||
| 770 | { |
||
| 771 | LCD_printfxy(0,0,"Barometer"); |
||
| 772 | LCD_printfxy(0,1,"Temperat = ??C "); |
||
| 773 | LCD_printfxy(0,2,"Faktor = ?? cm/C"); |
||
| 774 | LCD_printfxy(0,3,"Not supported"); |
||
| 775 | } |
||
| 776 | |||
| 777 | if(Keys & KEY3) BaroCalState = 0; // cancel |
||
| 778 | } |
||
| 779 | break; |
||
| 780 | |||
| 781 | |||
| 782 | |||
| 41 | ingob | 783 | default: |
| 201 | killagreg | 784 | //MaxMenuItem = MenuItem - 1; |
| 41 | ingob | 785 | MenuItem = 0; |
| 786 | break; |
||
| 516 | holgerb | 787 | } |
| 1 | ingob | 788 | } |