WebSVN - FlightCtrl - Blame - Rev 53

Rev	Author	Line No.	Line
53	ingob	1	## Die Parameterstruktur entspricht der Struktur in der FlightCtrl:
		2
		3
		4	struct
		5	{
		6	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1], NICK[2], ROLL[3], POTI1, POTI2, POTI3, POTI4
		7	unsigned char GlobalConfig; // Höhenregler aktiv, HR-Schalter, Heading Hold aktiv, Kompass aktiv, Kompass Ausrichtung fest, GPS aktiv,
		8	unsigned char Hoehe_MinGas; // Wert : 0-100
		9	unsigned char Luftdruck_D; // Wert : 0-250
		10	unsigned char MaxHoehe; // Wert : 0-32
		11	unsigned char Hoehe_P; // Wert : 0-32
		12	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
		13	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
		14	unsigned char Stick_P; // Wert : 1-6
		15	unsigned char Stick_D; // Wert : 0-64
		16	unsigned char Gier_P; // Wert : 1-20
		17	unsigned char Gas_Min; // Wert : 0-32
		18	unsigned char Gas_Max; // Wert : 33-250
		19	unsigned char GyroAccFaktor; // Wert : 1-64
		20	unsigned char KompassWirkung; // Wert : 0-32
		21	unsigned char Gyro_P; // Wert : 10-250
		22	unsigned char Gyro_I; // Wert : 0-250
		23	unsigned char UnterspannungsWarnung; // Wert : 0-250
		24	unsigned char NotGas; // Wert : 0-250 // Gaswert bei Empängsverlust
		25	unsigned char NotGasZeit; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
		26	unsigned char UfoAusrichtung; // X oder + Formation
		27	unsigned char I_Faktor; // Wert : 0-250
		28	unsigned char UserParam1; // Wert : 0-250
		29	unsigned char UserParam2; // Wert : 0-250
		30	unsigned char UserParam3; // Wert : 0-250 Default: LED
		31	unsigned char UserParam4; // Wert : 0-250 Default: LED
		32	unsigned char ServoNickControl; // Wert : 0-250
		33	unsigned char ServoNickComp; // Wert : 0-250
		34	unsigned char ServoNickMin; // Wert : 0-250
		35	unsigned char ServoNickMax; // Wert : 0-250
		36	unsigned char ServoNickRefresh; //
		37	unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen
		38	unsigned char Reserved[7];
		39	char Name[12];
		40	} Param;
		41
		42
		43	##--------------------------------------------
		44	## Per Windows wird diese wie folgt geladen:
		45	TIniFile *iniFile = new TIniFile(OD->FileName);
		46
		47	strcpy(MK_Parameter[index].Name, (IniReadString(iniFile,"Setup", "Name","<unbenannt>")).c_str() );
		48
		49	MK_Parameter[index].Kanalbelegung[0] = IniReadInteger(iniFile,"Channels", "Gas", 3);
		50	MK_Parameter[index].Kanalbelegung[1] = IniReadInteger(iniFile,"Channels", "Gier", 4);
		51	MK_Parameter[index].Kanalbelegung[2] = IniReadInteger(iniFile,"Channels", "Nick", 1);
		52	MK_Parameter[index].Kanalbelegung[3] = IniReadInteger(iniFile,"Channels", "Roll", 2);
		53	MK_Parameter[index].Kanalbelegung[4] = IniReadInteger(iniFile,"Channels", "Poti_1", 5);
		54	MK_Parameter[index].Kanalbelegung[5] = IniReadInteger(iniFile,"Channels", "Poti_2", 6);
		55	MK_Parameter[index].Kanalbelegung[6] = IniReadInteger(iniFile,"Channels", "Poti_3", 7);
		56	MK_Parameter[index].Kanalbelegung[7] = IniReadInteger(iniFile,"Channels", "Poti_3", 8);
		57
		58	MK_Parameter[index].GlobalConfig = IniReadInteger(iniFile,"Setup", "GlobalConfig", 0);
		59
		60	MK_Parameter[index].Stick_P = IniReadInteger(iniFile,"Stick", "Nick_Roll-P", 4);
		61	MK_Parameter[index].Stick_D = IniReadInteger(iniFile,"Stick", "Nick_Roll-D", 8);
		62	MK_Parameter[index].Gier_P = IniReadInteger(iniFile,"Stick", "Gier-P", 16);
		63
		64	MK_Parameter[index].MaxHoehe = IniReadInteger(iniFile,"Altitude", "Setpoint", 251);
		65	MK_Parameter[index].Hoehe_MinGas = IniReadInteger(iniFile,"Altitude", "MinGas", 30);
		66	MK_Parameter[index].Hoehe_P = IniReadInteger(iniFile,"Altitude", "P", 10);
		67	MK_Parameter[index].Luftdruck_D = IniReadInteger(iniFile,"Altitude", "Barometric-D", 90);
		68	MK_Parameter[index].Hoehe_ACC_Wirkung = IniReadInteger(iniFile,"Altitude", "Z-ACC-Effect",15);
		69	MK_Parameter[index].Hoehe_Verstaerkung = IniReadInteger(iniFile,"Altitude", "Gain", 2);
		70
		71	MK_Parameter[index].Gyro_P = IniReadInteger(iniFile,"Gyro", "P", 120);
		72	MK_Parameter[index].Gyro_I = IniReadInteger(iniFile,"Gyro", "I", 150);
		73	MK_Parameter[index].GyroAccFaktor = IniReadInteger(iniFile,"Gyro", "ACC_Gyro-Factor", 26);
		74
		75	MK_Parameter[index].I_Faktor = IniReadInteger(iniFile,"Gyro", "Main-I", 5);
		76
		77	MK_Parameter[index].Gas_Min = IniReadInteger(iniFile,"Others", "MinGas",15);
		78	MK_Parameter[index].Gas_Max = IniReadInteger(iniFile,"Others", "MaxGas",250);
		79	MK_Parameter[index].KompassWirkung = IniReadInteger(iniFile,"Others", "Compass-Effect",128);
		80	MK_Parameter[index].UnterspannungsWarnung = IniReadInteger(iniFile,"Others", "UnderVoltage",90);
		81
		82	MK_Parameter[index].NotGas = IniReadInteger(iniFile,"Others", "NotGas",35);
		83	MK_Parameter[index].NotGasZeit = IniReadInteger(iniFile,"Others", "NotGasTime",20);
		84
		85	MK_Parameter[index].UserParam1 = IniReadInteger(iniFile,"User", "Parameter_1",0);
		86	MK_Parameter[index].UserParam2 = IniReadInteger(iniFile,"User", "Parameter_2",0);
		87	MK_Parameter[index].UserParam3 = IniReadInteger(iniFile,"User", "Parameter_3",0);
		88	MK_Parameter[index].UserParam4 = IniReadInteger(iniFile,"User", "Parameter_4",0);
		89
		90	MK_Parameter[index].ServoNickControl = IniReadInteger(iniFile,"Camera", "ServoNickControl",252);
		91	MK_Parameter[index].ServoNickComp = IniReadInteger(iniFile,"Camera", "ServoNickCompensation",100);
		92	MK_Parameter[index].ServoNickCompInvert = IniReadBool(iniFile,"Camera", "ServoNickInvert",false);
		93	MK_Parameter[index].ServoNickMin = IniReadInteger(iniFile,"Camera", "ServoNickMin",0);
		94	MK_Parameter[index].ServoNickMax = IniReadInteger(iniFile,"Camera", "ServoNickMax",250);
		95	MK_Parameter[index].ServoNickRefresh = IniReadInteger(iniFile,"Camera", "ServoNickRefreshRate",50);
		96
		97
		98
		99	##--------------------------------------------
		100	Senden der Daten: (diese Funktionen gibt es entsprechend auch in den FlightCtrl-Quellen
		101
		102	//---------------------------------------------------------------------------
		103	void AddCRC(unsigned int wieviele)
		104	{
		105	unsigned int tmpCRC = 0,i;
		106	for(i = 0; i < wieviele;i++)
		107	{
		108	tmpCRC += TxBuffer[i];
		109	}
		110	tmpCRC %= 4096;
		111	TxBuffer[i++] = '=' + tmpCRC / 64;
		112	TxBuffer[i++] = '=' + tmpCRC % 64;
		113	TxBuffer[i++] = '\r';
		114
		115	SEND_BYTES(TxBuffer, wieviele+3);
		116	}
		117
		118	// --------------------------------------------------------------------------
		119	void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *buffer, int len)
		120	{
		121	unsigned int pt = 0,i;
		122
		123	TxBuffer[pt++] = '#'; // Startzeichen
		124	TxBuffer[pt++] = modul+'a'; // Adresse (a=0; b=1,...)
		125	TxBuffer[pt++] = cmd; // Commando
		126	if(len)
		127	for(i = 0;i < len; i+=3)
		128	{ // Ausgangs-Daten
		129	TxBuffer[pt++] = '=' + (buffer[i] >> 2);
		130	TxBuffer[pt++] = '=' + (((buffer[i] & 0x03) << 4) \| ((buffer[i+1] & 0xf0) >> 4));
		131	TxBuffer[pt++] = '=' + ((unsigned char) ((buffer[i+1] & 0x0f) << 2) \| ((buffer[i+2] & 0xc0) >> 6));
		132	TxBuffer[pt++] = '=' + ((unsigned char) buffer[i+2] & 0x3f);
		133	}
		134	AddCRC(pt);
		135	}
		136
		137	#########################################
		138
		139	--------------------------------------------
		140	übertragen zum MikroKopter mit dem Befehl
		141	'l'+Paramterset (siehe auch Quellen FlightCtrl):
		142	also m = 1, n = 2, ...
		143
		144	Beispiel:
		145
		146	SendOutData('l'+ParameterSet, 1, MK_Parameter, sizeof(MK_Parameter));
		147

Subversion Repositories FlightCtrl

(root)/mkset/info.txt - Rev 53