WebSVN - NaviCtrl - Blame - Rev 684

Rev	Author	Line No.	Line
1	ingob	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
171	ingob	6	// + Nur f�r den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1	ingob	7	// + FOR NON COMMERCIAL USE ONLY
		8	// + www.MikroKopter.com
		9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	10	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		11	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
1	ingob	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		15	// + Verkauf von Luftbildaufnahmen, usw.
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
1	ingob	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		21	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		22	// + eindeutig als Ursprung verlinkt werden
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		25	// + Benutzung auf eigene Gefahr
		26	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 zul�ssig
		30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
		36	// + from this software without specific prior written permission.
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
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"
		46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
41	ingob	55	// + POSSIBILITY OF SUCH DAMAGE.
1	ingob	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	57	#include <stdlib.h>
		58	#include "91x_lib.h"
1	ingob	59	#include "main.h"
264	killagreg	60	#include "led.h"
41	ingob	61	#include "ubx.h"
		62	#include "GPS.h"
119	killagreg	63	#include "timer1.h"
242	killagreg	64	#include "compass.h"
41	ingob	65	#include "spi_slave.h"
		66	#include "menu.h"
		67	#include "uart1.h"
267	holgerb	68	#include "ncmag.h"
380	holgerb	69	#include "logging.h"
426	holgerb	70	#include "settings.h"
548	holgerb	71	#include "sdc.h"
677	holgerb	72	#include "analog.h"
1	ingob	73
		74	u8 DispPtr = 0;
201	killagreg	75	s8 DisplayBuff[DISPLAYBUFFSIZE];
1	ingob	76
201	killagreg	77
41	ingob	78	u8 MenuItem = 0;
514	holgerb	79	u8 MaxMenuItem = 27;
41	ingob	80
203	killagreg	81	void Menu_Putchar(char c)
		82	{
516	holgerb	83	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;
203	killagreg	84	}
		85
201	killagreg	86	void Menu_Clear(void)
1	ingob	87	{
201	killagreg	88	u8 i;
		89	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
1	ingob	90	}
		91
41	ingob	92	// Display with 20 characters in 4 lines
201	killagreg	93	void Menu_Update(u8 Keys)
41	ingob	94	{
516	holgerb	95	s32 i1,i2;
51	killagreg	96	u8 sign;
41	ingob	97
201	killagreg	98	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
		99	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
		100	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
41	ingob	101	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
201	killagreg	102	Menu_Clear();
41	ingob	103	// print menu item number in the upper right corner
516	holgerb	104	if(MenuItem < 10)
		105	{
41	ingob	106	LCD_printfxy(17,0,"[%i]",MenuItem);
		107	}
201	killagreg	108	else // Menuitem >= 10
41	ingob	109	{
		110	LCD_printfxy(16,0,"[%i]",MenuItem);
		111	}
		112
516	holgerb	113	switch(MenuItem)
		114	{
41	ingob	115	// Version Info
		116	case 0:
		117	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
530	holgerb	118	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	119	if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) LCD_printfxy(19,1,"R");
516	holgerb	120	if(ErrorCode)
264	killagreg	121	{
		122	LCD_printfxy(0,2,"Error: %d",ErrorCode);
516	holgerb	123	LCD_printfxy(0,3,"%s",ErrorMSG);
264	killagreg	124	}
489	killagreg	125	else
		126	{
574	holgerb	127	LCD_printfxy(0,2,"%s",ErrorMSG);
516	holgerb	128	LCD_printfxy(0,3,"(c) HiSystems GmbH");
321	holgerb	129	}
574	holgerb	130	if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT");
41	ingob	131	break;
		132	case 1:
		133	if (GPSData.Status == INVALID)
		134	{
		135	LCD_printfxy(0,0,"No GPS data");
		136	LCD_printfxy(0,1,"Lon: ");
		137	LCD_printfxy(0,2,"Lat: ");
		138	LCD_printfxy(0,3,"Alt: ");
		139	}
		140	else // newdata or processed
		141	{
122	killagreg	142	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
41	ingob	143	switch (GPSData.SatFix)
		144	{
		145	case SATFIX_NONE:
127	killagreg	146	LCD_printfxy(7,0,"NoFix");
41	ingob	147	break;
		148	case SATFIX_2D:
127	killagreg	149	LCD_printfxy(7,0,"2DFix");
41	ingob	150	break;
		151	case SATFIX_3D:
127	killagreg	152	LCD_printfxy(7,0,"3DFix");
41	ingob	153	break;
		154	default:
127	killagreg	155	LCD_printfxy(7,0,"??Fix");
41	ingob	156	break;
		157	}
121	killagreg	158	if(GPSData.Flags & FLAG_DIFFSOLN)
		159	{
127	killagreg	160	LCD_printfxy(12,0,"/DGPS");
121	killagreg	161	}
		162	else
		163	{
127	killagreg	164	LCD_printfxy(12,0," ");
121	killagreg	165	}
		166
51	killagreg	167	if(GPSData.Position.Longitude < 0) sign = '-';
		168	else sign = '+';
53	killagreg	169	i1 = abs(GPSData.Position.Longitude)/10000000L;
		170	i2 = abs(GPSData.Position.Longitude)%10000000L;
54	killagreg	171	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
51	killagreg	172	if(GPSData.Position.Latitude < 0) sign = '-';
		173	else sign = '+';
53	killagreg	174	i1 = abs(GPSData.Position.Latitude)/10000000L;
		175	i2 = abs(GPSData.Position.Latitude)%10000000L;
54	killagreg	176	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
51	killagreg	177	if(GPSData.Position.Altitude < 0) sign = '-';
		178	else sign = '+';
53	killagreg	179	i1 = abs(GPSData.Position.Altitude)/1000L;
		180	i2 = abs(GPSData.Position.Altitude)%1000L;
54	killagreg	181	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
41	ingob	182	}
		183	break;
		184	case 2:
		185	if (GPSData.Status == INVALID)
		186	{
		187	LCD_printfxy(0,0,"No GPS data");
		188	LCD_printfxy(0,1,"Speed N: ");
		189	LCD_printfxy(0,2,"Speed E: ");
		190	LCD_printfxy(0,3,"Speed T: ");
		191	}
		192	else // newdata or processed
		193	{
124	killagreg	194	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
41	ingob	195	switch (GPSData.SatFix)
		196	{
		197	case SATFIX_NONE:
127	killagreg	198	LCD_printfxy(7,0,"NoFix");
41	ingob	199	break;
		200	case SATFIX_2D:
127	killagreg	201	LCD_printfxy(7,0,"2DFix");
41	ingob	202	break;
		203	case SATFIX_3D:
127	killagreg	204	LCD_printfxy(7,0,"3DFix");
41	ingob	205	break;
		206	default:
127	killagreg	207	LCD_printfxy(7,0,"??Fix");
41	ingob	208	break;
		209	}
124	killagreg	210	if(GPSData.Flags & FLAG_DIFFSOLN)
		211	{
127	killagreg	212	LCD_printfxy(12,0,"/DGPS");
124	killagreg	213	}
		214	else
		215	{
127	killagreg	216	LCD_printfxy(12,0," ");
124	killagreg	217	}
		218
41	ingob	219	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
		220	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
		221	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
		222	}
		223	break;
		224	case 3:
		225	LCD_printfxy(0,0,"GPS UTC Time");
		226	if (!SystemTime.Valid)
		227	{
		228	LCD_printfxy(0,1," ");
		229	LCD_printfxy(0,2," No time data! ");
		230	LCD_printfxy(0,3," ");
		231	}
		232	else // newdata or processed
		233	{
		234	LCD_printfxy(0,1," ");
		235	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
		236	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
		237	}
		238	break;
59	killagreg	239	case 4: // Navi Params 1 from FC
41	ingob	240	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
516	holgerb	241	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
		242	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
		243	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
41	ingob	244	break;
516	holgerb	245	case 5: // Navi Params 2 from FC
59	killagreg	246	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
532	holgerb	247	LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m);
516	holgerb	248	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
		249	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);
59	killagreg	250	break;
		251	case 6: // Navi Params 3 from FC
		252	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
516	holgerb	253	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
		254	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
		255	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
59	killagreg	256	break;
351	holgerb	257	case 7: // Max Ranges
		258	LCD_printfxy(0,0,"Maximum flying ");
532	holgerb	259	LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m);
		260	LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m);
516	holgerb	261	LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);
532	holgerb	262	if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled");
		263	if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled");
355	holgerb	264	if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");
351	holgerb	265	break;
		266	case 8:
41	ingob	267	LCD_printfxy(0,0,"Home Position");
215	killagreg	268	if(NaviData.HomePosition.Status == INVALID)
41	ingob	269	{
		270	LCD_printfxy(0,1," ");
		271	LCD_printfxy(0,2," Is not set. ");
		272	LCD_printfxy(0,3," ");
		273	}
		274	else
		275	{
215	killagreg	276	if(NaviData.HomePosition.Longitude < 0) sign = '-';
51	killagreg	277	else sign = '+';
215	killagreg	278	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
		279	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
55	killagreg	280	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
215	killagreg	281	if(NaviData.HomePosition.Latitude < 0) sign = '-';
51	killagreg	282	else sign = '+';
215	killagreg	283	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
		284	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
55	killagreg	285	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
215	killagreg	286	if(NaviData.HomePosition.Altitude < 0) sign = '-';
51	killagreg	287	else sign = '+';
215	killagreg	288	i1 = abs(NaviData.HomePosition.Altitude)/1000L;
		289	i2 = abs(NaviData.HomePosition.Altitude)%1000L;
589	holgerb	290	LCD_printfxy(0,3,"Alt:%c%04ld.%1dm",sign, i1, i2/1000);
588	holgerb	291	switch(Parameter.HomeYawMode)
		292	{
		293	case NO_CHANGE: LCD_printfxy(17,3,"(-)"); break;
		294	case FRONT_TO_HOME: LCD_printfxy(17,3,"(F)"); break;
		295	case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break;
		296	case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break;
		297	}
41	ingob	298	}
		299	break;
351	holgerb	300	case 9:
318	holgerb	301	LCD_printfxy(0,0,"Target Position");
		302	if(NaviData.TargetPosition.Status == INVALID)
		303	{
		304	LCD_printfxy(0,1," ");
		305	LCD_printfxy(0,2," Is not set. ");
		306	LCD_printfxy(0,3," ");
		307	}
		308	else
		309	{
		310	if(NaviData.TargetPosition.Longitude < 0) sign = '-';
		311	else sign = '+';
		312	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;
		313	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;
		314	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
		315	if(NaviData.TargetPosition.Latitude < 0) sign = '-';
		316	else sign = '+';
		317	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;
		318	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;
		319	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
		320	if(NaviData.HomePosition.Altitude < 0) sign = '-';
		321	else sign = '+';
		322	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
		323	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
588	holgerb	324	LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2);
318	holgerb	325	}
		326	break;
351	holgerb	327	case 10: // RC stick controls from FC
41	ingob	328	LCD_printfxy(0,0,"RC-Sticks" );
516	holgerb	329	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
		330	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
		331	LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC
41	ingob	332	break;
351	holgerb	333	case 11: // RC poti controls from FC
190	killagreg	334	LCD_printfxy(0,0,"RC-Potis 1" );
516	holgerb	335	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
		336	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
41	ingob	337	break;
351	holgerb	338	case 12: // RC poti controls from FC
190	killagreg	339	LCD_printfxy(0,0,"RC-Potis 2" );
516	holgerb	340	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
		341	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
190	killagreg	342	break;
351	holgerb	343	case 13: // attitude from FC
66	killagreg	344	if(FromFlightCtrl.AngleNick < 0) sign = '-';
		345	else sign = '+';
		346	i1 = abs(FromFlightCtrl.AngleNick)/10;
		347	i2 = abs(FromFlightCtrl.AngleNick)%10;
201	killagreg	348	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
66	killagreg	349	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
		350	else sign = '+';
		351	i1 = abs(FromFlightCtrl.AngleRoll)/10;
		352	i2 = abs(FromFlightCtrl.AngleRoll)%10;
516	holgerb	353	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
67	killagreg	354	if(FromFlightCtrl.AccNick < 0) sign = '-';
		355	else sign = '+';
		356	i1 = abs(FromFlightCtrl.AccNick)/10;
		357	i2 = abs(FromFlightCtrl.AccNick)%10;
201	killagreg	358	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
516	holgerb	359	if(FromFlightCtrl.AccRoll < 0) sign = '-';
67	killagreg	360	else sign = '+';
		361	i1 = abs(FromFlightCtrl.AccRoll)/10;
		362	i2 = abs(FromFlightCtrl.AccRoll)%10;
516	holgerb	363	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
41	ingob	364	break;
351	holgerb	365	case 14: // gyros from FC
516	holgerb	366	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
		367	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
41	ingob	368	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
489	killagreg	369	if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ")
		370	else LCD_printfxy(0,3,"not calibrated");
41	ingob	371	break;
489	killagreg	372	case 15:
475	holgerb	373	LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10);
		374	LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);
		375	if(FC.FromFC_DisableDeclination)
516	holgerb	376	{
489	killagreg	377	LCD_printfxy(0,2,"Mag.Declinat.:disabl");
475	holgerb	378	}
		379	else
		380	{
489	killagreg	381	if(GeoMagDec < 0) sign = '-';
		382	else sign = '+';
		383	LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
475	holgerb	384	}
463	holgerb	385	LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);
516	holgerb	386	break;
351	holgerb	387	case 16: // User Parameter
153	killagreg	388	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
		389	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
		390	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
		391	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
41	ingob	392	break;
380	holgerb	393	case 17: // User Parameter
426	holgerb	394	LCD_printfxy(0,0,"SD-Card Logs");
548	holgerb	395	if(SDCardInfo.Valid == 1)
		396	{
		397	LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);
		398	LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);
		399	}
		400	else
		401	LCD_printfxy(0,1,"no card in slot ");
380	holgerb	402	break;
		403	case 18: // magnetic field
292	killagreg	404	if(Compass_CalState)
254	killagreg	405	{
292	killagreg	406	LCD_printfxy(0,0,"Calibration:");
		407	LCD_printfxy(0,1,"Step %d/", Compass_CalState);
516	holgerb	408	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
292	killagreg	409	LCD_printfxy(9,3,"(ESC)(NEXT)");
		410	switch(Compass_CalState)
254	killagreg	411	{
292	killagreg	412	case 1:
		413	case 3:
		414	LCD_printfxy(7,1,"pause");
		415	break;
		416
		417	case 2:
		418	LCD_printfxy(7,1,"horizontal");
		419	break;
		420
		421	case 4:
		422	LCD_printfxy(7,1,"vertical");
		423	break;
		424
		425	case 5:
		426	LCD_printfxy(7,1,"data saved");
		427	LCD_printfxy(8,3," (END) ");
		428	break;
489	killagreg	429
292	killagreg	430	default:
		431	break;
254	killagreg	432	}
		433	}
292	killagreg	434	else
254	killagreg	435	{
330	holgerb	436	if(GeoMagDec < 0) sign = '-';
		437	else sign = '+';
254	killagreg	438	LCD_printfxy(0,0,"Magnetic Field");
516	holgerb	439	LCD_printfxy(0,1,"X:%5i",MagVector.X);
292	killagreg	440	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
		441	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);
330	holgerb	442	LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);
489	killagreg	443	if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern")
		444	else LCD_printfxy(11,2,"Intern");
338	holgerb	445	// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
		446	// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);
292	killagreg	447	LCD_printfxy(15,3,"(CAL)");
		448	}
		449	if(Keys & KEY4) // next step
		450	{
		451	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
		452	else Compass_SetCalState(0);
		453	}
		454	if(Keys & KEY3)Compass_SetCalState(0); // cancel
41	ingob	455	break;
489	killagreg	456	case 19:
345	holgerb	457	if(GeoMagDec < 0) sign = '-';
		458	else sign = '+';
338	holgerb	459	LCD_printfxy(0,0,"Magnetic Field");
		460	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
		461	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
		462	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);
		463	break;
489	killagreg	464	case 20:
426	holgerb	465	LCD_printfxy(0,0,"SD-Setting ");
		466	LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);
		467	break;
489	killagreg	468	case 21:
453	holgerb	469	LCD_printfxy(0,0,"CPU Processing ");
659	holgerb	470	LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10);
663	holgerb	471	LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10);
659	holgerb	472	if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");
663	holgerb	473	if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");
453	holgerb	474	break;
489	killagreg	475	case 22:
		476	LCD_printfxy(0,0,"BL Current" );
		477	LCD_printfxy(11,3,"(in 0.1A)" );
		478	for(i1 = 0; i1 < 3; i1++)
		479	{
502	killagreg	480	LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i14),BL3_Current(i14+1),BL3_Current(i14+2),BL3_Current(i14+3));
		481	if(Motor[4 + i1 * 4].State == 0) break;
489	killagreg	482	}
471	holgerb	483	break;
489	killagreg	484
473	holgerb	485	case 23:
489	killagreg	486	LCD_printfxy(0,0,"Ext. Compass" );
		487	if(Compass_I2CPort == NCMAG_PORT_EXTERN)
		488	{
516	holgerb	489	u8 tmp;
		490	LCD_printfxy(0,1,"ACC X Y Z");
		491	LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40);
		492	tmp = NCMAG_GetOrientationFromAcc();
		493	LCD_printfxy(0,3,"Orientat.: ");
		494	if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp);
		495	LCD_printfxy(15,3,"(%d)",NCMAG_Orientation);
489	killagreg	496	}
		497	else
		498	{
		499	LCD_printfxy(0,1,"Not connected");
		500	}
473	holgerb	501	break;
498	killagreg	502
		503	case 24:
		504	{
504	holgerb	505	static u8 index = 1;
498	killagreg	506	if(Keys & KEY3) // next step
		507	{
503	holgerb	508	if(index < ToFC_MaxWpListIndex) index++;
498	killagreg	509	else index = 1;
		510	}
503	holgerb	511	if(Keys & KEY4) FromFC_LoadWP_List = index;
		512	LCD_printfxy(0,0,"Load WPL (fix)" );
498	killagreg	513	LCD_printfxy(0,1,"Name: %s", WPL_Store.Name);
		514	// 12345678901234567890
		515	LCD_printfxy(0,2,"Points Index ");
		516	LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index);
516	holgerb	517	}
498	killagreg	518	break;
504	holgerb	519	case 25:
		520	{
		521	static u8 index = 1;
516	holgerb	522	if(Keys & KEY3)
504	holgerb	523	{
		524	if(index < ToFC_MaxWpListIndex) index++;
		525	else index = 1;
		526	}
514	holgerb	527	LCD_printfxy(0,0,"Load WPL (Rel)" );
504	holgerb	528	LCD_printfxy(0,1,"Name: %s", WPL_Store.Name);
		529	// 12345678901234567890
		530	LCD_printfxy(0,2,"Points Index ");
516	holgerb	531	if(GPSData.SatFix == SATFIX_3D)
		532	{
		533	LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index);
		534	if(Keys & KEY4) FromFC_LoadWP_List = index \| 0x80;
		535	}
		536	else LCD_printfxy(0,3," No Satfix ! ", index);
514	holgerb	537
516	holgerb	538	}
504	holgerb	539	break;
514	holgerb	540	case 26:
		541	{
		542	static u8 index = 1;
516	holgerb	543	if(Keys & KEY3)
514	holgerb	544	{
		545	if(index < ToFC_MaxWpListIndex) index++;
		546	else index = 1;
		547	}
		548	if(Keys & KEY4) FromFC_Load_SinglePoint = index;
		549	LCD_printfxy(0,0,"Load Point" );
		550	LCD_printfxy(0,1,"Name: %s", WPL_Store.Name);
		551	// 12345678901234567890
		552	// LCD_printfxy(0,2,"Points Index ");
		553	LCD_printfxy(0,3,"Number: %3d (LOAD)", index);
516	holgerb	554	}
514	holgerb	555	break;
		556	case 27:
		557	{
		558	static u8 index = 1;
		559	if(Keys & KEY3)
		560	{
		561	if(index < ToFC_MaxWpListIndex) index++;
		562	else index = 1;
		563	}
		564	LCD_printfxy(0,0,"Save Point" );
		565	LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter/20);
		566	// 12345678901234567890
		567	LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10);
516	holgerb	568	if(GPSData.SatFix == SATFIX_3D)
514	holgerb	569	{
		570	LCD_printfxy(0,3,"Number: %3d (SAVE)", index);
		571	if(Keys & KEY4) FromFC_Save_SinglePoint = index;
		572	}
		573	else LCD_printfxy(0,3," No Satfix ! ", index);
516	holgerb	574	}
514	holgerb	575	break;
677	holgerb	576	/* case 28:
		577	LCD_printfxy(0,0,"Analog inputs");
		578	LCD_printfxy(0,0,"A0:%3i A1:%3i",AnalogData.Ch0,AnalogData.Ch1);
		579	LCD_printfxy(0,1,"A2:%3i A3:%3i",AnalogData.Ch2,AnalogData.Ch3);
		580	LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5);
		581	LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7);
		582	break;
		583	*/
41	ingob	584	default:
201	killagreg	585	//MaxMenuItem = MenuItem - 1;
41	ingob	586	MenuItem = 0;
		587	break;
516	holgerb	588	}
1	ingob	589	}

Subversion Repositories NaviCtrl

(root)/tags/V2.12a/menu.c @ 811 - Rev 684