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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" |
| 880 | holgerb | 69 | #include "uart2.h" |
| 267 | holgerb | 70 | #include "ncmag.h" |
| 380 | holgerb | 71 | #include "logging.h" |
| 426 | holgerb | 72 | #include "settings.h" |
| 548 | holgerb | 73 | #include "sdc.h" |
| 677 | holgerb | 74 | #include "analog.h" |
| 697 | holgerb | 75 | #include "canbus.h" |
| 708 | holgerb | 76 | #include "triggerlog.h" |
| 724 | holgerb | 77 | #include "CamCtrl.h" |
| 780 | holgerb | 78 | #include "eeprom.h" |
| 1 | ingob | 79 | |
| 80 | u8 DispPtr = 0; |
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| 201 | killagreg | 81 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
| 1 | ingob | 82 | |
| 201 | killagreg | 83 | |
| 41 | ingob | 84 | u8 MenuItem = 0; |
| 880 | holgerb | 85 | u8 MaxMenuItem = 35; |
| 41 | ingob | 86 | |
| 203 | killagreg | 87 | void Menu_Putchar(char c) |
| 88 | { |
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| 516 | holgerb | 89 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
| 203 | killagreg | 90 | } |
| 91 | |||
| 201 | killagreg | 92 | void Menu_Clear(void) |
| 1 | ingob | 93 | { |
| 201 | killagreg | 94 | u8 i; |
| 95 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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| 1 | ingob | 96 | } |
| 97 | |||
| 41 | ingob | 98 | // Display with 20 characters in 4 lines |
| 201 | killagreg | 99 | void Menu_Update(u8 Keys) |
| 41 | ingob | 100 | { |
| 516 | holgerb | 101 | s32 i1,i2; |
| 51 | killagreg | 102 | u8 sign; |
| 41 | ingob | 103 | |
| 201 | killagreg | 104 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
| 105 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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| 106 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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| 41 | ingob | 107 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| 201 | killagreg | 108 | Menu_Clear(); |
| 41 | ingob | 109 | // print menu item number in the upper right corner |
| 516 | holgerb | 110 | if(MenuItem < 10) |
| 111 | { |
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| 41 | ingob | 112 | LCD_printfxy(17,0,"[%i]",MenuItem); |
| 113 | } |
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| 201 | killagreg | 114 | else // Menuitem >= 10 |
| 41 | ingob | 115 | { |
| 116 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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| 117 | } |
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| 118 | |||
| 516 | holgerb | 119 | switch(MenuItem) |
| 120 | { |
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| 41 | ingob | 121 | // Version Info |
| 122 | case 0: |
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| 708 | holgerb | 123 | if(IamMaster == SLAVE) LCD_printfxy(0,0,"+ Navi-Ctrl (S) +") |
| 124 | else |
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| 125 | if(IamMaster == MASTER)LCD_printfxy(0,0,"+ Navi-Ctrl (M) +") |
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| 126 | else LCD_printfxy(0,0,"++ Navi-Ctrl ++") |
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| 127 | |||
| 530 | holgerb | 128 | 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 | 129 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) LCD_printfxy(19,1,"R"); |
| 516 | holgerb | 130 | if(ErrorCode) |
| 264 | killagreg | 131 | { |
| 132 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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| 516 | holgerb | 133 | LCD_printfxy(0,3,"%s",ErrorMSG); |
| 264 | killagreg | 134 | } |
| 489 | killagreg | 135 | else |
| 697 | holgerb | 136 | if(Partner.ErrorCode) |
| 489 | killagreg | 137 | { |
| 697 | holgerb | 138 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
| 139 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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| 140 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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| 141 | } |
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| 142 | else |
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| 143 | { |
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| 693 | holgerb | 144 | LCD_printfxy(0,2,"Set:%d %s", Parameter.ActiveSetting,EE_Parameter.Name); |
| 145 | LCD_printfxy(0,3,"%s",ErrorMSG); |
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| 146 | // LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
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| 321 | holgerb | 147 | } |
| 574 | holgerb | 148 | if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
| 785 | holgerb | 149 | //if(NC_To_FC_Flags & NC_TO_FC_SWITCHOFF_IF_LANDED) LCD_printfxy(16,2,"Off"); |
| 41 | ingob | 150 | break; |
| 151 | case 1: |
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| 697 | holgerb | 152 | if(IamMaster == SLAVE) LCD_printfxy(0,0,"++ Master - NC ++") |
| 153 | else LCD_printfxy(0,0,"++ Slave - NC ++"); |
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| 154 | |||
| 155 | if(CanRxMessage[CAN_ID_VERSION].D.Byte[3]) |
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| 156 | { |
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| 157 | 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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| 158 | if(Partner.ErrorCode) |
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| 159 | { |
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| 160 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
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| 161 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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| 162 | } |
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| 163 | else |
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| 164 | { |
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| 165 | LCD_printfxy(0,2,"Set:%d", CanRxMessage[CAN_ID_VERSION].D.Byte[1]); |
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| 166 | } |
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| 167 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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| 168 | if(Partner.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
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| 169 | } |
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| 170 | else |
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| 171 | LCD_printfxy(0,2,"not connected", CanTxMessage[CAN_ID_VERSION].D.Byte[1]); |
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| 832 | holgerb | 172 | /* |
| 173 | LCD_printfxy(0,2,"%2u",NaviData_HoTT_Text.HoTT_TextLevel); |
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| 174 | LCD_printfxy(0,3,"%s",NaviData_HoTT_Text.HoTT_DisplayText); |
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| 175 | if(NaviData_Home.OSDStatusFlags3 & OSD3_FLAG_MK_IS_READY) LCD_printfxy(5,2,"ready") else LCD_printfxy(5,2," -- "); |
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| 176 | */ |
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| 697 | holgerb | 177 | break; |
| 178 | case 2: |
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| 41 | ingob | 179 | if (GPSData.Status == INVALID) |
| 180 | { |
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| 181 | LCD_printfxy(0,0,"No GPS data"); |
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| 182 | LCD_printfxy(0,1,"Lon: "); |
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| 183 | LCD_printfxy(0,2,"Lat: "); |
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| 184 | LCD_printfxy(0,3,"Alt: "); |
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| 185 | } |
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| 186 | else // newdata or processed |
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| 187 | { |
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| 883 | holgerb | 188 | LCD_printfxy(0,0,"Sat:%02d Fix:%c", GPSData.NumOfSats,NMEA_In_Fix_Txt[0]); |
| 189 | if(ExternalGpsInUse) |
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| 190 | { |
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| 191 | LCD_printfxy(7,0,"Fix:%c ",NMEA_In_Fix_Txt[0]); |
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| 192 | } |
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| 193 | else |
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| 194 | { |
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| 41 | ingob | 195 | switch (GPSData.SatFix) |
| 196 | { |
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| 197 | case SATFIX_NONE: |
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| 127 | killagreg | 198 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 199 | break; |
| 200 | case SATFIX_2D: |
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| 127 | killagreg | 201 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 202 | break; |
| 203 | case SATFIX_3D: |
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| 127 | killagreg | 204 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 205 | break; |
| 206 | default: |
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| 127 | killagreg | 207 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 208 | break; |
| 209 | } |
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| 121 | killagreg | 210 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 211 | { |
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| 127 | killagreg | 212 | LCD_printfxy(12,0,"/DGPS"); |
| 121 | killagreg | 213 | } |
| 214 | else |
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| 215 | { |
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| 127 | killagreg | 216 | LCD_printfxy(12,0," "); |
| 121 | killagreg | 217 | } |
| 883 | holgerb | 218 | } |
| 219 | if(GPSData.SatFix == SATFIX_NONE) LCD_printfxy(7,0,"NoFix "); |
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| 121 | killagreg | 220 | |
| 51 | killagreg | 221 | if(GPSData.Position.Longitude < 0) sign = '-'; |
| 222 | else sign = '+'; |
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| 53 | killagreg | 223 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
| 224 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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| 54 | killagreg | 225 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 226 | if(GPSData.Position.Latitude < 0) sign = '-'; |
| 227 | else sign = '+'; |
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| 53 | killagreg | 228 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
| 229 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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| 880 | holgerb | 230 | LCD_printfxy(0,2,"Lat: %c%02ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 231 | if(GPSData.Position.Altitude < 0) sign = '-'; |
| 232 | else sign = '+'; |
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| 53 | killagreg | 233 | i1 = abs(GPSData.Position.Altitude)/1000L; |
| 234 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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| 708 | holgerb | 235 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm V%d", sign, i1, i2, GPS_Version/1000); |
| 883 | holgerb | 236 | if(ExternalGpsInUse) LCD_printfxy(15,3,"NMEA"); |
| 41 | ingob | 237 | } |
| 883 | holgerb | 238 | |
| 41 | ingob | 239 | break; |
| 697 | holgerb | 240 | case 3: |
| 41 | ingob | 241 | if (GPSData.Status == INVALID) |
| 242 | { |
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| 243 | LCD_printfxy(0,0,"No GPS data"); |
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| 244 | LCD_printfxy(0,1,"Speed N: "); |
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| 245 | LCD_printfxy(0,2,"Speed E: "); |
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| 246 | LCD_printfxy(0,3,"Speed T: "); |
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| 247 | } |
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| 248 | else // newdata or processed |
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| 249 | { |
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| 124 | killagreg | 250 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 251 | switch (GPSData.SatFix) |
| 252 | { |
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| 253 | case SATFIX_NONE: |
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| 127 | killagreg | 254 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 255 | break; |
| 256 | case SATFIX_2D: |
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| 127 | killagreg | 257 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 258 | break; |
| 259 | case SATFIX_3D: |
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| 127 | killagreg | 260 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 261 | break; |
| 262 | default: |
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| 127 | killagreg | 263 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 264 | break; |
| 265 | } |
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| 124 | killagreg | 266 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 267 | { |
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| 127 | killagreg | 268 | LCD_printfxy(12,0,"/DGPS"); |
| 124 | killagreg | 269 | } |
| 270 | else |
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| 271 | { |
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| 127 | killagreg | 272 | LCD_printfxy(12,0," "); |
| 124 | killagreg | 273 | } |
| 274 | |||
| 41 | ingob | 275 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
| 276 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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| 277 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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| 278 | } |
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| 279 | break; |
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| 697 | holgerb | 280 | case 4: |
| 41 | ingob | 281 | LCD_printfxy(0,0,"GPS UTC Time"); |
| 282 | if (!SystemTime.Valid) |
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| 283 | { |
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| 284 | LCD_printfxy(0,1," "); |
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| 285 | LCD_printfxy(0,2," No time data! "); |
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| 286 | LCD_printfxy(0,3," "); |
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| 287 | } |
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| 288 | else // newdata or processed |
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| 289 | { |
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| 290 | LCD_printfxy(0,1," "); |
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| 291 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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| 292 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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| 293 | } |
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| 294 | break; |
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| 697 | holgerb | 295 | case 5: // Navi Params 1 from FC |
| 41 | ingob | 296 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
| 516 | holgerb | 297 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
| 298 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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| 299 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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| 41 | ingob | 300 | break; |
| 697 | holgerb | 301 | case 6: // Navi Params 2 from FC |
| 59 | killagreg | 302 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
| 532 | holgerb | 303 | LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m); |
| 516 | holgerb | 304 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
| 305 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
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| 59 | killagreg | 306 | break; |
| 697 | holgerb | 307 | case 7: // Navi Params 3 from FC |
| 59 | killagreg | 308 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
| 516 | holgerb | 309 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
| 310 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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| 311 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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| 59 | killagreg | 312 | break; |
| 697 | holgerb | 313 | case 8: // Max Ranges |
| 351 | holgerb | 314 | LCD_printfxy(0,0,"Maximum flying "); |
| 532 | holgerb | 315 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m); |
| 316 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m); |
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| 516 | holgerb | 317 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
| 532 | holgerb | 318 | if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled"); |
| 319 | if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled"); |
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| 355 | holgerb | 320 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
| 351 | holgerb | 321 | break; |
| 697 | holgerb | 322 | case 9: |
| 41 | ingob | 323 | LCD_printfxy(0,0,"Home Position"); |
| 215 | killagreg | 324 | if(NaviData.HomePosition.Status == INVALID) |
| 41 | ingob | 325 | { |
| 326 | LCD_printfxy(0,1," "); |
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| 327 | LCD_printfxy(0,2," Is not set. "); |
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| 328 | LCD_printfxy(0,3," "); |
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| 329 | } |
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| 330 | else |
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| 331 | { |
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| 215 | killagreg | 332 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
| 51 | killagreg | 333 | else sign = '+'; |
| 215 | killagreg | 334 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
| 335 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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| 55 | killagreg | 336 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 337 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
| 51 | killagreg | 338 | else sign = '+'; |
| 215 | killagreg | 339 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
| 340 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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| 880 | holgerb | 341 | LCD_printfxy(0,2,"Lat: %c%02ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 342 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
| 51 | killagreg | 343 | else sign = '+'; |
| 215 | killagreg | 344 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
| 345 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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| 589 | holgerb | 346 | LCD_printfxy(0,3,"Alt:%c%04ld.%1dm",sign, i1, i2/1000); |
| 588 | holgerb | 347 | switch(Parameter.HomeYawMode) |
| 348 | { |
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| 349 | case NO_CHANGE: LCD_printfxy(17,3,"(-)"); break; |
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| 350 | case FRONT_TO_HOME: LCD_printfxy(17,3,"(F)"); break; |
||
| 351 | case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break; |
||
| 352 | case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break; |
||
| 353 | } |
||
| 41 | ingob | 354 | } |
| 355 | break; |
||
| 697 | holgerb | 356 | case 10: |
| 318 | holgerb | 357 | LCD_printfxy(0,0,"Target Position"); |
| 358 | if(NaviData.TargetPosition.Status == INVALID) |
||
| 359 | { |
||
| 360 | LCD_printfxy(0,1," "); |
||
| 361 | LCD_printfxy(0,2," Is not set. "); |
||
| 362 | LCD_printfxy(0,3," "); |
||
| 363 | } |
||
| 364 | else |
||
| 365 | { |
||
| 366 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
||
| 367 | else sign = '+'; |
||
| 368 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
||
| 369 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
||
| 370 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
||
| 371 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
||
| 372 | else sign = '+'; |
||
| 373 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
||
| 374 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
||
| 375 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
||
| 376 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
||
| 377 | else sign = '+'; |
||
| 378 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
||
| 379 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
||
| 588 | holgerb | 380 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2); |
| 318 | holgerb | 381 | } |
| 382 | break; |
||
| 697 | holgerb | 383 | case 11: // RC stick controls from FC |
| 41 | ingob | 384 | LCD_printfxy(0,0,"RC-Sticks" ); |
| 516 | holgerb | 385 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
| 386 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
||
| 387 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
||
| 41 | ingob | 388 | break; |
| 864 | holgerb | 389 | case 12: // RC stick controls from FC |
| 865 | holgerb | 390 | LCD_printfxy(0,0,"External-Ctrl" ); |
| 864 | holgerb | 391 | |
| 392 | if(!EE_Parameter.ExternalControl) |
||
| 393 | { |
||
| 394 | LCD_printfxy(0,2,"not used" ); |
||
| 395 | } |
||
| 396 | else |
||
| 865 | holgerb | 397 | if((EE_Parameter.ExternalControl >= 248) && (FC.Poti[255 - EE_Parameter.ExternalControl] < 128)) |
| 864 | holgerb | 398 | { |
| 399 | LCD_printfxy(0,2,"Switch is off"); |
||
| 400 | } |
||
| 401 | else |
||
| 402 | { |
||
| 403 | if(FromFC_ExternalCtrlCfg) |
||
| 404 | { |
||
| 865 | holgerb | 405 | LCD_printfxy(0,1,"Nick:%4i Roll:%4i ",ExternControl.Nick, ExternControl.Roll); |
| 406 | LCD_printfxy(0,2,"Gas: %4i Yaw: %4i ",ExternControl.Gas, ExternControl.Gier); |
||
| 407 | LCD_printfxy(0,3,"Cfg:0x%02x SW:0x%02x",FromFC_ExternalCtrlCfg,FromFC_ExternalCtrlSwitch); |
||
| 864 | holgerb | 408 | } |
| 409 | else |
||
| 410 | LCD_printfxy(0,2,"No Data"); |
||
| 411 | } |
||
| 412 | break; |
||
| 413 | |||
| 414 | case 13: // RC poti controls from FC |
||
| 190 | killagreg | 415 | LCD_printfxy(0,0,"RC-Potis 1" ); |
| 516 | holgerb | 416 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
| 417 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
||
| 41 | ingob | 418 | break; |
| 864 | holgerb | 419 | case 14: // RC poti controls from FC |
| 190 | killagreg | 420 | LCD_printfxy(0,0,"RC-Potis 2" ); |
| 516 | holgerb | 421 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
| 422 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
||
| 190 | killagreg | 423 | break; |
| 864 | holgerb | 424 | case 15: // attitude from FC |
| 66 | killagreg | 425 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
| 426 | else sign = '+'; |
||
| 427 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
||
| 428 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
||
| 201 | killagreg | 429 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
| 66 | killagreg | 430 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
| 431 | else sign = '+'; |
||
| 432 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
||
| 433 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
||
| 516 | holgerb | 434 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
| 688 | holgerb | 435 | if(FromFlightCtrl_AccNick < 0) sign = '-'; |
| 67 | killagreg | 436 | else sign = '+'; |
| 688 | holgerb | 437 | i1 = abs(FromFlightCtrl_AccNick)/10; |
| 438 | i2 = abs(FromFlightCtrl_AccNick)%10; |
||
| 201 | killagreg | 439 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
| 688 | holgerb | 440 | if(FromFlightCtrl_AccRoll < 0) sign = '-'; |
| 67 | killagreg | 441 | else sign = '+'; |
| 688 | holgerb | 442 | i1 = abs(FromFlightCtrl_AccRoll)/10; |
| 443 | i2 = abs(FromFlightCtrl_AccRoll)%10; |
||
| 516 | holgerb | 444 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
| 41 | ingob | 445 | break; |
| 864 | holgerb | 446 | case 16: |
| 688 | holgerb | 447 | LCD_printfxy(0,0,"Analog inputs"); |
| 448 | LCD_printfxy(0,1,"A5:%3i ",AnalogData.Ch5); |
||
| 449 | LCD_printfxy(0,2,"A6:%3i ",AnalogData.Ch6); |
||
| 450 | LCD_printfxy(0,3,"A7:%3i ",AnalogData.Ch7); |
||
| 41 | ingob | 451 | break; |
| 864 | holgerb | 452 | case 17: |
| 475 | holgerb | 453 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
| 454 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
||
| 455 | if(FC.FromFC_DisableDeclination) |
||
| 516 | holgerb | 456 | { |
| 489 | killagreg | 457 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
| 475 | holgerb | 458 | } |
| 459 | else |
||
| 460 | { |
||
| 489 | killagreg | 461 | if(GeoMagDec < 0) sign = '-'; |
| 462 | else sign = '+'; |
||
| 463 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 475 | holgerb | 464 | } |
| 933 | holgerb | 465 | LCD_printfxy(0,3,"True Compass: %3i", OrientationGyroCompassCorrected/10); |
| 516 | holgerb | 466 | break; |
| 864 | holgerb | 467 | case 18: // User Parameter |
| 153 | killagreg | 468 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
| 469 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
| 470 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
| 471 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
| 41 | ingob | 472 | break; |
| 864 | holgerb | 473 | case 19: // User Parameter |
| 426 | holgerb | 474 | LCD_printfxy(0,0,"SD-Card Logs"); |
| 548 | holgerb | 475 | if(SDCardInfo.Valid == 1) |
| 476 | { |
||
| 708 | holgerb | 477 | LCD_printfxy(0,1,"GPX: %4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
| 478 | LCD_printfxy(0,2,"KML: %4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
| 479 | LCD_printfxy(0,3,"Trig:%4i ",Logged_TRIG_Counter); |
||
| 548 | holgerb | 480 | } |
| 481 | else |
||
| 482 | LCD_printfxy(0,1,"no card in slot "); |
||
| 380 | holgerb | 483 | break; |
| 864 | holgerb | 484 | case 20: // magnetic field |
| 292 | killagreg | 485 | if(Compass_CalState) |
| 254 | killagreg | 486 | { |
| 292 | killagreg | 487 | LCD_printfxy(0,0,"Calibration:"); |
| 488 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
| 516 | holgerb | 489 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
| 292 | killagreg | 490 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
| 491 | switch(Compass_CalState) |
||
| 254 | killagreg | 492 | { |
| 292 | killagreg | 493 | case 1: |
| 494 | case 3: |
||
| 495 | LCD_printfxy(7,1,"pause"); |
||
| 496 | break; |
||
| 497 | |||
| 498 | case 2: |
||
| 499 | LCD_printfxy(7,1,"horizontal"); |
||
| 500 | break; |
||
| 501 | |||
| 502 | case 4: |
||
| 503 | LCD_printfxy(7,1,"vertical"); |
||
| 504 | break; |
||
| 505 | |||
| 506 | case 5: |
||
| 507 | LCD_printfxy(7,1,"data saved"); |
||
| 508 | LCD_printfxy(8,3," (END) "); |
||
| 509 | break; |
||
| 489 | killagreg | 510 | |
| 292 | killagreg | 511 | default: |
| 512 | break; |
||
| 254 | killagreg | 513 | } |
| 514 | } |
||
| 292 | killagreg | 515 | else |
| 254 | killagreg | 516 | { |
| 330 | holgerb | 517 | if(GeoMagDec < 0) sign = '-'; |
| 518 | else sign = '+'; |
||
| 254 | killagreg | 519 | LCD_printfxy(0,0,"Magnetic Field"); |
| 516 | holgerb | 520 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
| 292 | killagreg | 521 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
| 522 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
| 330 | holgerb | 523 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
| 489 | killagreg | 524 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
| 525 | else LCD_printfxy(11,2,"Intern"); |
||
| 338 | holgerb | 526 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
| 527 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
| 292 | killagreg | 528 | LCD_printfxy(15,3,"(CAL)"); |
| 529 | } |
||
| 530 | if(Keys & KEY4) // next step |
||
| 531 | { |
||
| 532 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
| 533 | else Compass_SetCalState(0); |
||
| 534 | } |
||
| 535 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
| 41 | ingob | 536 | break; |
| 864 | holgerb | 537 | case 21: |
| 345 | holgerb | 538 | if(GeoMagDec < 0) sign = '-'; |
| 539 | else sign = '+'; |
||
| 338 | holgerb | 540 | LCD_printfxy(0,0,"Magnetic Field"); |
| 541 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
| 542 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 543 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
| 544 | break; |
||
| 864 | holgerb | 545 | case 22: |
| 426 | holgerb | 546 | LCD_printfxy(0,0,"SD-Setting "); |
| 547 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
| 548 | break; |
||
| 864 | holgerb | 549 | case 23: |
| 453 | holgerb | 550 | LCD_printfxy(0,0,"CPU Processing "); |
| 659 | holgerb | 551 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10); |
| 663 | holgerb | 552 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10); |
| 659 | holgerb | 553 | if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
| 663 | holgerb | 554 | if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
| 453 | holgerb | 555 | break; |
| 864 | holgerb | 556 | case 24: |
| 489 | killagreg | 557 | LCD_printfxy(0,0,"BL Current" ); |
| 558 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
| 559 | for(i1 = 0; i1 < 3; i1++) |
||
| 560 | { |
||
| 502 | killagreg | 561 | 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)); |
| 562 | if(Motor[4 + i1 * 4].State == 0) break; |
||
| 489 | killagreg | 563 | } |
| 471 | holgerb | 564 | break; |
| 489 | killagreg | 565 | |
| 864 | holgerb | 566 | case 25: |
| 489 | killagreg | 567 | LCD_printfxy(0,0,"Ext. Compass" ); |
| 686 | holgerb | 568 | if(NCMAG_Compass_use_Orientation) |
| 489 | killagreg | 569 | { |
| 516 | holgerb | 570 | u8 tmp; |
| 571 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
| 572 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
||
| 573 | tmp = NCMAG_GetOrientationFromAcc(); |
||
| 574 | LCD_printfxy(0,3,"Orientat.: "); |
||
| 575 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
| 576 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
||
| 489 | killagreg | 577 | } |
| 578 | else |
||
| 579 | { |
||
| 580 | LCD_printfxy(0,1,"Not connected"); |
||
| 581 | } |
||
| 473 | holgerb | 582 | break; |
| 864 | holgerb | 583 | case 26: |
| 498 | killagreg | 584 | { |
| 504 | holgerb | 585 | static u8 index = 1; |
| 498 | killagreg | 586 | if(Keys & KEY3) // next step |
| 587 | { |
||
| 503 | holgerb | 588 | if(index < ToFC_MaxWpListIndex) index++; |
| 498 | killagreg | 589 | else index = 1; |
| 590 | } |
||
| 503 | holgerb | 591 | if(Keys & KEY4) FromFC_LoadWP_List = index; |
| 592 | LCD_printfxy(0,0,"Load WPL (fix)" ); |
||
| 498 | killagreg | 593 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 594 | // 12345678901234567890 |
||
| 595 | LCD_printfxy(0,2,"Points Index "); |
||
| 596 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 516 | holgerb | 597 | } |
| 498 | killagreg | 598 | break; |
| 864 | holgerb | 599 | case 27: |
| 504 | holgerb | 600 | { |
| 601 | static u8 index = 1; |
||
| 516 | holgerb | 602 | if(Keys & KEY3) |
| 504 | holgerb | 603 | { |
| 604 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 605 | else index = 1; |
||
| 606 | } |
||
| 514 | holgerb | 607 | LCD_printfxy(0,0,"Load WPL (Rel)" ); |
| 504 | holgerb | 608 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 609 | // 12345678901234567890 |
||
| 610 | LCD_printfxy(0,2,"Points Index "); |
||
| 516 | holgerb | 611 | if(GPSData.SatFix == SATFIX_3D) |
| 612 | { |
||
| 613 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 614 | if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80; |
||
| 615 | } |
||
| 616 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 514 | holgerb | 617 | |
| 516 | holgerb | 618 | } |
| 504 | holgerb | 619 | break; |
| 864 | holgerb | 620 | case 28: |
| 514 | holgerb | 621 | { |
| 622 | static u8 index = 1; |
||
| 516 | holgerb | 623 | if(Keys & KEY3) |
| 514 | holgerb | 624 | { |
| 625 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 626 | else index = 1; |
||
| 627 | } |
||
| 628 | if(Keys & KEY4) FromFC_Load_SinglePoint = index; |
||
| 629 | LCD_printfxy(0,0,"Load Point" ); |
||
| 630 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
| 631 | // 12345678901234567890 |
||
| 632 | // LCD_printfxy(0,2,"Points Index "); |
||
| 633 | LCD_printfxy(0,3,"Number: %3d (LOAD)", index); |
||
| 516 | holgerb | 634 | } |
| 514 | holgerb | 635 | break; |
| 864 | holgerb | 636 | case 29: |
| 514 | holgerb | 637 | { |
| 638 | static u8 index = 1; |
||
| 639 | if(Keys & KEY3) |
||
| 640 | { |
||
| 641 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 642 | else index = 1; |
||
| 643 | } |
||
| 644 | LCD_printfxy(0,0,"Save Point" ); |
||
| 919 | holgerb | 645 | LCD_printfxy(0,1,"Alt: %3dm", BaroAltimeter_dm/10); |
| 514 | holgerb | 646 | // 12345678901234567890 |
| 647 | LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
||
| 516 | holgerb | 648 | if(GPSData.SatFix == SATFIX_3D) |
| 514 | holgerb | 649 | { |
| 650 | LCD_printfxy(0,3,"Number: %3d (SAVE)", index); |
||
| 651 | if(Keys & KEY4) FromFC_Save_SinglePoint = index; |
||
| 652 | } |
||
| 653 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 516 | holgerb | 654 | } |
| 514 | holgerb | 655 | break; |
| 677 | holgerb | 656 | /* case 28: |
| 657 | LCD_printfxy(0,0,"Analog inputs"); |
||
| 658 | LCD_printfxy(0,0,"A0:%3i A1:%3i",AnalogData.Ch0,AnalogData.Ch1); |
||
| 659 | LCD_printfxy(0,1,"A2:%3i A3:%3i",AnalogData.Ch2,AnalogData.Ch3); |
||
| 660 | LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5); |
||
| 661 | LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7); |
||
| 662 | break; |
||
| 663 | */ |
||
| 688 | holgerb | 664 | |
| 864 | holgerb | 665 | case 30: |
| 708 | holgerb | 666 | LCD_printfxy(0,0,"Trigger Input"); |
| 667 | if(UART_VersionInfo.HWMajor >= 30) |
||
| 668 | { |
||
| 669 | if(BlitzSchuhConnected) LCD_printfxy(0,1,"External") |
||
| 670 | else LCD_printfxy(0,1,"Internal"); |
||
| 671 | LCD_printfxy(0,2,"Counter:%4d ",TrigLogging.Count); |
||
| 672 | LCD_printfxy(0,3,"Logfile:%4i ",Logged_TRIG_Counter); |
||
| 673 | } |
||
| 674 | else |
||
| 675 | { |
||
| 676 | LCD_printfxy(0,1,"Not Supported in "); |
||
| 677 | LCD_printfxy(0,2,"Hardware V%d ", UART_VersionInfo.HWMajor/10); |
||
| 678 | LCD_printfxy(0,3,"(V3 required)"); |
||
| 679 | } |
||
| 724 | holgerb | 680 | break; |
| 864 | holgerb | 681 | case 31: |
| 724 | holgerb | 682 | LCD_printfxy(0,0,"CamCtrl"); |
| 683 | if(!(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK)) |
||
| 684 | { |
||
| 685 | LCD_printfxy(0,2,"Not connected"); |
||
| 729 | holgerb | 686 | if(CamCtrlTimeout < 10) LCD_printfxy(14,3,"(conn)"); // connect manually |
| 864 | holgerb | 687 | if(Keys & KEY4) CamCtrlTimeout = 31000; |
| 724 | holgerb | 688 | } |
| 689 | else |
||
| 690 | { |
||
| 729 | holgerb | 691 | LCD_printfxy(8,0,"V%i.%02i",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
| 692 | |||
| 724 | holgerb | 693 | switch(FromCamCtrl.Type) |
| 694 | { |
||
| 729 | holgerb | 695 | case TYPE_LANC: LCD_printfxy(13,0,"L"); break; |
| 696 | case TYPE_IR: LCD_printfxy(13,0,"I"); break; |
||
| 697 | case TYPE_MULTI: LCD_printfxy(13,0,"M"); break; |
||
| 724 | holgerb | 698 | } |
| 699 | LCD_printfxy(0,0,"CamCtrl"); |
||
| 729 | holgerb | 700 | LCD_printfxy(0,1,"Stat:"); |
| 701 | if(FromCamCtrl.CamStatus & CAM_STATE_RDY) LCD_printfxy(5,1,"RDY") |
||
| 702 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) LCD_printfxy(10,1,"REC"); |
||
| 703 | if(FromCamCtrl.CamStatus & CAM_STATE_PHOTO_MODE) LCD_printfxy(14,1,"PHOTO"); |
||
| 704 | if(FromCamCtrl.CamStatus & CAM_STATE_ZOOM) LCD_printfxy(5,1,"ZOOM "); |
||
| 705 | if(!(FromCamCtrl.CamStatus & CAM_STATE_RDY)) LCD_printfxy(5,1," ---"); |
||
| 708 | holgerb | 706 | |
| 729 | holgerb | 707 | LCD_printfxy(17,1,"(%c)",CamCtrlCharacter); |
| 708 | |||
| 724 | holgerb | 709 | if(FromCamCtrl.CamStatus & CAM_STATE_CAM_DISCONN) LCD_printfxy(0,2,"Disconn.") |
| 710 | else |
||
| 711 | { |
||
| 729 | holgerb | 712 | if(FromCamCtrl.CamStatus & CAM_STATE_OFF) LCD_printfxy(1,2,"Cam:OFF") else LCD_printfxy(1,2,"Cam:ON"); |
| 724 | holgerb | 713 | } |
| 729 | holgerb | 714 | LCD_printfxy(11,2,"Pics:%3d ",FromCamCtrl.PhotoCount); |
| 715 | //LCD_printfxy(5,2,"x%2x ",FromCamCtrl.CamStatus); |
||
| 724 | holgerb | 716 | if(FromCamCtrl.PPM1Okay) LCD_printfxy(0,3,"Zoom:%3i",FromCamCtrl.PPM1Data); |
| 717 | if(!FromCamCtrl.PPM2Okay) // there is PPM Input connected to the CamCtrl |
||
| 718 | { |
||
| 719 | LCD_printfxy(14,3,"(TRIG)"); |
||
| 720 | if(EE_Parameter.CamCtrlModeChannel == 0) |
||
| 721 | { |
||
| 729 | holgerb | 722 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) LCD_printfxy(9,3,"(off)") |
| 723 | else LCD_printfxy(9,3,"(REC)"); // Control only possible if no switch is assigned |
||
| 724 | holgerb | 724 | } |
| 729 | holgerb | 725 | else LCD_printfxy(2,3,"CH:%3i",127+PPM_In[EE_Parameter.CamCtrlModeChannel]); |
| 724 | holgerb | 726 | |
| 727 | if(Keys & KEY3) |
||
| 728 | { |
||
| 729 | ToCamCtrl.CamCommand &= ~(CAM_CMD_REC_OFF|CAM_CMD_REC_ON); |
||
| 730 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) ToCamCtrl.CamCommand |= CAM_CMD_REC_OFF; |
||
| 731 | else ToCamCtrl.CamCommand |= CAM_CMD_REC_ON; |
||
| 732 | } |
||
| 733 | if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SHUTTER; |
||
| 734 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_RESET_CAM; |
||
| 735 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_ON; |
||
| 736 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_OFF; |
||
| 737 | } |
||
| 738 | else |
||
| 739 | { |
||
| 740 | if(FromCamCtrl.PPM2Okay) LCD_printfxy(10,3,"PPM:%3i",FromCamCtrl.PPM2Data); |
||
| 741 | } |
||
| 742 | } |
||
| 688 | holgerb | 743 | break; |
| 864 | holgerb | 744 | case 32: |
| 792 | holgerb | 745 | LCD_printfxy(0,0,"LaserCtrl"); |
| 746 | if(!(FromLaserCtrl.LaserStatus & LASER_I2C_OK)) |
||
| 747 | { |
||
| 748 | LCD_printfxy(0,2,"Not connected"); |
||
| 827 | holgerb | 749 | if(LaserCtrlTimeout < 10) LCD_printfxy(14,3,"(conn)"); // connect manually |
| 862 | holgerb | 750 | if(Keys & KEY4) LaserCtrlTimeout = 25000; |
| 792 | holgerb | 751 | } |
| 752 | else |
||
| 753 | { |
||
| 754 | LCD_printfxy(10,0,"V%i.%02i",1 + FromLaserCtrl.Version / 100, FromLaserCtrl.Version % 100); |
||
| 755 | LCD_printfxy(0,1,"Stat:"); |
||
| 756 | if(FromLaserCtrl.LaserStatus & LASER_DATA_OK) LCD_printfxy(8,1,"OK") else LCD_printfxy(5,1,"No Laser"); |
||
| 757 | LCD_printfxy(0,2,"Dist:%5dcm",FromLaserCtrl.Distance); |
||
| 758 | } |
||
| 759 | break; |
||
| 864 | holgerb | 760 | case 33: |
| 827 | holgerb | 761 | LCD_printfxy(0,0,"GimbalCtrl"); |
| 762 | if(!(FromGimbalCtrl.GimbalStatus & GIMBAL_I2C_OK)) |
||
| 763 | { |
||
| 764 | LCD_printfxy(0,2,"Not connected"); |
||
| 765 | if(GimbalCtrlTimeout < 10) LCD_printfxy(14,3,"(conn)"); // connect manually |
||
| 862 | holgerb | 766 | if(Keys & KEY4) GimbalCtrlTimeout = 30000; |
| 827 | holgerb | 767 | } |
| 768 | else |
||
| 769 | { |
||
| 859 | holgerb | 770 | LCD_printfxy(11,0,"V%i.%02i",1 + FromGimbalCtrl.Version / 100, FromGimbalCtrl.Version % 100); |
| 827 | holgerb | 771 | LCD_printfxy(0,1,"Stat:"); |
| 911 | holgerb | 772 | if(FromGimbalCtrl.GimbalStatus & GIMBAL_DATA_OK) |
| 773 | { |
||
| 774 | LCD_printfxy(8,1,"OK"); |
||
| 775 | if(FromGimbalCtrl.Compatible != GIMBAL_CTRL_COMPATIBLE) LCD_printfxy(0,1,"Not Compatible! %i<>%i",FromGimbalCtrl.Compatible,GIMBAL_CTRL_COMPATIBLE); |
||
| 776 | } else LCD_printfxy(5,1,"No Gimbal"); |
||
| 827 | holgerb | 777 | LCD_printfxy(0,2,"Nick:%3i Roll:%3i",FromGimbalCtrl.Nick,FromGimbalCtrl.Roll); |
| 911 | holgerb | 778 | LCD_printfxy(0,3,"Yaw: %3i [0,1 Deg] ",FromGimbalCtrl.Yaw); |
| 859 | holgerb | 779 | if(Keys & KEY4) { ToGimbalCtrl.BitCmd |= (GIMBAL_CMD_YW_ZERO); MenuNickGimbalOffset = 0;} |
| 866 | holgerb | 780 | //if(PPM_In[EE_Parameter.GimbalOut1Channel] > 10) LCD_printfxy(18,1,"1") else LCD_printfxy(18,1,"0") |
| 781 | //if(PPM_In[EE_Parameter.GimbalOut2Channel] > 10) LCD_printfxy(19,1,"1") else LCD_printfxy(19,1,"0") |
||
| 782 | //if(ToGimbalCtrl.BitCmd & GIMBAL_CMD_OUT_TRIGGER) LCD_printfxy(16,1,"1") else LCD_printfxy(16,1,"0") |
||
| 827 | holgerb | 783 | } |
| 784 | break; |
||
| 864 | holgerb | 785 | case 34: // Temperaturecompensation of the Barosensor |
| 780 | holgerb | 786 | { |
| 787 | static s32 dT = 0, tAlt = 0, faktor = 0; |
||
| 788 | static s32 dP = 0, pAlt = 0; |
||
| 789 | static u8 stored = 0, heateroff_msg = 0; |
||
| 724 | holgerb | 790 | |
| 780 | holgerb | 791 | if(BaroCalState) |
| 792 | { |
||
| 919 | holgerb | 793 | dP = BaroAltimeter_dm - pAlt; |
| 780 | holgerb | 794 | dT = FC_Temperatur - tAlt; |
| 795 | faktor = (dP * 100) / dT; |
||
| 796 | |||
| 797 | if(abs(dT) < 130) LCD_printfxy(0,0,"Warm up slowly") |
||
| 798 | else |
||
| 799 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) LCD_printfxy(0,0,"Motors off! ") |
||
| 800 | else LCD_printfxy(0,0,"Wait... "); |
||
| 801 | |||
| 802 | if((abs(FC_Temperatur_raw/10 - tAlt) >= 250)) heateroff_msg = 1; |
||
| 803 | if((abs(FC_Temperatur_raw/10 - tAlt) <= 150)) heateroff_msg = 0; |
||
| 804 | if(heateroff_msg) LCD_printfxy(0,0,"Heater off! "); |
||
| 805 | |||
| 806 | LCD_printfxy(0,1,"T=%4dC dT=%3dC ",FC_Temperatur_raw/100,dT/10 ); |
||
| 919 | holgerb | 807 | LCD_printfxy(0,2,"P=%4dm dP=%3dm ",BaroAltimeter_dm/10,dP/10 ); |
| 780 | holgerb | 808 | |
| 809 | if(dT > 30) LCD_printfxy(0,3,"K=%4dcm/C ",faktor) |
||
| 810 | else LCD_printfxy(0,3," (cancel)",faktor); |
||
| 811 | |||
| 812 | if(abs(dT) > 120 && (abs(FC_Temperatur_raw/10 - FC_Temperatur) <= 5)) // kein Temperaturgradient und mehr als 12°C erwärmt |
||
| 813 | { |
||
| 814 | heateroff_msg = 0; |
||
| 815 | LCD_printfxy(12,3,"(save)"); |
||
| 816 | LCD_printfxy(0,0,"Okay "); |
||
| 817 | |||
| 818 | if(Keys & KEY4) // Store |
||
| 819 | { |
||
| 820 | LuftdruckTemperaturKompensation = faktor; |
||
| 821 | WriteBaroCalibrationToEEprom(); |
||
| 822 | BaroCalState = 0; |
||
| 823 | stored = 1; |
||
| 824 | } |
||
| 825 | } |
||
| 826 | else LCD_printfxy(15,3,"(--) "); |
||
| 827 | } |
||
| 828 | else |
||
| 829 | if(UART_VersionInfo.HWMajor >= 30) |
||
| 830 | { |
||
| 831 | LCD_printfxy(0,0,"Barometer"); |
||
| 832 | LCD_printfxy(0,1,"Temperat.= %4d.%1dC ",FC_Temperatur_raw/100,abs(FC_Temperatur_raw%100)/10); |
||
| 833 | LCD_printfxy(0,2,"Faktor = %4dcm/C ",LuftdruckTemperaturKompensation); |
||
| 834 | //LCD_printfxy(0,3,"Offset =%4dcm ",LuftdruckTemperaturOffset); |
||
| 835 | if(stored) LCD_printfxy(0,3,"Stored "); |
||
| 836 | |||
| 837 | if((abs(FC_Temperatur_raw/10 - FC_Temperatur) <= 5)) // kein Temperaturgradient |
||
| 838 | { |
||
| 839 | LCD_printfxy(15,3,"(CAL)"); |
||
| 840 | if(Keys & KEY4) // next step |
||
| 841 | { |
||
| 919 | holgerb | 842 | pAlt = BaroAltimeter_dm; |
| 780 | holgerb | 843 | tAlt = FC_Temperatur_raw/10; |
| 844 | FC_Temperatur = FC_Temperatur_raw/10; |
||
| 845 | BaroCalState = 1; |
||
| 846 | stored = 0; |
||
| 847 | } |
||
| 848 | |||
| 849 | } |
||
| 850 | else LCD_printfxy(15,3,"(---)"); |
||
| 851 | } |
||
| 852 | else |
||
| 853 | { |
||
| 854 | LCD_printfxy(0,0,"Barometer"); |
||
| 855 | LCD_printfxy(0,1,"Temperat = ??C "); |
||
| 856 | LCD_printfxy(0,2,"Faktor = ?? cm/C"); |
||
| 857 | LCD_printfxy(0,3,"Not supported"); |
||
| 858 | } |
||
| 859 | |||
| 860 | if(Keys & KEY3) BaroCalState = 0; // cancel |
||
| 861 | } |
||
| 862 | break; |
||
| 880 | holgerb | 863 | case 35: |
| 864 | LCD_printfxy(0,0,"NMEA Input"); |
||
| 865 | if(!NMEA_cnt) LCD_printfxy(0,3,"No Data ") |
||
| 866 | else |
||
| 867 | { |
||
| 868 | if(NMEA_In_Fix_Txt[0] < '1') LCD_printfxy(1,3,"No Fix! %s",NMEA_In_Fix_Txt) |
||
| 881 | holgerb | 869 | else |
| 870 | { |
||
| 871 | LCD_printfxy(0,1,"Lon:%s ",NMEA_In_Lon_Txt); |
||
| 872 | LCD_printfxy(0,2,"Lat: %s ",NMEA_In_Lat_Txt); |
||
| 873 | LCD_printfxy(11,1,"'%s ",&NMEA_In_Lon_Txt[7]); |
||
| 874 | LCD_printfxy(11,2,"'%s ",&NMEA_In_Lat_Txt[6]); |
||
| 875 | LCD_printfxy(0,3,"Fix:%s %s ",NMEA_In_Fix_Txt,NMEA_In_Alt_Txt); |
||
| 876 | } |
||
| 780 | holgerb | 877 | |
| 880 | holgerb | 878 | LCD_printfxy(11,0,"%3u",NMEA_cnt_gga); |
| 879 | if(!NMEA_cnt_gga) LCD_printfxy(0,3,"No $GPGGA Data! "); |
||
| 880 | } |
||
| 881 | break; |
||
| 41 | ingob | 882 | default: |
| 201 | killagreg | 883 | //MaxMenuItem = MenuItem - 1; |
| 41 | ingob | 884 | MenuItem = 0; |
| 885 | break; |
||
| 516 | holgerb | 886 | } |
| 1 | ingob | 887 | } |