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| Rev | Author | Line No. | Line |
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| 331 | cascade | 1 | /**************************************************************************** |
| 2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
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| 3 | * admiralcascade@gmail.com * |
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| 4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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| 5 | * * |
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| 6 | * This program is free software; you can redistribute it and/or modify * |
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| 7 | * it under the terms of the GNU General Public License as published by * |
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| 8 | * the Free Software Foundation; either version 2 of the License. * |
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| 9 | * * |
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| 10 | * This program is distributed in the hope that it will be useful, * |
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| 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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| 13 | * GNU General Public License for more details. * |
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| 14 | * * |
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| 15 | * You should have received a copy of the GNU General Public License * |
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| 16 | * along with this program; if not, write to the * |
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| 17 | * Free Software Foundation, Inc., * |
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| 18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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| 19 | ****************************************************************************/ |
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| 20 | |||
| 21 | /* ########################################################################## |
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| 22 | * gain some fake arm compat :) |
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| 23 | * ##########################################################################*/ |
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| 24 | #define u8 uint8_t |
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| 25 | #define s8 int8_t |
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| 26 | #define u16 uint16_t |
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| 27 | #define s16 int16_t |
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| 28 | #define u32 uint32_t |
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| 29 | #define s32 int32_t |
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| 30 | |||
| 31 | /* |
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| 32 | * FC Debug Struct |
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| 33 | * portions taken and adapted from |
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| 34 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
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| 35 | */ |
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| 36 | typedef struct { |
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| 37 | uint8_t Digital[2]; |
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| 38 | uint16_t Analog[32]; // Debugvalues |
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| 39 | } __attribute__((packed)) DebugOut_t; |
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| 40 | |||
| 41 | /* |
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| 42 | * NaviCtrl OSD Structs |
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| 675 | cascade | 43 | * portions taken and adapted from |
| 44 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h |
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| 331 | cascade | 45 | */ |
| 46 | typedef struct { |
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| 47 | s32 Longitude; // in 1E-7 deg |
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| 48 | s32 Latitude; // in 1E-7 deg |
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| 49 | s32 Altitude; // in mm |
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| 50 | u8 Status; // validity of data |
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| 675 | cascade | 51 | } __attribute__((packed)) GPS_Pos_t; |
| 52 | #define INVALID 0x00 |
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| 53 | #define NEWDATA 0x01 |
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| 54 | #define PROCESSED 0x02 |
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| 331 | cascade | 55 | |
| 675 | cascade | 56 | |
| 676 | cascade | 57 | typedef struct {
u16 Distance; // distance to target in cm |
| 675 | cascade | 58 | s16 Bearing; // course to target in deg |
| 59 | } __attribute__((packed)) GPS_PosDev_t; |
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| 331 | cascade | 60 | |
| 61 | |||
| 62 | u8 Version; // version of the data structure |
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| 675 | cascade | 63 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
| 64 | GPS_Pos_t TargetPosition; |
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| 65 | GPS_PosDev_t TargetPositionDeviation; |
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| 66 | GPS_Pos_t HomePosition; |
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| 67 | GPS_PosDev_t HomePositionDeviation; |
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| 68 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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| 69 | u8 WaypointNumber; // number of stored waypoints |
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| 70 | u8 SatsInUse; // number of satellites used for position solution |
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| 71 | s16 Altimeter; // hight according to air pressure |
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| 72 | s16 Variometer; // climb(+) and sink(-) rate |
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| 73 | u16 FlyingTime; // in seconds |
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| 74 | u8 UBat; // Battery Voltage in 0.1 Volts |
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| 75 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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| 76 | s16 Heading; // current flight direction in ° as angle to north |
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| 77 | s16 CompassHeading; // current compass value in ° |
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| 78 | s8 AngleNick; // current Nick angle in 1° |
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| 79 | s8 AngleRoll; // current Rick angle in 1° |
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| 80 | u8 RC_Quality; // RC_Quality |
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| 81 | u8 MKFlags; // Flags from FC |
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| 82 | u8 NCFlags; // Flags from NC |
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| 83 | u8 Errorcode; // 0 --> okay |
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| 84 | u8 OperatingRadius; // current operation radius around the Home Position in m |
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| 85 | s16 TopSpeed; // velocity in vertical direction in cm/s |
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| 86 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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| 87 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
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| 88 | s16 SetpointAltitude; // setpoint for altitude |
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| 89 | u8 Gas; // for future use |
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| 90 | } __attribute__((packed)) NaviData_t; |
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| 331 | cascade | 91 | |
| 92 | |||
| 93 | * MikroKopter Flags |
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| 94 | * taken from |
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| 407 | cascade | 95 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h |
| 96 | */ |
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| 331 | cascade | 97 | #define FLAG_MOTOR_RUN 1 |
| 98 | #define FLAG_FLY 2 |
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| 99 | #define FLAG_CALIBRATE 4 |
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| 100 | #define FLAG_START 8 |
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| 101 | |||
| 407 | cascade | 102 | |
| 103 | * NaviCtrl Flags |
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| 104 | * taken from |
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| 105 | * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h |
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| 675 | cascade | 106 | */ |
| 407 | cascade | 107 | #define NC_FLAG_FREE 0x01 |
| 108 | #define NC_FLAG_PH 0x02 |
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| 109 | #define NC_FLAG_CH 0x04 |
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| 110 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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| 111 | #define NC_FLAG_NOSERIALLINK 0x10 |
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| 112 | #define NC_FLAG_TARGET_REACHED 0x20 |
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| 113 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
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| 114 | #define NC_FLAG_8 0x80 |
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| 115 | |||
| 116 | |||
| 117 |