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| Rev | Author | Line No. | Line |
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| 1465 | - | 1 | #ifndef _MK_H_ |
| 2 | #define _MK_H_ |
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| 3 | |||
| 4 | // Orginal H&I MK-Software |
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| 5 | typedef struct { |
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| 6 | int32_t Longitude; // in 1E-7 deg |
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| 7 | int32_t Latitude; // in 1E-7 deg |
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| 8 | int32_t Altitude; // in mm |
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| 9 | uint8_t Status; // validity of data |
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| 10 | } __attribute__((packed)) GPS_Pos_t; |
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| 11 | |||
| 12 | |||
| 13 | typedef struct { |
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| 14 | uint16_t Distance; // distance to target in dm |
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| 15 | int16_t Bearing; // course to target in deg |
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| 16 | } __attribute__((packed)) GPS_PosDev_t; |
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| 17 | |||
| 18 | |||
| 19 | #define FC_FLAG_MOTOR_RUN 0x01 |
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| 20 | #define FC_FLAG_FLY 0x02 |
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| 21 | #define FC_FLAG_CALIBRATE 0x04 |
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| 22 | #define FC_FLAG_MOTOR_START 0x08 |
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| 23 | |||
| 24 | #define NC_FLAG_GPS_OK 0x80 |
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| 25 | |||
| 26 | typedef struct { |
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| 27 | uint8_t Version; // version of the data structure |
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| 28 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
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| 29 | GPS_Pos_t TargetPosition; |
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| 30 | GPS_PosDev_t TargetPositionDeviation; |
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| 31 | GPS_Pos_t HomePosition; |
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| 32 | GPS_PosDev_t HomePositionDeviation; |
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| 33 | uint8_t WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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| 34 | uint8_t WaypointNumber; // number of stored waypoints |
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| 35 | uint8_t SatsInUse; // number of satellites used for position solution |
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| 36 | int16_t Altimeter; // hight according to air pressure |
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| 37 | int16_t Variometer; // climb(+) and sink(-) rate |
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| 38 | uint16_t FlyingTime; // in seconds |
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| 39 | uint8_t UBat; // Battery Voltage in 0.1 Volts |
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| 40 | uint16_t GroundSpeed; // speed over ground in cm/s (2D) |
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| 41 | int16_t Heading; // current flight direction in ° as angle to north |
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| 42 | int16_t CompassHeading; // current compass value in ° |
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| 43 | int8_t AngleNick; // current Nick angle in 1° |
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| 44 | int8_t AngleRoll; // current Rick angle in 1° |
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| 45 | uint8_t RC_Quality; // RC_Quality |
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| 46 | uint8_t FCStatusFlags; // Flags from FC |
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| 47 | uint8_t NCFlags; // Flags from NC |
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| 48 | uint8_t Errorcode; // 0 --> okay |
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| 49 | uint8_t OperatingRadius; // current operation radius around the Home Position in m |
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| 50 | int16_t TopSpeed; // velocity in vertical direction in cm/s |
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| 51 | uint8_t TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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| 52 | uint8_t RC_RSSI; // Receiver signal strength (since version 2 added) |
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| 53 | int16_t SetpointAltitude; // setpoint for altitude |
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| 54 | uint8_t Gas; // for future use |
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| 55 | uint16_t Current; // actual current in 0.1A steps |
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| 56 | uint16_t UsedCapacity; // used capacity in mAh |
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| 57 | } __attribute__((packed)) NaviData_t; |
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| 58 | |||
| 59 | #endif |