| /branches/dongfang_FC_rewrite/analog.c |
|---|
| 6,6 → 6,7 |
| #include "attitude.h" |
| #include "sensors.h" |
| #include "printf_P.h" |
| #include "mk3mag.h" |
| // for Delay functions |
| #include "timer0.h" |
| 45,6 → 46,7 |
| int16_t gyro_ATT[2]; |
| int16_t gyroD[2]; |
| int16_t yawGyro; |
| int16_t magneticHeading; |
| int32_t groundPressure; |
| 490,6 → 492,7 |
| analog_updateAccelerometers(); |
| analog_updateAirPressure(); |
| analog_updateBatteryVoltage(); |
| debugOut.analog[12] = magneticHeading = volatileMagneticHeading; |
| } |
| void analog_setNeutral() { |
| /branches/dongfang_FC_rewrite/analog.h |
|---|
| 192,11 → 192,14 |
| */ |
| extern int32_t filteredAirPressure; |
| extern int16_t magneticHeading; |
| /* |
| * Flag: Interrupt handler has done all A/D conversion and processing. |
| */ |
| extern volatile uint8_t analogDataReady; |
| void analog_init(void); |
| /* |
| /branches/dongfang_FC_rewrite/attitude.c |
|---|
| 53,20 → 53,13 |
| //int readingHeight = 0; |
| // Yaw angle and compass stuff. |
| int32_t headingError; |
| // This is updated/written from MM3. Negative angle indicates invalid data. |
| int16_t magneticHeading = -1; |
| // This is NOT updated from MM3. Negative angle indicates invalid data. |
| // int16_t headingInDegrees = -1; |
| int32_t targetHeading; |
| // The difference between the above 2 (heading - course) on a -180..179 degree interval. |
| // Not necessary. Never read anywhere. |
| // int16_t compassOffCourse = 0; |
| uint16_t ignoreCompassTimer = 500; |
| uint16_t ignoreCompassTimer = 0;// 500; |
| int32_t heading; // Yaw Gyro Integral supported by compass |
| int16_t yawGyroDrift; |
| 203,6 → 196,11 |
| */ |
| heading += ACYawRate; |
| intervalWrap(&heading, YAWOVER360); |
| headingError += ACYawRate; |
| debugOut.analog[27] = heading / 100; |
| /* |
| * Pitch axis integration and range boundary wrap. |
| */ |
| 346,7 → 344,8 |
| return; |
| heading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW; |
| targetHeading = heading; |
| //targetHeading = heading; |
| headingError = 0; |
| debugOut.digital[0] ^= DEBUG_COMPASS; |
| } |
| 354,10 → 353,10 |
| void correctHeadingToMagnetic(void) { |
| int32_t error; |
| debugOut.analog[27] = heading; |
| if (commands_isCalibratingCompass()) |
| if (commands_isCalibratingCompass()) { |
| debugOut.analog[29] = 1; |
| return; |
| } |
| // Compass is off, skip. |
| // Naaah this is assumed. |
| 365,21 → 364,28 |
| // return; |
| // Compass is invalid, skip. |
| if (magneticHeading < 0) |
| if (magneticHeading < 0) { |
| debugOut.analog[29] = 2; |
| return; |
| } |
| // Spinning fast, skip |
| if (abs(yawRate) > 128) |
| if (abs(yawRate) > 128) { |
| debugOut.analog[29] = 3; |
| return; |
| } |
| // Otherwise invalidated, skip |
| if (ignoreCompassTimer) { |
| ignoreCompassTimer--; |
| debugOut.analog[29] = 4; |
| return; |
| } |
| // TODO: Find computational cost of this. |
| error = (magneticHeading*GYRO_DEG_FACTOR_YAW - heading) % GYRO_DEG_FACTOR_YAW; |
| error = ((int32_t)magneticHeading*GYRO_DEG_FACTOR_YAW - heading); |
| if (error <= -YAWOVER180) error += YAWOVER360; |
| else if (error > YAWOVER180) error -= YAWOVER360; |
| // We only correct errors larger than the resolution of the compass, or else we would keep rounding the |
| // better resolution of the gyros to the worse resolution of the compass all the time. |
| 386,7 → 392,8 |
| // The correction should really only serve to compensate for gyro drift. |
| if(abs(error) < GYRO_DEG_FACTOR_YAW) return; |
| int32_t correction = (error * (int32_t)dynamicParams.compassYawEffect) >> 8; |
| int32_t correction = (error * staticParams.compassYawCorrection) >> 8; |
| debugOut.analog[30] = correction; |
| // The correction is added both to current heading (the direction in which the copter thinks it is pointing) |
| // and to the target heading (the direction to which it maneuvers to point). That means, this correction has |
| 395,10 → 402,11 |
| heading += correction; |
| intervalWrap(&heading, YAWOVER360); |
| targetHeading += correction; |
| intervalWrap(&targetHeading, YAWOVER360); |
| debugOut.digital[1] ^= DEBUG_COMPASS; |
| // If we want a transparent flight wrt. compass correction (meaning the copter does not change attitude all |
| // when the compass corrects the heading - it only corrects numbers!) we want to add: |
| // This will however cause drift to remain uncorrected! |
| // headingError += correction; |
| debugOut.analog[29] = 0; |
| } |
| /************************************************************************ |
| /branches/dongfang_FC_rewrite/attitude.h |
|---|
| 117,13 → 117,11 |
| /* |
| * Compass navigation |
| */ |
| extern int16_t magneticHeading; |
| //extern int16_t headingInDegrees; |
| extern int32_t heading; |
| extern uint16_t ignoreCompassTimer; |
| extern uint16_t accVector; |
| extern int32_t targetHeading; |
| extern int32_t headingError; |
| /* |
| /branches/dongfang_FC_rewrite/configuration.c |
|---|
| 87,7 → 87,7 |
| SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
| SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
| SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
| SET_POT(dynamicParams.compassYawEffect,staticParams.compassYawEffect); |
| SET_POT(dynamicParams.compassFixedHeading,staticParams.compassFixedHeading); |
| SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
| SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
| 246,14 → 246,12 |
| // staticParams.driftCompDivider = |
| // staticParams.driftCompLimit = |
| staticParams.axisCoupling1 = 90; |
| staticParams.axisCoupling2 = 67; |
| staticParams.axisCouplingYawCorrection = 0; |
| staticParams.dynamicStability = 50; |
| staticParams.maxAccVector = 10; |
| staticParams.IFactor = 32; |
| staticParams.yawIFactor = 100; |
| staticParams.compassYawEffect = 128; |
| staticParams.compassYawCorrection = 64; |
| staticParams.compassFixedHeading = 0; |
| staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
| // Servos |
| /branches/dongfang_FC_rewrite/configuration.h |
|---|
| 42,7 → 42,7 |
| /*PMM*/uint8_t gyroP; |
| /* P */uint8_t gyroI; |
| /* P */uint8_t gyroD; |
| /* P */uint8_t compassYawEffect; |
| /* P */uint8_t compassFixedHeading; |
| // Control |
| /* P */uint8_t externalControl; |
| 134,9 → 134,9 |
| uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t driftCompLimit; // limit for gyrodrift compensation |
| uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| uint8_t levelCorrection[2]; |
| 146,18 → 146,25 |
| uint8_t gyroD; |
| uint8_t attitudeControl; |
| uint8_t stickP; |
| uint8_t stickD; |
| uint8_t stickYawP; |
| uint8_t stickThrottleD; |
| uint8_t minThrottle; |
| uint8_t maxThrottle; |
| uint8_t externalControl; // for serial Control |
| uint8_t motorSmoothing; |
| uint8_t dynamicStability; // PID limit for Attitude controller |
| uint8_t IFactor; |
| uint8_t yawIFactor; |
| uint8_t compassYawEffect; |
| uint8_t compassYawCorrection; |
| uint8_t compassFixedHeading; |
| uint8_t batteryVoltageWarning; |
| uint8_t emergencyThrottle; |
| uint8_t emergencyFlightDuration; |
| 217,7 → 224,7 |
| #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
| #define CFG_HEADING_HOLD (1<<2) |
| #define CFG_COMPASS_ACTIVE (1<<3) |
| #define CFG_COMPASS_FIX (1<<4) |
| #define CFG_UNUSED (1<<4) |
| #define CFG_GPS_ACTIVE (1<<5) |
| #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
| #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
| /branches/dongfang_FC_rewrite/controlMixer.c |
|---|
| 170,6 → 170,7 |
| AC_getPRTY(tempPRTY); |
| // Commit results to global variable and also measure control activity. |
| controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE]; |
| updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]); |
| updateControlAndMeasureControlActivity(CONTROL_ROLL, tempPRTY[CONTROL_ROLL]); |
| updateControlAndMeasureControlActivity(CONTROL_YAW, tempPRTY[CONTROL_YAW]); |
| /branches/dongfang_FC_rewrite/directGPSNaviControl.c |
|---|
| 63,7 → 63,7 |
| flightModeOld = flightMode; |
| } |
| debugOut.analog[31] = flightMode; |
| //debugOut.analog[31] = flightMode; |
| } |
| // --------------------------------------------------------------------------------- |
| /branches/dongfang_FC_rewrite/flight.c |
|---|
| 214,7 → 214,7 |
| // HC_setGround(); |
| attitude_resetHeadingToMagnetic(); |
| // Set target heading to the one just gotten off compass. |
| targetHeading = heading; |
| // targetHeading = heading; |
| } |
| } else { |
| // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
| 239,10 → 239,6 |
| } |
| */ |
| targetHeading -= controls[CONTROL_YAW]; |
| debugOut.analog[28] = targetHeading; |
| #if defined (USE_NAVICTRL) |
| /************************************************************************/ |
| /* GPS is currently not supported. */ |
| 255,7 → 251,6 |
| #endif |
| // end part 1: 750-800 usec. |
| // start part 3: 350 - 400 usec. |
| #define SENSOR_LIMIT (4096 * 4) |
| /************************************************************************/ |
| /* Calculate control feedback from angle (gyro integral) */ |
| 266,18 → 261,18 |
| PDPart[axis] = attitude[axis] * gyroIFactor / (GYRO_DEG_FACTOR_PITCHROLL << 2); // P-Part - Proportional to Integral |
| PDPart[axis] += (int32_t)rate_PID[axis] * gyroPFactor / (GYRO_DEG_FACTOR_PITCHROLL >> 5); |
| PDPart[axis] += (differential[axis] * (int16_t) dynamicParams.gyroD) / 16; |
| CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
| CHECK_MIN_MAX(PDPart[axis], -6L*GYRO_DEG_FACTOR_PITCHROLL, 6L*GYRO_DEG_FACTOR_PITCHROLL); |
| } |
| int32_t headingDiff = heading - targetHeading; // apparently yaw is reverse on output. |
| if (headingDiff > YAWOVER180) headingDiff -= YAWOVER360; |
| else if (headingDiff <= -YAWOVER180) headingDiff += YAWOVER360; |
| #define YAW_I_LIMIT (45L * GYRO_DEG_FACTOR_YAW) |
| // This is where control affects the target heading. It also (later) directly controls yaw. |
| headingError -= controls[CONTROL_YAW]; |
| debugOut.analog[28] = headingError / 100; |
| if (headingError < -YAW_I_LIMIT) headingError = -YAW_I_LIMIT; |
| if (headingError > YAW_I_LIMIT) headingError = YAW_I_LIMIT; |
| // TODO: Not quite right: We want to limit targetHeading to be max. 50000 from heading. This is the wrong var. fixed. |
| CHECK_MIN_MAX(headingDiff, -50000, 50000); |
| debugOut.analog[29] = headingDiff; |
| PDPartYaw = (int32_t)(headingDiff * yawIFactor) / (GYRO_DEG_FACTOR_PITCHROLL << 3); |
| PDPartYaw = (int32_t)(headingError * yawIFactor) / (GYRO_DEG_FACTOR_PITCHROLL << 3); |
| // Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on. |
| PDPartYaw += (int32_t)(yawRate * yawPFactor) / (GYRO_DEG_FACTOR_PITCHROLL >> 6); |
| // limit control feedback |
| 360,7 → 355,7 |
| // Add (P, D) parts minus stick pos. to the scaled-down I part. |
| term[axis] = PDPart[axis] - controls[axis] + IPart[axis] / Ki; // PID-controller for pitch |
| term[axis] += (dynamicParams.levelCorrection[axis] - 128); |
| /* |
| /* |
| * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
| * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
| * (max. pitch or roll term is the throttle value). |
| /branches/dongfang_FC_rewrite/mk3mag.c |
|---|
| 1,65 → 1,13 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <stdlib.h> |
| #include <inttypes.h> |
| #include "timer0.h" |
| #include "attitude.h" |
| #include "eeprom.h" |
| #include "mk3mag.h" |
| // For the DebougOut alone. |
| #include "output.h" |
| uint8_t PWMTimeout = 12; |
| // This will updated in interrupt handler. Should not be processed by main, other than just atomic copy. |
| volatile uint16_t volatileMagneticHeading; |
| ToMk3Mag_t toMk3Mag; |
| /*********************************************/ |
| 101,7 → 49,7 |
| if (PWMCount > 400) { |
| if (PWMTimeout) |
| PWMTimeout--; // decrement timeout |
| magneticHeading = -1; // unknown heading |
| volatileMagneticHeading = -1; // unknown heading |
| PWMCount = 0; // reset PWM Counter |
| } |
| } else { // pwm is low |
| 108,9 → 56,9 |
| // ignore pwm values values of 0 and higher than 37 ms; |
| if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms |
| if (PWMCount < 10) |
| magneticHeading = 0; |
| volatileMagneticHeading = 0; |
| else { |
| magneticHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| volatileMagneticHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| //DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd. |
| } |
| /* |
| 134,7 → 82,5 |
| beepDelay = setDelay(100); |
| } |
| } |
| debugOut.analog[12] = magneticHeading; |
| } |
| /branches/dongfang_FC_rewrite/mk3mag.h |
|---|
| 9,6 → 9,7 |
| } ToMk3Mag_t; |
| extern ToMk3Mag_t toMk3Mag; |
| extern volatile uint16_t volatileMagneticHeading; |
| // Initialization |
| void MK3MAG_init(void); |
| /branches/dongfang_FC_rewrite/rc.c |
|---|
| 119,14 → 119,14 |
| else |
| RCQuality = 200; |
| } |
| // If signal is the same as before +/- 1, just keep it there. |
| if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
| // If signal is the same as before +/- 1, just keep it there. Naah lets get rid of this slimy sticy stuff. |
| // if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
| // In addition, if the signal is very close to 0, just set it to 0. |
| if (signal >= -1 && signal <= 1) { |
| tmp = 0; |
| } else { |
| tmp = PPM_in[index]; |
| } |
| if (signal >= -1 && signal <= 1) { |
| tmp = 0; |
| //} else { |
| // tmp = PPM_in[index]; |
| // } |
| } else |
| tmp = signal; |
| // calculate signal difference on good signal level |
| /branches/dongfang_FC_rewrite/uart0.c |
|---|
| 98,10 → 98,10 |
| "HeightIdThrottle", //25 |
| "HeightDdThrottle", |
| "HeadingInDegrees", |
| "TargetHeadingDeg", |
| "Diff ", |
| " ", //30 |
| "navi mode " |
| "0 ", |
| "1 ", |
| "2 ", //30 |
| "3 " |
| }; |
| /****************************************************************/ |
| 510,9 → 510,9 |
| case 's': // save settings |
| if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off |
| { |
| if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
| if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && (pRxData[2] == sizeof(staticParams))) // check for setting to be in range and version of settings |
| { |
| memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
| memcpy(&staticParams, (uint8_t*) &pRxData[3], sizeof(staticParams)); |
| paramSet_writeToEEProm(pRxData[0]); |
| tempchar[0] = getActiveParamSet(); |
| beepNumber(tempchar[0]); |
| /branches/dongfang_FC_rewrite/uart0.h |
|---|
| 1,10 → 1,8 |
| #ifndef _UART0_H |
| #define _UART0_H |
| #define RXD_BUFFER_LEN 150 |
| // must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes |
| #define TXD_BUFFER_LEN 150 |
| #define RXD_BUFFER_LEN 150 |
| #define TXD_BUFFER_LEN 180 |
| #define RXD_BUFFER_LEN 180 |
| #include <inttypes.h> |
| /branches/dongfang_FC_rewrite/ubx.c |
|---|
| 96,7 → 96,7 |
| GPSInfo.veleast = ubxVelNed.VEL_E; |
| GPSInfo.velnorth = ubxVelNed.VEL_N; |
| GPSInfo.veltop = -ubxVelNed.VEL_D; |
| GPSInfo.veltop = -ubxVelNed.VEL_D; |
| GPSInfo.velground = ubxVelNed.gSpeed; |
| GPSInfo.status = NEWDATA; |