| 47,6 → 47,7 |
|---|
| unsigned char BaroCalState = 0; |
| unsigned char FlyzonePointCnt = 0; |
| unsigned int FromNC_Laser_cm; |
| unsigned int TrigLogging_CountExternal = 0; |
| |
| #ifdef USE_SPI_COMMUNICATION |
| |
| 482,11 → 483,6 |
|---|
| switch (FromNaviCtrl.Command) |
| { |
| case SPI_NCCMD_KALMAN: |
| #define KM_BIT_YAW 0x01 |
| #define KM_BIT_UART 0x02 |
| #define KM_BIT_SLOW 0x04 // Fast switch off |
| #define KM_BIT_OFF 0x08 // Fast switch off |
| #define KM_BIT_EXTCNTRL 0x10 |
| FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
| FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
| 566,6 → 562,7 |
|---|
| PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
| FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| TrigLogging_CountExternal = FromNaviCtrl.Param.sInt[6]; |
| break; |
| case SPI_MISC: |
| EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |