46,7 → 46,7 |
/* |
* FC Debug Struct |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/uart.h |
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/uart.h |
*/ |
typedef struct { |
unsigned char Status[2]; |
54,18 → 54,21 |
} __attribute__((packed)) str_DebugOut; |
|
typedef struct { |
unsigned char SWMajor; |
unsigned char SWMinor; |
unsigned char ProtoMajor; |
unsigned char ProtoMinor; |
unsigned char SWPatch; |
unsigned char HardwareError[5]; |
unsigned char SWMajor; |
unsigned char SWMinor; |
unsigned char ProtoMajor; |
unsigned char LabelTextCRC; |
unsigned char SWPatch; |
unsigned char HardwareError[2]; |
unsigned char HWMajor; |
unsigned char BL_Firmware; |
unsigned char Flags; |
} __attribute__((packed)) str_VersionInfo; |
|
/* |
* NaviCtrl GPS Structs |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h |
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/gpspos.h |
*/ |
typedef struct { |
s32 Longitude; // in 1E-7 deg |
77,11 → 80,12 |
#define INVALID 0x00 |
#define NEWDATA 0x01 |
#define PROCESSED 0x02 |
#define SIMULATION 0x03 |
|
/* |
* NaviCtrl OSD Structs |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.06a/uart1.h |
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/uart1.h |
*/ |
typedef struct { |
u16 Distance; // distance to target in dm |
113,7 → 117,7 |
u8 FCStatusFlags; // Flags from FC |
u8 NCFlags; // Flags from NC |
u8 Errorcode; // 0 --> okay |
u8 OperatingRadius; // current operation radius around the Home Position in m |
u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
s16 TopSpeed; // velocity in vertical direction in cm/s |
u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
123,6 → 127,12 |
u16 UsedCapacity; // used capacity in mAh |
} __attribute__((packed)) NaviData_t; |
|
/* |
* NaviCtrl & FCFlags Flags |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/main.h |
*/ |
// .NCFlags |
#define NC_FLAG_FREE 0x01 |
#define NC_FLAG_PH 0x02 |
#define NC_FLAG_CH 0x04 |
132,11 → 142,7 |
#define NC_FLAG_MANUAL_CONTROL 0x40 |
#define NC_FLAG_GPS_OK 0x80 |
|
/* |
* MikroKopter Flags |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
*/ |
// FC.StatusFlags |
#define FCFLAG_MOTOR_RUN 0x01 |
#define FCFLAG_FLY 0x02 |
#define FCFLAG_CALIBRATE 0x04 |
146,34 → 152,49 |
#define FCFLAG_VARIO_TRIM_UP 0x40 |
#define FCFLAG_VARIO_TRIM_DOWN 0x80 |
|
// FC STATUS FLAGS2 |
// FC.StatusFlags2 |
#define FC_STATUS2_CAREFREE 0x01 |
#define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
#define FC_STATUS2_OUT1_ACTIVE 0x08 |
#define FC_STATUS2_OUT2_ACTIVE 0x10 |
#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
|
#define DEFEKT_G_NICK 0x01 |
#define DEFEKT_G_ROLL 0x02 |
#define DEFEKT_G_GIER 0x04 |
#define DEFEKT_A_NICK 0x08 |
#define DEFEKT_A_ROLL 0x10 |
#define DEFEKT_A_Z 0x20 |
#define DEFEKT_PRESSURE 0x40 |
#define DEFEKT_CAREFREE_ERR 0x80 |
|
#define DEFEKT_I2C 0x01 |
#define DEFEKT_BL_MISSING 0x02 |
#define DEFEKT_SPI_RX_ERR 0x04 |
#define DEFEKT_PPM_ERR 0x08 |
#define DEFEKT_MIXER_ERR 0x10 |
// FC.StatusFlags3 |
#define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
#define FC_STATUS3_BOAT 0x02 |
#define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
#define FC_STATUS3_REDUNDANCE_TEST 0x08 |
|
// FC ERRORS FLAGS |
#define FC_ERROR0_GYRO_NICK 0x01 |
#define FC_ERROR0_GYRO_ROLL 0x02 |
#define FC_ERROR0_GYRO_YAW 0x04 |
#define FC_ERROR0_ACC_NICK 0x08 |
#define FC_ERROR0_ACC_ROLL 0x10 |
#define FC_ERROR0_ACC_TOP 0x20 |
#define FC_ERROR0_PRESSURE 0x40 |
#define FC_ERROR0_CAREFREE 0x80 |
|
#define FC_ERROR1_I2C 0x01 |
#define FC_ERROR1_BL_MISSING 0x02 |
#define FC_ERROR1_SPI_RX 0x04 |
#define FC_ERROR1_PPM 0x08 |
#define FC_ERROR1_MIXER 0x10 |
#define FC_ERROR1_RES1 0x20 |
#define FC_ERROR1_RES2 0x40 |
#define FC_ERROR1_RES3 0x80 |
|
/* |
* MikroKopter config struct |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.10a/eeprom.h |
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h |
*/ |
|
#define EEPARAM_REVISION 105 // is count up, if paramater stucture has changed (compatibility) |
#define EEPARAM_REVISION 106 // is count up, if paramater stucture has changed (compatibility) |
#define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
|
|
typedef struct |
{ |
unsigned char Revision; |
294,6 → 315,8 |
unsigned char AutoPhotoAtitudes; |
unsigned char SingleWpSpeed; |
unsigned char LandingPulse; |
unsigned char SingleWpControlChannel; |
unsigned char MenuKeyChannel; |
//------------------------------------------------ |
unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |