| 129,8 → 129,8 |
|---|
| "GyroPitch(PID) ", |
| "GyroRoll(PID) ", |
| "GyroYaw ", //5 |
| "AccPitch (raw) ", |
| "AccRoll (raw) ", |
| "OffsPitch ", |
| "OffsRoll ", |
| "AttitudeControl ", |
| "AccPitch (angle)", |
| "AccRoll (angle) ", //10 |
| 521,13 → 521,13 |
|---|
| case 'n':// "Get Mixer Table |
| while (!txd_complete) |
| ; // wait for previous frame to be sent |
| SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
| SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix)); |
| break; |
| |
| case 'm':// "Set Mixer Table |
| if (pRxData[0] == EEMIXER_REVISION) { |
| memcpy(&Mixer, (uint8_t*) pRxData, sizeof(Mixer)); |
| MixerTable_WriteToEEProm(); |
| memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix)); |
| mixerMatrix_writeToEEProm(); |
| while (!txd_complete) |
| ; // wait for previous frame to be sent |
| tempchar1 = 1; |
| 543,7 → 543,7 |
|---|
| |
| case 'q':// request settings |
| if (pRxData[0] == 0xFF) { |
| pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
| pRxData[0] = getParamByte(PID_ACTIVE_SET); |
| } |
| // limit settings range |
| if (pRxData[0] < 1) |
| 551,7 → 551,7 |
|---|
| else if (pRxData[0] > 5) |
| pRxData[0] = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(pRxData[0]); |
| paramSet_readFromEEProm(pRxData[0]); |
| tempchar1 = pRxData[0]; |
| tempchar2 = EEPARAM_REVISION; |
| while (!txd_complete) |
| 568,7 → 568,7 |
|---|
| == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
| { |
| memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
| ParamSet_WriteToEEProm(pRxData[0]); |
| paramSet_writeToEEProm(pRxData[0]); |
| tempchar1 = getActiveParamSet(); |
| beepNumber(tempchar1); |
| } else { |
| 734,8 → 734,8 |
|---|
| if((checkDelay(Compass_Timer)) && txd_complete) { |
| ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
| ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
| ToMk3Mag.UserParam[0] = dynamicParams.userParams[0]; |
| ToMk3Mag.UserParam[1] = dynamicParams.userParams[1]; |
| ToMk3Mag.CalState = compassCalState; |
| SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| // the last state is 5 and should be send only once to avoid multiple flash writing |