| 0,0 → 1,147 |
|---|
| ## Die Parameterstruktur entspricht der Struktur in der FlightCtrl: |
| |
| |
| struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1], NICK[2], ROLL[3], POTI1, POTI2, POTI3, POTI4 |
| unsigned char GlobalConfig; // Höhenregler aktiv, HR-Schalter, Heading Hold aktiv, Kompass aktiv, Kompass Ausrichtung fest, GPS aktiv, |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 // Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 Default: LED |
| unsigned char UserParam4; // Wert : 0-250 Default: LED |
| unsigned char ServoNickControl; // Wert : 0-250 |
| unsigned char ServoNickComp; // Wert : 0-250 |
| unsigned char ServoNickMin; // Wert : 0-250 |
| unsigned char ServoNickMax; // Wert : 0-250 |
| unsigned char ServoNickRefresh; // |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[7]; |
| char Name[12]; |
| } Param; |
| |
| |
| ##-------------------------------------------- |
| ## Per Windows wird diese wie folgt geladen: |
| TIniFile *iniFile = new TIniFile(OD->FileName); |
| |
| strcpy(MK_Parameter[index].Name, (IniReadString(iniFile,"Setup", "Name","<unbenannt>")).c_str() ); |
| |
| MK_Parameter[index].Kanalbelegung[0] = IniReadInteger(iniFile,"Channels", "Gas", 3); |
| MK_Parameter[index].Kanalbelegung[1] = IniReadInteger(iniFile,"Channels", "Gier", 4); |
| MK_Parameter[index].Kanalbelegung[2] = IniReadInteger(iniFile,"Channels", "Nick", 1); |
| MK_Parameter[index].Kanalbelegung[3] = IniReadInteger(iniFile,"Channels", "Roll", 2); |
| MK_Parameter[index].Kanalbelegung[4] = IniReadInteger(iniFile,"Channels", "Poti_1", 5); |
| MK_Parameter[index].Kanalbelegung[5] = IniReadInteger(iniFile,"Channels", "Poti_2", 6); |
| MK_Parameter[index].Kanalbelegung[6] = IniReadInteger(iniFile,"Channels", "Poti_3", 7); |
| MK_Parameter[index].Kanalbelegung[7] = IniReadInteger(iniFile,"Channels", "Poti_3", 8); |
| |
| MK_Parameter[index].GlobalConfig = IniReadInteger(iniFile,"Setup", "GlobalConfig", 0); |
| |
| MK_Parameter[index].Stick_P = IniReadInteger(iniFile,"Stick", "Nick_Roll-P", 4); |
| MK_Parameter[index].Stick_D = IniReadInteger(iniFile,"Stick", "Nick_Roll-D", 8); |
| MK_Parameter[index].Gier_P = IniReadInteger(iniFile,"Stick", "Gier-P", 16); |
| |
| MK_Parameter[index].MaxHoehe = IniReadInteger(iniFile,"Altitude", "Setpoint", 251); |
| MK_Parameter[index].Hoehe_MinGas = IniReadInteger(iniFile,"Altitude", "MinGas", 30); |
| MK_Parameter[index].Hoehe_P = IniReadInteger(iniFile,"Altitude", "P", 10); |
| MK_Parameter[index].Luftdruck_D = IniReadInteger(iniFile,"Altitude", "Barometric-D", 90); |
| MK_Parameter[index].Hoehe_ACC_Wirkung = IniReadInteger(iniFile,"Altitude", "Z-ACC-Effect",15); |
| MK_Parameter[index].Hoehe_Verstaerkung = IniReadInteger(iniFile,"Altitude", "Gain", 2); |
| |
| MK_Parameter[index].Gyro_P = IniReadInteger(iniFile,"Gyro", "P", 120); |
| MK_Parameter[index].Gyro_I = IniReadInteger(iniFile,"Gyro", "I", 150); |
| MK_Parameter[index].GyroAccFaktor = IniReadInteger(iniFile,"Gyro", "ACC_Gyro-Factor", 26); |
| |
| MK_Parameter[index].I_Faktor = IniReadInteger(iniFile,"Gyro", "Main-I", 5); |
| |
| MK_Parameter[index].Gas_Min = IniReadInteger(iniFile,"Others", "MinGas",15); |
| MK_Parameter[index].Gas_Max = IniReadInteger(iniFile,"Others", "MaxGas",250); |
| MK_Parameter[index].KompassWirkung = IniReadInteger(iniFile,"Others", "Compass-Effect",128); |
| MK_Parameter[index].UnterspannungsWarnung = IniReadInteger(iniFile,"Others", "UnderVoltage",90); |
| |
| MK_Parameter[index].NotGas = IniReadInteger(iniFile,"Others", "NotGas",35); |
| MK_Parameter[index].NotGasZeit = IniReadInteger(iniFile,"Others", "NotGasTime",20); |
| |
| MK_Parameter[index].UserParam1 = IniReadInteger(iniFile,"User", "Parameter_1",0); |
| MK_Parameter[index].UserParam2 = IniReadInteger(iniFile,"User", "Parameter_2",0); |
| MK_Parameter[index].UserParam3 = IniReadInteger(iniFile,"User", "Parameter_3",0); |
| MK_Parameter[index].UserParam4 = IniReadInteger(iniFile,"User", "Parameter_4",0); |
| |
| MK_Parameter[index].ServoNickControl = IniReadInteger(iniFile,"Camera", "ServoNickControl",252); |
| MK_Parameter[index].ServoNickComp = IniReadInteger(iniFile,"Camera", "ServoNickCompensation",100); |
| MK_Parameter[index].ServoNickCompInvert = IniReadBool(iniFile,"Camera", "ServoNickInvert",false); |
| MK_Parameter[index].ServoNickMin = IniReadInteger(iniFile,"Camera", "ServoNickMin",0); |
| MK_Parameter[index].ServoNickMax = IniReadInteger(iniFile,"Camera", "ServoNickMax",250); |
| MK_Parameter[index].ServoNickRefresh = IniReadInteger(iniFile,"Camera", "ServoNickRefreshRate",50); |
| |
| |
| |
| ##-------------------------------------------- |
| Senden der Daten: (diese Funktionen gibt es entsprechend auch in den FlightCtrl-Quellen |
| |
| //--------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += TxBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| TxBuffer[i++] = '=' + tmpCRC / 64; |
| TxBuffer[i++] = '=' + tmpCRC % 64; |
| TxBuffer[i++] = '\r'; |
| |
| SEND_BYTES(TxBuffer, wieviele+3); |
| } |
| |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *buffer, int len) |
| { |
| unsigned int pt = 0,i; |
| |
| TxBuffer[pt++] = '#'; // Startzeichen |
| TxBuffer[pt++] = modul+'a'; // Adresse (a=0; b=1,...) |
| TxBuffer[pt++] = cmd; // Commando |
| if(len) |
| for(i = 0;i < len; i+=3) |
| { // Ausgangs-Daten |
| TxBuffer[pt++] = '=' + (buffer[i] >> 2); |
| TxBuffer[pt++] = '=' + (((buffer[i] & 0x03) << 4) | ((buffer[i+1] & 0xf0) >> 4)); |
| TxBuffer[pt++] = '=' + ((unsigned char) ((buffer[i+1] & 0x0f) << 2) | ((buffer[i+2] & 0xc0) >> 6)); |
| TxBuffer[pt++] = '=' + ((unsigned char) buffer[i+2] & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| |
| ######################################### |
| |
| -------------------------------------------- |
| übertragen zum MikroKopter mit dem Befehl |
| 'l'+Paramterset (siehe auch Quellen FlightCtrl): |
| also m = 1, n = 2, ... |
| |
| Beispiel: |
| |
| SendOutData('l'+ParameterSet, 1, MK_Parameter, sizeof(MK_Parameter)); |
| |