| /trunk/GPS.h |
|---|
| 48,6 → 48,7 |
| extern int PointPolyCheck( Vec2D_t P, Vec2D_t* V, int n ); |
| extern u8 UpdateFlyzoneTimer; |
| extern u16 WP_Yaw_WithoutCF; |
| extern u8 GPSPos_Copy_to_Home(GPS_Pos_t* pGPSPosSrc); |
| void GPS_Init(void); |
| void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
| /trunk/main.h |
|---|
| 13,8 → 13,8 |
| //----------------------- |
| #define VERSION_MAJOR 2 |
| #define VERSION_MINOR 20 |
| #define VERSION_PATCH 7 |
| #define VERSION_MINOR 21 |
| #define VERSION_PATCH 0 |
| // 0 = A |
| // 1 = B |
| // 2 = C |
| /trunk/spi_slave.c |
|---|
| 552,8 → 552,8 |
| ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance_dm; // dm //4&5 |
| ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
| if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
| if(FC_WP_EventChannel) |
| // if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // 255 ist seit 2.21 Dauersignal |
| if(FC_WP_EventChannel) // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
| { |
| LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
| NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; // to make sure that it will be logged |
| 597,10 → 597,8 |
| { |
| ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint_dm; |
| } |
| //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
| if(BlitzSchuhConnected) ToFlightCtrl.Param.sInt[6] = TrigLogging.CountExternal + 1; |
| else ToFlightCtrl.Param.sInt[6] = 0; |
| break; |
| case SPI_NCCMD_HOTT_INFO: |
| if(NewWPL_Name) hott_index = 100; |
| /trunk/uart1.c |
|---|
| 590,19 → 590,25 |
| pPoint = (Point_t*)SerialMsg.pData; |
| if(pPoint->Position.Status == NEWDATA) |
| { |
| u32 start = 0; |
| //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
| //pPoint->Index = 1; // must be one after empty list |
| u32 start = 0; |
| if(pPoint->Type == POINT_TYPE_HOME) // Set new Home-Pos. |
| { |
| GPSPos_Copy_to_Home(&(pPoint->Position)); // update home position |
| BeepTime = 50; |
| } |
| else |
| { // fly to -> FollowMe |
| PointList_SetAt(pPoint); |
| if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| // GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| if(pPoint->Index) start = pPoint->Index-1; |
| if(CurrentlyFlyingWaypoints) |
| { |
| GPS_pWaypoint = PointList_WPBegin(start); |
| NewWaypointsReceived = 0; // Only an update |
| } |
| if(pPoint->Index) start = pPoint->Index-1; |
| if(CurrentlyFlyingWaypoints) |
| { |
| GPS_pWaypoint = PointList_WPBegin(start); |
| NewWaypointsReceived = 0; // Only an update |
| } |
| BeepTime = 50; |
| } |
| } |
| else |
| if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
| 1731,6 → 1737,7 |
| FollowMe.Event_Flag = 1; |
| FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
| FollowMe.Type = POINT_TYPE_WP; |
| FollowMe.Type = POINT_TYPE_HOME; |
| FollowMe.WP_EventChannelValue = 100; // set servo value |
| FollowMe.AltitudeRate = 0; // do not change height |
| FollowMe.Speed = 0; // rate to change the Position (0 = max) |
| /trunk/waypoints.h |
|---|
| 9,6 → 9,7 |
| #define POINT_TYPE_FS 2 |
| #define POINT_TYPE_LAND 3 |
| #define POINT_TYPE_FLYZONE 4 |
| #define POINT_TYPE_HOME 5 |
| // the waypoints list |
| #define MAX_LIST_LEN 101 |