Subversion Repositories NaviCtrl

Compare Revisions

Ignore whitespace Rev 735 → Rev 736

/trunk/spi_slave.c
500,7 → 500,7
ToFlightCtrl.Param.Byte[3] = 0;
ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints
ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10;
ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance_dm / 10;
ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex;
ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11
512,7 → 512,7
ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
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)
618,7 → 618,7
ToFlightCtrl.Param.Byte[5] = i2 % 256;
ToFlightCtrl.Param.Byte[6] = i2 / 256;
//-----------------------------
i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m
i1 = NaviData.HomePositionDeviation.Distance_dm / 10; // dann in m
ToFlightCtrl.Param.Byte[7] = i1 % 256;
ToFlightCtrl.Param.Byte[8] = i1 / 256;
break;
744,7 → 744,7
{
if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
{
if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
if((NaviData.HomePositionDeviation.Distance_dm > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
{
HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1°
}