| /trunk/GPS.h |
|---|
| 26,6 → 26,12 |
| u8 UpdateMask; |
| } __attribute__((packed)) CAM_Orientation_t; |
| typedef struct |
| { |
| s32 x; |
| s32 y; |
| } __attribute__((packed)) Vec2D_t; |
| extern CAM_Orientation_t CAM_Orientation; |
| extern Point_t* GPS_pWaypoint; |
| extern u8 MaxNumberOfWaypoints; // should be 32 |
| 38,6 → 44,8 |
| extern u8 MK_FlyingWithGps; |
| extern u8 CurrentlyFlyingWaypoints; |
| extern void ConfirmGpsUpdateRate(u16); |
| extern int PointPolyCheck( Vec2D_t P, Vec2D_t* V, int n ); |
| extern u8 UpdateFlyzoneTimer; |
| void GPS_Init(void); |
| void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
| /trunk/main.c |
|---|
| 119,6 → 119,8 |
| u8 IO1_Function = 0; |
| s16 LuftdruckTemperaturKompensation = 0, LuftdruckTemperaturOffset = 0; |
| u8 BaroCalState = 0; |
| u8 ErrorOutSideOperationArea = 0; // I am outside the operation polygon area |
| u32 ShowNoFlyzoneErrorMessage = 0; |
| //---------------------------------------------------------------------------------------------------- |
| void SCU_Config(void) |
| 440,6 → 442,13 |
| sprintf(ErrorMSG,"FAILSAFE pos.! "); |
| newErrorCode = 35; |
| } |
| else if(ErrorOutSideOperationArea && FC_is_Calibrated) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"ERR:Outside Flyzone "); |
| newErrorCode = 44; |
| DebugOut.StatusRed |= AMPEL_NC; |
| } |
| else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR) |
| { |
| sprintf(ErrorMSG,"ERR:Redundancy "); |
| 463,6 → 472,13 |
| sprintf(ErrorMSG,"ACC not calib."); |
| newErrorCode = 42; |
| } |
| else |
| if(ShowNoFlyzoneErrorMessage > 5) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"ERR: no Flyzone "); |
| newErrorCode = 45; |
| } |
| else // no error occured |
| { |
| StopNavigation = 0; |
| 603,11 → 619,15 |
| if(CheckDelay(TimerSecond)) // one second Timer |
| { |
| TimerSecond += 1000; |
| if(FC.StatusFlags & FC_STATUS_FLY) |
| { |
| NaviData.FlyingTime++; // we want to count the battery-time |
| TimeSinceMotorStart++; |
| } |
| if((Parameter.ExtraConfig & CFG_FLYZONE_REQUIRED) && FlyzonePointCnt < 3 && FC_is_Calibrated) ShowNoFlyzoneErrorMessage++; else ShowNoFlyzoneErrorMessage = 0; |
| // ++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + FC 3.0 Temperature |
| // ++++++++++++++++++++++++++++++++++++++++++++++++ |
| /trunk/main.h |
|---|
| 13,7 → 13,7 |
| //----------------------- |
| #define VERSION_MAJOR 2 |
| #define VERSION_MINOR 16 |
| #define VERSION_MINOR 17 |
| #define VERSION_PATCH 0 |
| // 0 = A |
| // 1 = B |
| 37,7 → 37,7 |
| #define CAN_SLAVE_COMPATIBLE 2 |
| #ifndef FOLLOW_ME |
| #define FC_SPI_COMPATIBLE 84 // <------------------ |
| #define FC_SPI_COMPATIBLE 85 // <------------------ |
| #else |
| #define FC_SPI_COMPATIBLE 0xFF |
| #endif |
| 167,6 → 167,7 |
| #define NC_TO_FC_FAILSAFE_LANDING 0x08 // activates Servos |
| #define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors if simulation ist active |
| #define NC_TO_FC_SWITCHOFF_IF_LANDED 0x20 // switch off if MK is on the ground and doesn't further sink |
| #define NC_TO_FC_OUTSIDE_FLYZONE 0x40 // for the Beep-Signal |
| //Parameter.GlobalConfig3 |
| #define CFG3_NO_SDCARD_NO_START 0x01 |
| 178,7 → 179,7 |
| #define CFG3_SPEAK_ALL 0x40 |
| #define CFG3_SERVO_NICK_COMP_OFF 0x80 |
| // Parameter.GlobalConfig |
| // Parameter.GlobalConfig |
| #define FC_CFG_HOEHENREGELUNG 0x01 |
| #define FC_CFG_HOEHEN_SCHALTER 0x02 |
| #define FC_CFG_HEADING_HOLD 0x04 |
| 185,13 → 186,13 |
| #define FC_CFG_KOMPASS_AKTIV 0x08 |
| #define FC_CFG_KOMPASS_FIX 0x10 |
| #define FC_CFG_GPS_AKTIV 0x20 |
| #define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| #define CFG_LAND_OUTSIDE_FLYZONE 0x40 |
| #define FC_CFG_DREHRATEN_BEGRENZER 0x80 |
| //Parameter.ExtraConfig |
| #define CFG2_HEIGHT_LIMIT 0x01 |
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG_SENSITIVE_RC 0x04 |
| #define CFG_FLYZONE_REQUIRED 0x04 |
| #define CFG_3_3V_REFERENCE 0x08 |
| #define CFG_NO_RCOFF_BEEPING 0x10 |
| #define CFG_GPS_AID 0x20 |
| 368,6 → 369,7 |
| extern u16 ToFC_Parachute_Off; // forced Switch off via IO1 |
| extern u8 IO1_Function; |
| extern u8 BaroCalState; |
| extern u8 ErrorOutSideOperationArea; // I am outside the operation polygon area |
| #define OEM_NAME_LENGHT 16 |
| extern u8 OEM_String[OEM_NAME_LENGHT+1]; |