| 280,12 → 280,6 |
|---|
| sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
| newErrorCode = 15; |
| } |
| else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"ERR:Flying range!"); |
| newErrorCode = 28; |
| } |
| else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
| { |
| LED_RED_ON; |
| 366,6 → 360,12 |
|---|
| sprintf(ErrorMSG,"GPS Fix lost "); |
| newErrorCode = 21; |
| } |
| else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"ERR:Flying range!"); |
| newErrorCode = 28; |
| } |
| else if(ErrorDisturbedEarthMagnetField) |
| { |
| LED_RED_ON; |
| 653,9 → 653,24 |
|---|
| else |
| if(FC_Temperatur < FC_Temperatur_raw/10) FC_Temperatur++; |
| } |
| if(TryAgain_UBX_Setup) { if(--TryAgain_UBX_Setup == 0) UBX_Setup();} |
| |
| // ++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Re-Init GPS-Module? |
| // ++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
| { |
| if(TryAgain_UBX_Setup) |
| { |
| if(--TryAgain_UBX_Setup == 0) UBX_Setup(); |
| } |
| else |
| if(CheckDelay(UBX_Timeout)) // no GPS communication |
| { |
| GPS_Version = 0; |
| TryAgain_UBX_Setup = 6; // Re-init GPS-Receiver in x seconds |
| } |
| } |
| } |
| // ++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ---------------- Error Check Timing ---------------------------- |
| if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
| 802,6 → 817,7 |
|---|
| else TryAgain_UBX_Setup = 4; |
| } |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++ |
| // ++ check CamCtrl version (if connected) |
| if(Compass_I2CPort == NCMAG_PORT_INTERN) |
| 818,9 → 834,10 |
|---|
| if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, LASER_SLAVE_ADDRESS, &ToLaserCtrl, 4, &LaserCtrl_UpdateData, sizeof(FromLaserCtrl)); |
| } |
| else LaserCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected |
| |
| // +++++++++++++++++++++++++++++++++++++++ |
| GPS_Init(); |
| |
| GPS_Init(); |
| // ---------- Prepare the isr driven |
| // set to absolute lowest priority |
| VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
| 987,4 → 1004,4 |
|---|
| */ |
| } |
| } |
| //DebugOut.Analog[] |
| //DebugOut.Analog[] |