| /trunk/CamCtrl.c |
|---|
| 215,6 → 215,14 |
| if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = tmp; else ToGimbalCtrl.Roll = -tmp; |
| // ToGimbalCtrl.Yaw = (s32) SerialChannel.Ch[0] * 3; |
| ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * -2; |
| // ++++++++++++++++++++++++++++++++++++++++++++++ |
| // digital switching outputs |
| if(PPM_In[EE_Parameter.GimbalOut1Channel] > 10) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT1; |
| if(PPM_In[EE_Parameter.GimbalOut2Channel] > 10) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT2; |
| // flags will be reset after transmitting |
| // ++++++++++++++++++++++++++++++++++++++++++++++ |
| if(FromMenuGimbalYaw) ToGimbalCtrl.Yaw = FromMenuGimbalYaw; |
| ToGimbalCtrl.NRY_Speed = 100; |
| ToGimbalCtrl.Filter = 5; |
| /trunk/CamCtrl.h |
|---|
| 28,6 → 28,9 |
| #define GIMBAL_CMD_YW_REL_FRAME 0x02 |
| #define GIMBAL_CMD_SPEED 0x04 |
| #define GIMBAL_CMD_YW_ZERO 0x08 |
| #define GIMBAL_CMD_OUT1 0x10 |
| #define GIMBAL_CMD_OUT2 0x20 |
| #define GIMBAL_CMD_OUT_TRIGGER 0x40 // will set the Hardware Triggeroutput on the GimbalCtrl |
| // ToCamCtrl.CamCommand |
| #define CAM_CMD_SWITCH_ON 0x80 |
| /trunk/main.c |
|---|
| 534,6 → 534,10 |
| if(CountMilliseconds != old_ms) // 1 ms |
| { |
| if(!t20ms--) { CalcNickServoValue(); t20ms = 20; }; |
| // Trigger internal Portpin or Flag -> will set the Hardware Triggeroutput on the GimbalCtrl |
| if(((UART_VersionInfo.HWMajor >= 30) && TRIGGER_PP_INTERN) || ((UART_VersionInfo.HWMajor < 30) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE))) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT_TRIGGER; |
| if(UART1_BaudrateFallbackTimeout) |
| { |
| if(--UART1_BaudrateFallbackTimeout == 0) UART1_Configure(Uart1Baudrate); |
| /trunk/main.h |
|---|
| 14,7 → 14,7 |
| #define VERSION_MAJOR 2 |
| #define VERSION_MINOR 20 |
| #define VERSION_PATCH 2 |
| #define VERSION_PATCH 3 |
| // 0 = A |
| // 1 = B |
| // 2 = C |
| 37,7 → 37,7 |
| #define CAN_SLAVE_COMPATIBLE 2 |
| #ifndef FOLLOW_ME |
| #define FC_SPI_COMPATIBLE 91 // <------------------ |
| #define FC_SPI_COMPATIBLE 92 // <------------------ |
| #else |
| #define FC_SPI_COMPATIBLE 0xFF |
| #endif |
| /trunk/menu.c |
|---|
| 762,6 → 762,9 |
| LCD_printfxy(0,2,"Nick:%3i Roll:%3i",FromGimbalCtrl.Nick,FromGimbalCtrl.Roll); |
| LCD_printfxy(0,3,"Yaw: %3i [0,1 Deg]",FromGimbalCtrl.Yaw); |
| if(Keys & KEY4) { ToGimbalCtrl.BitCmd |= (GIMBAL_CMD_YW_ZERO); MenuNickGimbalOffset = 0;} |
| //if(PPM_In[EE_Parameter.GimbalOut1Channel] > 10) LCD_printfxy(18,1,"1") else LCD_printfxy(18,1,"0") |
| //if(PPM_In[EE_Parameter.GimbalOut2Channel] > 10) LCD_printfxy(19,1,"1") else LCD_printfxy(19,1,"0") |
| //if(ToGimbalCtrl.BitCmd & GIMBAL_CMD_OUT_TRIGGER) LCD_printfxy(16,1,"1") else LCD_printfxy(16,1,"0") |
| } |
| break; |
| case 34: // Temperaturecompensation of the Barosensor |
| /trunk/spi_slave.h |
|---|
| 373,7 → 373,9 |
| unsigned char CamCtrlZoomChannel; |
| unsigned char FailSafeAltitude; |
| unsigned char GimbalYawChannel; |
| unsigned char reserved[30]; // for later use |
| unsigned char GimbalOut1Channel; |
| unsigned char GimbalOut2Channel; |
| unsigned char reserved[28]; // for later use |
| //------------------------------------------------ |
| unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |