| 82,7 → 82,7 |
|---|
| } |
| |
| /** |
| * send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
| * send a waypoint to the NaviCtrl (the copter will fly to the position emidiately) |
| */ |
| void Handler::send_waypoint(Waypoint_t desired_pos) { |
| com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
| 189,37 → 189,43 |
|---|
| /** |
| * receive data |
| */ |
| //Parser::decode64(data); |
| void Handler::receive_data(int hardwareID, int cmd, char * data) { |
| void Handler::receive_data(sRxData RX) { |
| //extract hardware ID from received Data |
| int hardwareID = RX.input[1] - 'a'; |
| switch(hardwareID) |
| { |
| case ADDRESS_FC : |
| switch(cmd) |
| switch(RX.input[2]) |
| { |
| // Motor-Mixer |
| case 'N' : |
| //if (Parser::decode64(RX)) |
| //{ |
| if (Parser::decode64(RX)) |
| { |
| com->stop_resend(); |
| //decoded data |
| if (data[0] == VERSION_MIXER) |
| |
| if (RX.decode[0] == VERSION_MIXER) |
| { |
| //f_MotorMixer->set_MotorConfig(RX); |
| } |
| //} |
| } |
| break; |
| // Motor-Mixer Schreib-Bestätigung |
| case 'M' : |
| if (Parser::decode64(RX)) |
| { |
| com->stop_resend(); |
| |
| if (data[0] == 1) |
| if (RX.decode[0] == 1) |
| { |
| //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
| } |
| } |
| break; |
| |
| // Stick-Belegung der Fernsteuerung |
| case 'P' : // DONE 0.71g |
| if (Parser::decode64(RX)) |
| { |
| /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
| f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
| f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
| 228,14 → 234,17 |
|---|
| f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
| f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
| f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
| } |
| break; |
| // Settings lesen |
| case 'Q' : // DONE 0.71g |
| if (Parser::decode64(RX)) |
| { |
| com->stop_resend(); |
| |
| if (data[1] == VERSION_SETTINGS) |
| if (RX.decode[1] == VERSION_SETTINGS) |
| { |
| int Settings_ID = data[0]; |
| int Settings_ID = RX.decode[0]; |
| /*for (int a = 0; a < MaxParameter; a++) |
| { |
| FCSettings[a] = RX.decode[a + 2]; |
| 258,6 → 267,7 |
|---|
| QMessageBox::warning(this, QA_NAME, |
| name, QMessageBox::Ok);*/ |
| } |
| } |
| break; |
| // Settings written |
| case 'S' : // DONE 0.71g |
| 267,20 → 277,25 |
|---|
| } |
| |
| case ADDRESS_NC : |
| switch(cmd) |
| switch(RX.input[2]) |
| { |
| // Navigationsdaten |
| case 'O' : // NOT DONE 0.12h |
| if (Parser::decode64(RX)) |
| { |
| //new_NaviData(RX); |
| } |
| break; |
| } |
| // case ADDRESS_MK3MAG : |
| |
| default : |
| switch(cmd) |
| switch(RX.input[2]) |
| { |
| // LCD-Anzeige |
| case 'L' : // DONE 0.71g |
| if (Parser::decode64(RX)) |
| { |
| com->stop_resend(); |
| |
| /*int LCD[150]; |
| 291,13 → 306,17 |
|---|
| LCD_Page = RX.decode[0]; |
| LCD_MAX_Page = RX.decode[1]; |
| */ |
| } |
| break; |
| // Analoglabels |
| case 'A' : // DONE 0.71g |
| if (Parser::decode64(RX)) |
| { |
| com->stop_resend(); |
| |
| //check position |
| if (data[0] != 31) { |
| int Position = RX.decode[0]; |
| if (Position != 31) |
| { |
| /* |
| Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
| if (Settings->Analog1.Label[Position] == "") |
| 307,7 → 326,9 |
|---|
| Position ++; |
| TX_Data[0] = Position; |
| o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
| } else { |
| } |
| if (Position == 31) |
| { |
| /* |
| for (int a = 0; a < MaxAnalog; a++) |
| { |
| 317,16 → 338,23 |
|---|
| Settings->write_Settings_AnalogLabels(HardwareID); |
| config_Plot();*/ |
| } |
| } |
| break; |
| // Debug-Daten |
| case 'D' : // DONE 0.71g |
| for (int i = 0; i < MaxAnalog; i++) { |
| if (Parser::decode64(RX)) |
| { |
| for (int i = 0; i < MaxAnalog; i++) |
| { |
| //AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2); |
| } |
| //show_DebugData(); |
| } |
| break; |
| // Version |
| case 'V' : // DONE 0.71h |
| if (Parser::decode64(RX)) |
| { |
| com->stop_resend(); |
| /* |
| Mode.ID = HardwareID; |
| 434,6 → 462,7 |
|---|
| lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
| } |
| config_Plot();*/ |
| } |
| break; |
| } |
| } |