| 0,0 → 1,59 |
|---|
| #ifndef _MK_H_ |
| #define _MK_H_ |
| |
| // Orginal H&I MK-Software |
| typedef struct { |
| int32_t Longitude; // in 1E-7 deg |
| int32_t Latitude; // in 1E-7 deg |
| int32_t Altitude; // in mm |
| uint8_t Status; // validity of data |
| } __attribute__((packed)) GPS_Pos_t; |
| |
| |
| typedef struct { |
| uint16_t Distance; // distance to target in dm |
| int16_t Bearing; // course to target in deg |
| } __attribute__((packed)) GPS_PosDev_t; |
| |
| |
| #define FC_FLAG_MOTOR_RUN 0x01 |
| #define FC_FLAG_FLY 0x02 |
| #define FC_FLAG_CALIBRATE 0x04 |
| #define FC_FLAG_MOTOR_START 0x08 |
| |
| #define NC_FLAG_GPS_OK 0x80 |
| |
| typedef struct { |
| uint8_t Version; // version of the data structure |
| GPS_Pos_t CurrentPosition; // see ubx.h for details |
| GPS_Pos_t TargetPosition; |
| GPS_PosDev_t TargetPositionDeviation; |
| GPS_Pos_t HomePosition; |
| GPS_PosDev_t HomePositionDeviation; |
| uint8_t WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| uint8_t WaypointNumber; // number of stored waypoints |
| uint8_t SatsInUse; // number of satellites used for position solution |
| int16_t Altimeter; // hight according to air pressure |
| int16_t Variometer; // climb(+) and sink(-) rate |
| uint16_t FlyingTime; // in seconds |
| uint8_t UBat; // Battery Voltage in 0.1 Volts |
| uint16_t GroundSpeed; // speed over ground in cm/s (2D) |
| int16_t Heading; // current flight direction in ° as angle to north |
| int16_t CompassHeading; // current compass value in ° |
| int8_t AngleNick; // current Nick angle in 1° |
| int8_t AngleRoll; // current Rick angle in 1° |
| uint8_t RC_Quality; // RC_Quality |
| uint8_t FCStatusFlags; // Flags from FC |
| uint8_t NCFlags; // Flags from NC |
| uint8_t Errorcode; // 0 --> okay |
| uint8_t OperatingRadius; // current operation radius around the Home Position in m |
| int16_t TopSpeed; // velocity in vertical direction in cm/s |
| uint8_t TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| uint8_t RC_RSSI; // Receiver signal strength (since version 2 added) |
| int16_t SetpointAltitude; // setpoint for altitude |
| uint8_t Gas; // for future use |
| uint16_t Current; // actual current in 0.1A steps |
| uint16_t UsedCapacity; // used capacity in mAh |
| } __attribute__((packed)) NaviData_t; |
| |
| #endif |