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| Rev 1974 | Rev 1980 | ||
|---|---|---|---|
| Line 135... | Line 135... | ||
| 135 | "AccRoll (angle) ", //10 |
135 | "AccRoll (angle) ", //10 |
| 136 | "UBat ", |
136 | "UBat ", |
| 137 | "Pitch Term ", |
137 | "Pitch Term ", |
| 138 | "Roll Term ", |
138 | "Roll Term ", |
| 139 | "Yaw Term ", |
139 | "Yaw Term ", |
| 140 | "ca debug ", //15 |
140 | "Throttle Term ", //15 |
| 141 | "gyroP ", |
141 | "gyroP ", |
| 142 | "gyroI ", |
142 | "gyroI ", |
| 143 | "gyroD ", |
143 | "gyroD ", |
| 144 | "unused ", |
144 | "Acc Vector ", |
| 145 | "dHeightThrottle ", //20 |
145 | "dHeightThrottle ", //20 |
| 146 | "hoverThrottle ", |
146 | "hoverThrottle ", |
| 147 | "M1 ", |
147 | "M1 ", |
| 148 | "M2 ", |
148 | "M2 ", |
| 149 | "M3 ", |
149 | "M3 ", |
| Line 492... | Line 492... | ||
| 492 | if (motorTestActive) |
492 | if (motorTestActive) |
| 493 | motorTestActive--; |
493 | motorTestActive--; |
| 494 | // if data in the rxd buffer are not locked immediately return |
494 | // if data in the rxd buffer are not locked immediately return |
| 495 | if (!rxd_buffer_locked) |
495 | if (!rxd_buffer_locked) |
| 496 | return; |
496 | return; |
| 497 | uint8_t tempchar1, tempchar2; |
497 | uint8_t tempchar[3]; |
| 498 | Decode64(); // decode data block in rxd_buffer |
498 | Decode64(); // decode data block in rxd_buffer |
| Line 499... | Line 499... | ||
| 499 | 499 | ||
| Line 500... | Line 500... | ||
| 500 | switch (rxd_buffer[1] - 'a') { |
500 | switch (rxd_buffer[1] - 'a') { |
| Line 527... | Line 527... | ||
| 527 | if (pRxData[0] == EEMIXER_REVISION) { |
527 | if (pRxData[0] == EEMIXER_REVISION) { |
| 528 | memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix)); |
528 | memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix)); |
| 529 | mixerMatrix_writeToEEProm(); |
529 | mixerMatrix_writeToEEProm(); |
| 530 | while (!txd_complete) |
530 | while (!txd_complete) |
| 531 | ; // wait for previous frame to be sent |
531 | ; // wait for previous frame to be sent |
| 532 | tempchar1 = 1; |
532 | tempchar[0] = 1; |
| 533 | } else { |
533 | } else { |
| 534 | tempchar1 = 0; |
534 | tempchar[0] = 0; |
| 535 | } |
535 | } |
| 536 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
536 | SendOutData('M', FC_ADDRESS, 1, &tempchar, 1); |
| 537 | break; |
537 | break; |
| Line 538... | Line 538... | ||
| 538 | 538 | ||
| 539 | case 'p': // get PPM channels |
539 | case 'p': // get PPM channels |
| 540 | request_PPMChannels = TRUE; |
540 | request_PPMChannels = TRUE; |
| Line 549... | Line 549... | ||
| 549 | pRxData[0] = 1; // limit to 1 |
549 | pRxData[0] = 1; // limit to 1 |
| 550 | else if (pRxData[0] > 5) |
550 | else if (pRxData[0] > 5) |
| 551 | pRxData[0] = 5; // limit to 5 |
551 | pRxData[0] = 5; // limit to 5 |
| 552 | // load requested parameter set |
552 | // load requested parameter set |
| 553 | paramSet_readFromEEProm(pRxData[0]); |
553 | paramSet_readFromEEProm(pRxData[0]); |
| 554 | tempchar1 = pRxData[0]; |
554 | tempchar[0] = pRxData[0]; |
| 555 | tempchar2 = EEPARAM_REVISION; |
555 | tempchar[1] = EEPARAM_REVISION; |
| - | 556 | tempchar[2] = sizeof(staticParams); |
|
| 556 | while (!txd_complete) |
557 | while (!txd_complete) |
| 557 | ; // wait for previous frame to be sent |
558 | ; // wait for previous frame to be sent |
| 558 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), |
559 | SendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams)); |
| 559 | &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, |
- | |
| 560 | sizeof(staticParams)); |
- | |
| 561 | break; |
560 | break; |
| Line 562... | Line 561... | ||
| 562 | 561 | ||
| 563 | case 's': // save settings |
562 | case 's': // save settings |
| 564 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off |
563 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off |
| 565 | { |
564 | { |
| 566 | if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] |
565 | if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] |
| 567 | == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
566 | == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
| 568 | { |
567 | { |
| 569 | memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
568 | memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
| 570 | paramSet_writeToEEProm(pRxData[0]); |
569 | paramSet_writeToEEProm(pRxData[0]); |
| 571 | tempchar1 = getActiveParamSet(); |
570 | tempchar[0] = getActiveParamSet(); |
| 572 | beepNumber(tempchar1); |
571 | beepNumber(tempchar[0]); |
| 573 | } else { |
572 | } else { |
| 574 | tempchar1 = 0; //indicate bad data |
573 | tempchar[0] = 0; //indicate bad data |
| 575 | } |
574 | } |
| 576 | while (!txd_complete) |
575 | while (!txd_complete) |
| 577 | ; // wait for previous frame to be sent |
576 | ; // wait for previous frame to be sent |
| 578 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
577 | SendOutData('S', FC_ADDRESS, 1, &tempchar, 1); |
| 579 | } |
578 | } |
| Line 580... | Line 579... | ||
| 580 | break; |
579 | break; |
| 581 | 580 | ||