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106 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
106 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
107 | u8 SPI_CommandCounter = 0; |
107 | u8 SPI_CommandCounter = 0; |
108 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
108 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
109 | s32 HeadFreeStartAngle = 0; |
109 | s32 HeadFreeStartAngle = 0; |
110 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
110 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
111 | u32 ToFC_AltitudeRate = 0; |
111 | u32 ToFC_AltitudeRate = 0; |
112 | s32 ToFC_AltitudeSetpoint = 0; |
112 | s32 ToFC_AltitudeSetpoint = 0; |
113 | u8 FromFC_VarioCharacter = ' '; |
113 | u8 FromFC_VarioCharacter = ' '; |
114 | u8 GPS_Aid_StickMultiplikator = 0; |
114 | u8 GPS_Aid_StickMultiplikator = 0; |
Line 389... | Line 389... | ||
389 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
389 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
390 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
390 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
391 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
391 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
392 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
392 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
393 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
393 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
- | 394 | if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
|
394 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
395 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
395 | FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
396 | FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
396 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
397 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
397 | { |
398 | { |
398 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
399 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |