Rev 450 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 450 | Rev 451 | ||
|---|---|---|---|
| Line 547... | Line 547... | ||
| 547 | } |
547 | } |
| Line 548... | Line 548... | ||
| 548 | 548 | ||
| 549 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
549 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 550 | DebugOut.Analog[5] = FC.StatusFlags; |
550 | DebugOut.Analog[5] = FC.StatusFlags; |
| - | 551 | NaviData.FCStatusFlags = FC.StatusFlags; |
|
| 551 | NaviData.FCStatusFlags = FC.StatusFlags; |
552 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
| 552 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
553 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| Line 553... | Line 554... | ||
| 553 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
554 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
| 554 | 555 | ||
| Line 687... | Line 688... | ||
| 687 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
688 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
| 688 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
689 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
| 689 | // every time we got new data from the FC via SPI call the navigation routine |
690 | // every time we got new data from the FC via SPI call the navigation routine |
| 690 | // and update GPSStick that are returned to FC |
691 | // and update GPSStick that are returned to FC |
| 691 | SPI_RxBuffer_Request = 0; |
692 | SPI_RxBuffer_Request = 0; |
| 692 | - | ||
| 693 | - | ||
| 694 | /* |
- | |
| 695 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 696 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 697 | // in SPI Einkommentieren, falls der Flug simultert werden soll |
- | |
| 698 | - | ||
| 699 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
- | |
| 700 | else |
- | |
| 701 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
- | |
| 702 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
- | |
| 703 | BL_MinOfMaxPWM = 255; |
- | |
| 704 | NaviData.FCStatusFlags = FC.StatusFlags; |
- | |
| 705 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 706 | */ |
- | |
| 707 | - | ||
| 708 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
693 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 709 | ClearFCStatusFlags = 1; |
694 | ClearFCStatusFlags = 1; |
| 710 | if(counter) |
695 | if(counter) |
| 711 | { |
696 | { |
| 712 | counter--; // count down to enable servo |
697 | counter--; // count down to enable servo |