Subversion Repositories NaviCtrl

Rev

Rev 456 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 456 Rev 457
Line 100... Line 100...
100 
volatile u32 PollingTimeout = 10000;
 100 
volatile u32 PollingTimeout = 10000;
101 
Param_t Parameter;
 101 
Param_t Parameter;
102 
volatile FC_t FC;
 102 
volatile FC_t FC;
103 
volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
 103 
volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
104 
volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero
 104 
volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero
105 
u32 CountGpsProcessedFromStart = 0,CountNewGpsDataFromStart = 0, FreqGpsProcessedFromStart = 0, FreqNewGpsDataFromStart = 0;
 105 
u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0;
Line 106... Line 106...
106 
 
 106 
 
Line 107... Line 107...
107 
s8 ErrorMSG[25];
 107 
s8 ErrorMSG[25];
108 
 
 108 
 
Line 423... Line 423...
423 
                         {
 423 
                         {
424 
                          TimerCheckError = SetDelay(1000);
 424 
                          TimerCheckError = SetDelay(1000);
425 
                          if(++count5sec == 5)
 425 
                          if(++count5sec == 5)
426 
                           {
 426 
                           {
427 
                                count5sec = 0;
 427 
                                count5sec = 0;
428 
                                FreqGpsProcessedFromStart = CountGpsProcessedFromStart * 2;
 428 
                                FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2;
429 
                                FreqNewGpsDataFromStart = CountNewGpsDataFromStart * 2;
 429 
                                FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2;
430 
                                CountGpsProcessedFromStart = 0;
 430 
                                CountGpsProcessedIn5Sec = 0;
431 
                                CountNewGpsDataFromStart = 0;  
 431 
                                CountNewGpsDataIn5Sec = 0;  
432 
                           }
 432 
                           }
433 
                         }
 433 
                         }
434 
                        oldFcFlags = FC.StatusFlags;
 434 
                        oldFcFlags = FC.StatusFlags;
435 
                        if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
 435 
                        if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected