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| Rev 202 | Rev 204 | ||
|---|---|---|---|
| Line 96... | Line 96... | ||
| 96 | s32 Kalman_K = 32; |
96 | s32 Kalman_K = 32; |
| 97 | s32 Kalman_MaxDrift = 5 * 16; |
97 | s32 Kalman_MaxDrift = 5 * 16; |
| 98 | s32 Kalman_MaxFusion = 64; |
98 | s32 Kalman_MaxFusion = 64; |
| 99 | s32 ToFcGpsZ = 0; |
99 | s32 ToFcGpsZ = 0; |
| Line 100... | Line 100... | ||
| 100 | 100 | ||
| 101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
| Line 102... | Line 102... | ||
| 102 | u8 SPI_CommandCounter = 0; |
102 | u8 SPI_CommandCounter = 0; |
| Line 103... | Line 103... | ||
| 103 | 103 | ||
| Line 295... | Line 295... | ||
| 295 | break; |
295 | break; |
| Line 296... | Line 296... | ||
| 296 | 296 | ||
| 297 | case SPI_NCCMD_VERSION: |
297 | case SPI_NCCMD_VERSION: |
| 298 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
298 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 299 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
299 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
| 300 | ToFlightCtrl.Param.Byte[2] = VERSION_MINOR; |
300 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 301 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
301 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 302 | ToFlightCtrl.Param.Byte[4] = 0; |
302 | ToFlightCtrl.Param.Byte[4] = 0; |
| - | 303 | break; |
|
| - | 304 | ||
| - | 305 | case SPI_NCCMD_GPSINFO: |
|
| - | 306 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
|
| - | 307 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
|
| - | 308 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
|
| Line 303... | Line 309... | ||
| 303 | break; |
309 | break; |
| 304 | 310 | ||
| 305 | default: |
311 | default: |
| 306 | break; |
312 | break; |
| Line 402... | Line 408... | ||
| 402 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
408 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| 403 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
409 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
| 404 | break; |
410 | break; |
| Line 405... | Line 411... | ||
| 405 | 411 | ||
| 406 | default: |
412 | default: |
| 407 | break; |
413 | break; |
| Line 408... | Line 414... | ||
| 408 | } |
414 | } |
| 409 | 415 | ||
| 410 | // every time we got new data from the FC via SPI call the navigation routine |
416 | // every time we got new data from the FC via SPI call the navigation routine |