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| Rev 294 | Rev 295 | ||
|---|---|---|---|
| Line 311... | Line 311... | ||
| 311 | else |
311 | else |
| 312 | { |
312 | { |
| 313 | ToFlightCtrl.Param.sInt[4] = -1; |
313 | ToFlightCtrl.Param.sInt[4] = -1; |
| 314 | } |
314 | } |
| Line 315... | Line 315... | ||
| 315 | 315 | ||
| 316 | if(NCParams[NCPARAMS_NEW_CAMERA_ELEVATION] != -30000) // Elevation set via 'j' command |
316 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &(ToFlightCtrl.Param.sInt[5]))) // Elevation set via 'j' command |
| 317 | { |
- | |
| 318 | ToFlightCtrl.Param.sInt[5] = NCParams[NCPARAMS_NEW_CAMERA_ELEVATION]; |
- | |
| 319 | } |
- | |
| 320 | else |
- | |
| 321 | { |
317 | { |
| 322 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
318 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
| 323 | else ToFlightCtrl.Param.sInt[5] = 0; |
319 | else ToFlightCtrl.Param.sInt[5] = 0; |
| 324 | } |
320 | } |
| Line 325... | Line 321... | ||
| 325 | break; |
321 | break; |
| 326 | 322 | ||
| 327 | case SPI_NCCMD_VERSION: |
323 | case SPI_NCCMD_VERSION: |
| Line 341... | Line 337... | ||
| 341 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
337 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
| 342 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
338 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 343 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
339 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 344 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
340 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
| 345 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
341 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
| - | 342 | { |
|
| - | 343 | s16 tmp; |
|
| 346 | if(NCParams[NCPARAMS_ALTITUDE_RATE] != -1) ToFlightCtrl.Param.Byte[9] = (u8) NCParams[NCPARAMS_ALTITUDE_RATE]; |
344 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| - | 345 | { |
|
| - | 346 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
|
| - | 347 | } |
|
| - | 348 | else |
|
| - | 349 | { |
|
| 347 | else ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeRate; |
350 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
| - | 351 | } |
|
| 348 | if(NCParams[NCPARAMS_ALTITUDE_SETPOINT] != -30000) ToFlightCtrl.Param.sInt[5] = (s16) NCParams[NCPARAMS_ALTITUDE_SETPOINT]; |
352 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
| - | 353 | { |
|
| 349 | else ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
354 | ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
| - | 355 | } |
|
| - | 356 | } |
|
| 350 | break; |
357 | break; |
| 351 | default: |
358 | default: |
| 352 | break; |
359 | break; |
| 353 | // 0 = 0,1 |
360 | // 0 = 0,1 |
| 354 | // 1 = 2,3 |
361 | // 1 = 2,3 |