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#define SPI_FCCMD_BL_ACCU               16
 58 
#define SPI_FCCMD_BL_ACCU               16
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#define SPI_FCCMD_PARAMETER2    17
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#define SPI_FCCMD_PARAMETER2    17
60 
#define SPI_FCCMD_NEUTRAL               18
 60 
#define SPI_FCCMD_NEUTRAL               18
61 
#define SPI_FCCMD_SLOW                  19 //  kommt nicht vor
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#define SPI_FCCMD_SLOW                  19 //  kommt nicht vor
62 
#define SPI_FCCMD_SLOW2                 20
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#define SPI_FCCMD_SLOW2                 20
- 
 
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#define SPI_FCCMD_STICK2                21
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#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
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#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
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#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
 66 
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
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extern s16 GyroCompassCorrected;
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extern s16 GyroCompassCorrected;
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extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination
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extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination
88 
extern s16 CompassSetpoint;
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extern s16 CompassSetpoint;
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extern u8 AmountOfMotors;
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extern u8 AmountOfMotors;
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extern s16 SimulatedDirection;    // simulated compass direction
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extern s16 SimulatedDirection;    // simulated compass direction
- 
 
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- 
 
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#define MAX_RC_IN  16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved
- 
 
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extern s8 PPM_In[MAX_RC_IN];
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extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
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extern u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
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extern u8 Logging_BL_MinOfMaxPWM;
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extern u8 Logging_BL_MinOfMaxPWM;
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extern u8 ErrorCheck_BL_MinOfMaxPWM;
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extern u8 ErrorCheck_BL_MinOfMaxPWM;
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extern s16 POI_KameraNick;
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extern s16 POI_KameraNick;
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extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;
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extern u8 NC_To_FC_Flags, NC_To_FC_Autostart;
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extern u16 FlugMinutenGesamt;
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extern u16 FlugMinutenGesamt;
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extern u32 LoggingGasFilter, LoggingGasCnt;
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extern u32 LoggingGasFilter, LoggingGasCnt;
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extern u8 HoverGas;
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extern u8 HoverGas;
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extern s16 FromFlightCtrl_AccNick,FromFlightCtrl_AccRoll,FromFlightCtrl_GyroNick,FromFlightCtrl_GyroRoll;
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typedef struct
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typedef struct
105 
{
 110 
{
106 
        u8   Command;
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        u8   Command;
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        s16  AngleNick;  // NickAngle in 0.1 deg
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        s16  AngleNick;  // NickAngle in 0.1 deg
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        s16  AngleRoll;  // RollAngle in 0.1 deg
 - 
 
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        s16  AccNick;
 - 
 
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        s16  AccRoll;
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        s16  AngleRoll;  // RollAngle in 0.1 deg
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        s16  GyroHeading; // Heading in 0.1 deg
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        s16  GyroNick;
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        s16  GyroRoll;
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        s16  GyroHeading; // Heading in 0.1 deg
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        s16  GyroYaw;
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        s16  GyroYaw;
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        u16  FCStatus;
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        u16  FCStatus;
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        union
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        union
117 
        {
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        {
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                u8    Byte[12];
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                u8    Byte[20];
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                s8        sByte[12];
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                s8        sByte[20];
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                u16   Int[6];
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                u16   Int[10];
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                s16   sInt[6];
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                s16   sInt[10];
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                u32   Long[3];
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                u32   Long[5];
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                s32   sLong[3];
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                s32   sLong[5];
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                float Float[3];
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                float Float[5];
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        } Param;
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        } __attribute__((packed)) Param;
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        u8 Chksum;
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        u8 Chksum;
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 } __attribute__((packed)) FromFlightCtrl_t;
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 } __attribute__((packed)) FromFlightCtrl_t;
128 
 
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#define SPI_NCCMD_KALMAN                103
 133 
#define SPI_NCCMD_KALMAN                103
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#define SPI_NCCMD_VERSION               104
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#define SPI_NCCMD_VERSION               104
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#define SPI_NCCMD_GPSINFO               105
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#define SPI_NCCMD_GPSINFO               105
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#define SPI_NCCMD_HOTT_INFO             106
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#define SPI_NCCMD_HOTT_INFO             106
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#define SPI_MISC                                107
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#define SPI_MISC                                107
- 
 
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#define SPI_SERIAL_CH                   108
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#define HOTT_VARIO_PACKET_ID            0x89
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#define HOTT_VARIO_PACKET_ID            0x89
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#define HOTT_GPS_PACKET_ID                      0x8A
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#define HOTT_GPS_PACKET_ID                      0x8A
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#define HOTT_ELECTRIC_AIR_PACKET_ID     0x8E
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#define HOTT_ELECTRIC_AIR_PACKET_ID     0x8E
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typedef struct
 148 
typedef struct
147 
{
 149 
{
148 
        u8 Command;
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        u8 Command;
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        GPS_Stick_t GPSStick;
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        s16 MagVecX;
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        GPS_Stick_t GPSStick;
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        s16 CompassHeading;
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        s16 CompassHeading;
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        s16 AccErrorN;
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        s16 AccErrorN;
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        s16 AccErrorR;
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        s16 MagVecY;
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        s16 MagVecZ;
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        u16 BeepTime;
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        s16 AccErrorR;
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        union
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        union
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        {
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        {
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                u8    Byte[12];
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                u8    Byte[20];
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                s8    sByte[12];
 158 
                s8    sByte[20];
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                u16       Int[6];
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                u16       Int[10];
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                s16   sInt[6];
 160 
                s16   sInt[10];
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                u32   Long[3];
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                u32   Long[5];
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                s32   sLong[3];
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                s32   sLong[5];
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                float Float[3];
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                float Float[5];
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        }Param;
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        } __attribute__((packed)) Param;
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        u8 Chksum;
 165 
        u8 Chksum;
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 } __attribute__((packed)) ToFlightCtrl_t;
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 } __attribute__((packed)) ToFlightCtrl_t;
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 167 
 
- 
 
 168 
typedef struct
- 
 
 169 
{
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        unsigned char Sync1,Sync2;
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 171 
        unsigned char WhoAmI;
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        unsigned char Data[240];
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 173 
        unsigned char Chksum;
- 
 
 174 
}__attribute__((packed)) str_HugeBlockFromFC;
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 175 
extern str_HugeBlockFromFC HugeBlockFromFC;
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 177 
typedef struct
- 
 
 178 
{
- 
 
 179 
        unsigned char Sync1,Sync2;
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 180 
        unsigned char WhoAmI;
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        unsigned char Data[240];
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 182 
        unsigned char Chksum;
- 
 
 183 
}__attribute__((packed)) str_HugeBlockToFC;
- 
 
 184 
extern str_HugeBlockToFC HugeBlockToFC;
- 
 
 185 
 
170 
typedef struct
 186 
typedef struct
171 
{
 187 
{
172 
 u8 Current;
 188 
 u8 Current;
173 
 u8 Temperature;
 189 
 u8 Temperature;
174 
 u8 MaxPWM;
 190 
 u8 MaxPWM;