WebSVN - NaviCtrl - Diff - Rev 738 and 739



                else i += sprintf(&array[i],"W,");
                i += sprintf(&array[i],"%d,",GPSData.SatFix);
                i += sprintf(&array[i],"%d,",GPSData.NumOfSats);
                i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100));
                //  i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100);
                tmp1 = NaviData.Altimeter_5cm / 2; // in dm
                i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10));
                i += sprintf(&array[i],",,,*");
        }
        else
        {

                 case 5:
// belegt 35 ASCII-Zeichen
                                NaviData_Flags.Index = 11;
                                NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude;
                                NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude;
                                NaviData_Flags.Altimeter_5cm = NaviData.Altimeter_5cm;
                                NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10;
                                NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
                                NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2);
                                NaviData_Flags.NCFlags = NaviData.NCFlags;
                                NaviData_Flags.Errorcode = ErrorCode;

                 case 7:
// belegt 43 ASCII-Zeichen
                                NaviData_Target.Index = 12;
                                NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude;
                                NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude;
                                NaviData_Target.Altimeter_5cm = NaviData.Altimeter_5cm;
                                NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10;
                                NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
                                NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude;
                                NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude;
                                NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude;

                 case 8:
// belegt 31 ASCII-Zeichen
                                NaviData_WP.Index = 15;
                                NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude;
                                NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude;
                                NaviData_WP.Altimeter_5cm = NaviData.Altimeter_5cm;
                                NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10;
                                NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
                                NaviData_WP.WaypointIndex = NaviData.WaypointIndex;
                                NaviData_WP.WaypointNumber = NaviData.WaypointNumber;
                                NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime;

                 case 9:
// 35 ASCII-Zeichen
                                NaviData_Failsafe.Index = 17;
                                NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude;
                                NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude;
                                NaviData_Failsafe.Altimeter_5cm = NaviData.Altimeter_5cm;
                                NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10;
                                NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
                                NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude;
                                NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude;
                                crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_Pos_t) - START_PAYLOAD_DATA); // update crc for the license structure

                 case 10:
// belegt 43 ASCII-Zeichen
                                NaviData_Home.Index = 13;
                                NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude;
                                NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude;
                                NaviData_Home.Altimeter_5cm = NaviData.Altimeter_5cm;
                                NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10;
                                NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
                                NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude;
                                NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude;
                                NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude;

                 case 11:
// belegt 39 ASCII-Zeichen
                                NaviData_Deviation.Index = 14;
                                NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude;
                                NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude;
                                NaviData_Deviation.Altimeter_5cm = NaviData.Altimeter_5cm;
                                NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10;
                                NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
                                NaviData_Deviation.FlyingTime = NaviData.FlyingTime;
                                NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm;
                                NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2;

                 case 12:
// belegt 43 ASCII-Zeichen
                                NaviData_Volatile.Index = 16;
                                NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude;
                                NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude;
                                NaviData_Volatile.Altimeter_5cm = NaviData.Altimeter_5cm;
                                NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10;
                                NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
                                NaviData_Volatile.UBat = FC.BAT_Voltage;
                                NaviData_Volatile.Current = NaviData.Current;
                                NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity;

                 case 13:
// belegt 27 ASCII-Zeichen
                                NaviData_Tiny.Index = 10;
                                NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude;
                                NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude;
                                NaviData_Tiny.Altimeter_5cm = NaviData.Altimeter_5cm;
                                NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10;
                                NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
                                NaviData_Tiny.CamCtrlChar = CamCtrlCharacter;
                                if((crc_Tiny != NaviData_Tiny.CamCtrlChar) || (--count_tiny == 0))
                                 {

        Data3D.StickYaw = FC.StickYaw;
        Data3D.StickGas = FC.StickGas;
                Data3D.AngleNick = FromFlightCtrl.AngleNick;            // in 0.1 deg
                Data3D.AngleRoll = FromFlightCtrl.AngleRoll;            // in 0.1 deg
                Data3D.Heading   = FromFlightCtrl.GyroHeading;          // in 0.1 deg
                Data3D.Altimeter_5cm = FC.Altimeter_5cm;                        // in 5cm -> 20 = 1m
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D));
                UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval);
                UART1_Request_Data3D = FALSE;
        }
        else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE))

Subversion Repositories NaviCtrl

(root)/tags/V2.14e/uart1.c @ 930 - Rev 738 → 739

Rev 738		Rev 739
Line 848...		Line 848...
848	else i += sprintf(&array[i],"W,");	848	else i += sprintf(&array[i],"W,");
849	i += sprintf(&array[i],"%d,",GPSData.SatFix);	849	i += sprintf(&array[i],"%d,",GPSData.SatFix);
850	i += sprintf(&array[i],"%d,",GPSData.NumOfSats);	850	i += sprintf(&array[i],"%d,",GPSData.NumOfSats);
851	i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100));	851	i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100));
852	// i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100);	852	// i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100);
853	tmp1 = NaviData.Altimeter_20cm / 2; // in dm	853	tmp1 = NaviData.Altimeter_5cm / 2; // in dm
854	i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10));	854	i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10));
855	i += sprintf(&array[i],",,,*");	855	i += sprintf(&array[i],",,,*");
856	}	856	}
857	else	857	else
858	{	858	{
Line 1057...		Line 1057...
1057	case 5:	1057	case 5:
1058	// belegt 35 ASCII-Zeichen	1058	// belegt 35 ASCII-Zeichen
1059	NaviData_Flags.Index = 11;	1059	NaviData_Flags.Index = 11;
1060	NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude;	1060	NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude;
1061	NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude;	1061	NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude;
1062	NaviData_Flags.Altimeter_20cm = NaviData.Altimeter_20cm;	1062	NaviData_Flags.Altimeter_5cm = NaviData.Altimeter_5cm;
1063	NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10;	1063	NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10;
1064	NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);	1064	NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
1065	NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) \| (FC.StatusFlags2 & ~OSD_FLAG_MASK2);	1065	NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) \| (FC.StatusFlags2 & ~OSD_FLAG_MASK2);
1066	NaviData_Flags.NCFlags = NaviData.NCFlags;	1066	NaviData_Flags.NCFlags = NaviData.NCFlags;
1067	NaviData_Flags.Errorcode = ErrorCode;	1067	NaviData_Flags.Errorcode = ErrorCode;
Line 1083...		Line 1083...
1083	case 7:	1083	case 7:
1084	// belegt 43 ASCII-Zeichen	1084	// belegt 43 ASCII-Zeichen
1085	NaviData_Target.Index = 12;	1085	NaviData_Target.Index = 12;
1086	NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude;	1086	NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude;
1087	NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude;	1087	NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude;
1088	NaviData_Target.Altimeter_20cm = NaviData.Altimeter_20cm;	1088	NaviData_Target.Altimeter_5cm = NaviData.Altimeter_5cm;
1089	NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10;	1089	NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10;
1090	NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);	1090	NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
1091	NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude;	1091	NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude;
1092	NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude;	1092	NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude;
1093	NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude;	1093	NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude;
Line 1104...		Line 1104...
1104	case 8:	1104	case 8:
1105	// belegt 31 ASCII-Zeichen	1105	// belegt 31 ASCII-Zeichen
1106	NaviData_WP.Index = 15;	1106	NaviData_WP.Index = 15;
1107	NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude;	1107	NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude;
1108	NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude;	1108	NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude;
1109	NaviData_WP.Altimeter_20cm = NaviData.Altimeter_20cm;	1109	NaviData_WP.Altimeter_5cm = NaviData.Altimeter_5cm;
1110	NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10;	1110	NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10;
1111	NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);	1111	NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
1112	NaviData_WP.WaypointIndex = NaviData.WaypointIndex;	1112	NaviData_WP.WaypointIndex = NaviData.WaypointIndex;
1113	NaviData_WP.WaypointNumber = NaviData.WaypointNumber;	1113	NaviData_WP.WaypointNumber = NaviData.WaypointNumber;
1114	NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime;	1114	NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime;
Line 1125...		Line 1125...
1125	case 9:	1125	case 9:
1126	// 35 ASCII-Zeichen	1126	// 35 ASCII-Zeichen
1127	NaviData_Failsafe.Index = 17;	1127	NaviData_Failsafe.Index = 17;
1128	NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude;	1128	NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude;
1129	NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude;	1129	NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude;
1130	NaviData_Failsafe.Altimeter_20cm = NaviData.Altimeter_20cm;	1130	NaviData_Failsafe.Altimeter_5cm = NaviData.Altimeter_5cm;
1131	NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10;	1131	NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10;
1132	NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);	1132	NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
1133	NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude;	1133	NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude;
1134	NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude;	1134	NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude;
1135	crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_Pos_t) - START_PAYLOAD_DATA); // update crc for the license structure	1135	crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_Pos_t) - START_PAYLOAD_DATA); // update crc for the license structure
Line 1144...		Line 1144...
1144	case 10:	1144	case 10:
1145	// belegt 43 ASCII-Zeichen	1145	// belegt 43 ASCII-Zeichen
1146	NaviData_Home.Index = 13;	1146	NaviData_Home.Index = 13;
1147	NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude;	1147	NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude;
1148	NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude;	1148	NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude;
1149	NaviData_Home.Altimeter_20cm = NaviData.Altimeter_20cm;	1149	NaviData_Home.Altimeter_5cm = NaviData.Altimeter_5cm;
1150	NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10;	1150	NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10;
1151	NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);	1151	NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
1152	NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude;	1152	NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude;
1153	NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude;	1153	NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude;
1154	NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude;	1154	NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude;
Line 1164...		Line 1164...
1164	case 11:	1164	case 11:
1165	// belegt 39 ASCII-Zeichen	1165	// belegt 39 ASCII-Zeichen
1166	NaviData_Deviation.Index = 14;	1166	NaviData_Deviation.Index = 14;
1167	NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude;	1167	NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude;
1168	NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude;	1168	NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude;
1169	NaviData_Deviation.Altimeter_20cm = NaviData.Altimeter_20cm;	1169	NaviData_Deviation.Altimeter_5cm = NaviData.Altimeter_5cm;
1170	NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10;	1170	NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10;
1171	NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);	1171	NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
1172	NaviData_Deviation.FlyingTime = NaviData.FlyingTime;	1172	NaviData_Deviation.FlyingTime = NaviData.FlyingTime;
1173	NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm;	1173	NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm;
1174	NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2;	1174	NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2;
Line 1182...		Line 1182...
1182	case 12:	1182	case 12:
1183	// belegt 43 ASCII-Zeichen	1183	// belegt 43 ASCII-Zeichen
1184	NaviData_Volatile.Index = 16;	1184	NaviData_Volatile.Index = 16;
1185	NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude;	1185	NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude;
1186	NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude;	1186	NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude;
1187	NaviData_Volatile.Altimeter_20cm = NaviData.Altimeter_20cm;	1187	NaviData_Volatile.Altimeter_5cm = NaviData.Altimeter_5cm;
1188	NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10;	1188	NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10;
1189	NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);	1189	NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
1190	NaviData_Volatile.UBat = FC.BAT_Voltage;	1190	NaviData_Volatile.UBat = FC.BAT_Voltage;
1191	NaviData_Volatile.Current = NaviData.Current;	1191	NaviData_Volatile.Current = NaviData.Current;
1192	NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity;	1192	NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity;
Line 1200...		Line 1200...
1200	case 13:	1200	case 13:
1201	// belegt 27 ASCII-Zeichen	1201	// belegt 27 ASCII-Zeichen
1202	NaviData_Tiny.Index = 10;	1202	NaviData_Tiny.Index = 10;
1203	NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude;	1203	NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude;
1204	NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude;	1204	NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude;
1205	NaviData_Tiny.Altimeter_20cm = NaviData.Altimeter_20cm;	1205	NaviData_Tiny.Altimeter_5cm = NaviData.Altimeter_5cm;
1206	NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10;	1206	NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10;
1207	NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);	1207	NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) \| (FC.StatusFlags2 & OSD_FLAG_MASK2);
1208	NaviData_Tiny.CamCtrlChar = CamCtrlCharacter;	1208	NaviData_Tiny.CamCtrlChar = CamCtrlCharacter;
1209	if((crc_Tiny != NaviData_Tiny.CamCtrlChar) \|\| (--count_tiny == 0))	1209	if((crc_Tiny != NaviData_Tiny.CamCtrlChar) \|\| (--count_tiny == 0))
1210	{	1210	{
Line 1361...		Line 1361...
1361	Data3D.StickYaw = FC.StickYaw;	1361	Data3D.StickYaw = FC.StickYaw;
1362	Data3D.StickGas = FC.StickGas;	1362	Data3D.StickGas = FC.StickGas;
1363	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg	1363	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
1364	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg	1364	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
1365	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg	1365	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
1366	Data3D.Altimeter = FC.Altimeter; // in 5cm -> 20 = 1m	1366	Data3D.Altimeter_5cm = FC.Altimeter_5cm; // in 5cm -> 20 = 1m
1367	MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D));	1367	MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D));
1368	UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval);	1368	UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval);
1369	UART1_Request_Data3D = FALSE;	1369	UART1_Request_Data3D = FALSE;
1370	}	1370	}
1371	else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) \|\| UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE))	1371	else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) \|\| UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE))