WebSVN - NaviCtrl - Diff - Rev 326 and 327



                // avoid sending data via SPI during the update of the  ToFlightCtrl structure
                VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
                ToFlightCtrl.CompassHeading = Compass_Heading;
                DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
                if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
//              ToFlightCtrl.MagVecX = MagVector.X;
//              ToFlightCtrl.MagVecY = MagVector.Y;
                ToFlightCtrl.MagVecZ = MagVector.Z;
                ToFlightCtrl.NCStatus = 0;
                // cycle spi commands
                ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
                // restart command cycle at the end

                                }
                                else
                                {
                                        FCCalibActive = 0;
                                }
 if(FC.StatusFlags & FC_STATUS_START)
     { if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else HeadFreeStartAngle = FromFlightCtrl.GyroHeading; }

 
 if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE))
  {
   if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
    {
     if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK))   // nur bei ausreichender Distance -> 20m

                                CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
                                Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
                                Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
                                CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
                                CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
                                CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255);
                                CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
                                break;

 
                        case SPI_FCCMD_STICK:

Subversion Repositories NaviCtrl

(root)/tags/V2.16a/spi_slave.c @ 796 - Rev 326 → 327

Rev 326		Rev 327
Line 284...		Line 284...
284	// avoid sending data via SPI during the update of the ToFlightCtrl structure	284	// avoid sending data via SPI during the update of the ToFlightCtrl structure
285	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt	285	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
286	ToFlightCtrl.CompassHeading = Compass_Heading;	286	ToFlightCtrl.CompassHeading = Compass_Heading;
287	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;	287	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
288	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;	288	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
289	ToFlightCtrl.MagVecX = MagVector.X;	289	// ToFlightCtrl.MagVecX = MagVector.X;
290	ToFlightCtrl.MagVecY = MagVector.Y;	290	// ToFlightCtrl.MagVecY = MagVector.Y;
291	ToFlightCtrl.MagVecZ = MagVector.Z;	291	ToFlightCtrl.MagVecZ = MagVector.Z;
292	ToFlightCtrl.NCStatus = 0;	292	ToFlightCtrl.NCStatus = 0;
293	// cycle spi commands	293	// cycle spi commands
294	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];	294	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
295	// restart command cycle at the end	295	// restart command cycle at the end
Line 406...		Line 406...
406	}	406	}
407	else	407	else
408	{	408	{
409	FCCalibActive = 0;	409	FCCalibActive = 0;
410	}	410	}
-		411	if(FC.StatusFlags & FC_STATUS_START)
411	if(FC.StatusFlags & FC_STATUS_START) if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else HeadFreeStartAngle = FromFlightCtrl.GyroHeading;	412	{ if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else HeadFreeStartAngle = FromFlightCtrl.GyroHeading; }
Line 412...		Line 413...
412		413
413	if((Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE))	414	if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE))
414	{	415	{
415	if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen	416	if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
416	{	417	{
417	if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m	418	if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
Line 462...		Line 463...
462	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);	463	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
463	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];	464	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
464	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];	465	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
465	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);	466	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
466	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);	467	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
467	CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);	468	CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255);
468	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);	469	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
469	break;	470	break;
Line 470...		Line 471...
470		471
471	case SPI_FCCMD_STICK:	472	case SPI_FCCMD_STICK: