WebSVN - NaviCtrl - Diff - Rev 574 and 577



 
u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION };
u8 SPI_CommandCounter = 0;
s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0;
s32 HeadFreeStartAngle = 0;
s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0, FC_WP_EventChannel_Processed = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde
u32 ToFC_AltitudeRate = 0;
s32 ToFC_AltitudeSetpoint = 0;
u8  FromFC_VarioCharacter = ' ';
s16 GPS_Aid_StickMultiplikator = 0;

                                ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
                                ToFlightCtrl.Param.Int[2]  = NaviData.HomePositionDeviation.Distance; // dm   //4&5
                                ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing;  // deg  //6&7
                                if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254;    // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben)
                                if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged
                                FC_WP_EventChannel_Processed = 1;
  // ++++++++++++++++++++++++++++++++++
  // Waypoint event +++++++++++++++++++
  // ++++++++++++++++++++++++++++++++++
                                if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp))
                                {

                                {
                                        ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127);
                                        if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER);
                                }
                                else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
//                              FC_WP_EventChannel = 0; // the GPS-Routine will set it again
  // ++++++++++++++++++++++++++++++++++
                                if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
                                {
                                        ToFlightCtrl.Param.Byte[9] = (u8)tmp;
                                }

Subversion Repositories NaviCtrl

(root)/tags/V2.16a/spi_slave.c @ 796 - Rev 574 → 577

Rev 574		Rev 577
Line 105...		Line 105...
105		105
106	u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION };	106	u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION };
107	u8 SPI_CommandCounter = 0;	107	u8 SPI_CommandCounter = 0;
108	s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0;	108	s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0;
109	s32 HeadFreeStartAngle = 0;	109	s32 HeadFreeStartAngle = 0;
110	s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde	110	s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0, FC_WP_EventChannel_Processed = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde
111	u32 ToFC_AltitudeRate = 0;	111	u32 ToFC_AltitudeRate = 0;
112	s32 ToFC_AltitudeSetpoint = 0;	112	s32 ToFC_AltitudeSetpoint = 0;
113	u8 FromFC_VarioCharacter = ' ';	113	u8 FromFC_VarioCharacter = ' ';
114	s16 GPS_Aid_StickMultiplikator = 0;	114	s16 GPS_Aid_StickMultiplikator = 0;
Line 419...		Line 419...
419	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s	419	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
420	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5	420	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
421	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7	421	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7
422	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben)	422	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben)
423	if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged	423	if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged
-		424	FC_WP_EventChannel_Processed = 1;
424	// ++++++++++++++++++++++++++++++++++	425	// ++++++++++++++++++++++++++++++++++
425	// Waypoint event +++++++++++++++++++	426	// Waypoint event +++++++++++++++++++
426	// ++++++++++++++++++++++++++++++++++	427	// ++++++++++++++++++++++++++++++++++
427	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp))	428	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp))
428	{	429	{
Line 435...		Line 436...
435	{	436	{
436	ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127);	437	ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127);
437	if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER);	438	if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER);
438	}	439	}
439	else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);	440	else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
440	FC_WP_EventChannel = 0; // the GPS-Routine will set it again	441	// FC_WP_EventChannel = 0; // the GPS-Routine will set it again
441	// ++++++++++++++++++++++++++++++++++	442	// ++++++++++++++++++++++++++++++++++
442	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))	443	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
443	{	444	{
444	ToFlightCtrl.Param.Byte[9] = (u8)tmp;	445	ToFlightCtrl.Param.Byte[9] = (u8)tmp;
445	}	446	}