Rev 330 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 330 | Rev 331 | ||
|---|---|---|---|
| Line 54... | Line 54... | ||
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 57... | Line 57... | ||
| 57 | 57 | ||
| - | 58 | #include <string.h> |
|
| 58 | #include <string.h> |
59 | #include <math.h> |
| 59 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
| 60 | #include "led.h" |
61 | #include "led.h" |
| 61 | #include "gps.h" |
62 | #include "gps.h" |
| 62 | #include "uart1.h" |
63 | #include "uart1.h" |
| Line 105... | Line 106... | ||
| 105 | s32 HeadFreeStartAngle = 0; |
106 | s32 HeadFreeStartAngle = 0; |
| 106 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
107 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 107 | u32 ToFC_AltitudeRate = 0; |
108 | u32 ToFC_AltitudeRate = 0; |
| 108 | s32 ToFC_AltitudeSetpoint = 0; |
109 | s32 ToFC_AltitudeSetpoint = 0; |
| 109 | u8 FromFC_VarioCharacter = ' '; |
110 | u8 FromFC_VarioCharacter = ' '; |
| 110 | u8 DisableFC_Sticks = 0; |
111 | u8 GPS_Aid_StickMultiplikator = 0; |
| 111 | u8 NC_GPS_ModeCharacter = ' '; |
112 | u8 NC_GPS_ModeCharacter = ' '; |
| 112 | u8 FCCalibActive = 0; |
113 | u8 FCCalibActive = 0; |
| 113 | u8 FC_is_Calibrated = 0; |
114 | u8 FC_is_Calibrated = 0; |
| Line 114... | Line 115... | ||
| 114 | 115 | ||
| Line 307... | Line 308... | ||
| 307 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
308 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| 308 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
309 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
| 309 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
310 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 310 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
311 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 311 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
312 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 312 | if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00; |
313 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| 313 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
314 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 314 | { |
315 | { |
| 315 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
316 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
| 316 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
317 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 317 | } |
318 | } |