Rev 839 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 839 | Rev 966 | ||
|---|---|---|---|
| Line 12... | Line 12... | ||
| 12 | unless it is stated otherwise. |
12 | unless it is stated otherwise. |
| 13 | */ |
13 | */ |
| Line 14... | Line 14... | ||
| 14 | 14 | ||
| 15 | #include "main.h" |
15 | #include "main.h" |
| - | 16 | #include "kafi.h" |
|
| - | 17 | #include "mymath.h" |
|
| - | 18 | ||
| - | 19 | #define sin45 -0.707106 |
|
| Line 16... | Line 20... | ||
| 16 | #include "kafi.h" |
20 | #define cos45 0.707106 |
| 17 | 21 | ||
| 18 | extern void UART2Print(void); |
22 | extern void UART2Print(void); |
| Line 19... | Line 23... | ||
| 19 | void InitOSD(void); |
23 | void InitOSD(void); |
| 20 | void SendOSD(void); |
24 | void SendOSD(void); |
| Line 21... | Line 25... | ||
| 21 | 25 | ||
| 22 | extern gpsInfo_t actualPos; // measured position (last gps record) |
26 | extern gpsInfo_t actualPos;// measured position (last gps record) |
| Line 23... | Line 27... | ||
| 23 | extern gpsInfo_t targetPos; // measured position (last gps record) |
27 | extern gpsInfo_t targetPos;// measured position (last gps record) |
| 24 | 28 | ||
| 25 | extern signed int GPS_Nick; |
29 | extern signed int GPS_Nick; |
| 26 | extern signed int GPS_Roll; |
30 | extern signed int GPS_Roll; |
| 27 | 31 | ||
| Line -... | Line 32... | ||
| - | 32 | extern int CurrentAltitude, LastAltitude, targetPosValid, RCQuality; |
|
| - | 33 | extern int nick_gain_p, nick_gain_d, roll_gain_p, roll_gain_d; |
|
| - | 34 | extern int Override, TargetGier, DeltaAltitude, Theta45, Phi45; |
|
| 28 | extern int CurrentAltitude, LastAltitude, targetPosValid, RCQuality; |
35 | extern f32_t sinPhi_P, cosPhi_P, sinTheta_P, cosTheta_P; |
| 29 | extern int nick_gain_p, nick_gain_d, roll_gain_p, roll_gain_d; |
36 | extern unsigned long maxDistance; |
| Line 30... | Line 37... | ||
| 30 | extern int Override, TargetGier, DeltaAltitude, Theta45, Phi45; |
37 | |
| 31 | extern f32_t sinPhi_P, cosPhi_P, sinTheta_P, cosTheta_P; |
38 | int Theta45; |
| Line 46... | Line 53... | ||
| 46 | 53 | ||
| 47 | 54 | ||
| 48 | /* For OSD_printf to work, Putchar() has to be extendet as follows. |
55 | /* For OSD_printf to work, Putchar() has to be extendet as follows. |
| 49 | char Putchar(char zeichen) |
56 | char Putchar(char zeichen) |
| 50 | { |
57 | { |
| 51 | if(PrintZiel == OUT_LCD) |
58 | if(PrintZiel == OUT_LCD) |
| 52 | { |
59 | { |
| 53 | DisplayBuff[DispPtr++] = zeichen; return(1); |
60 | DisplayBuff[DispPtr++] = zeichen; return(1); |
| 54 | } |
61 | } |
| 55 | else if (PrintZiel == OUT_OSD) |
62 | else if (PrintZiel == OUT_OSD) |
| 56 | { |
63 | { |
| 57 | OSDBuff[OSDPtr++] = zeichen; return(1); |
64 | OSDBuff[OSDPtr++] = zeichen; return(1); |
| 58 | } |
65 | } |
| 59 | else |
66 | else |
| 60 | { |
67 | { |
| 61 | return(uart_putchar(zeichen)); |
68 | return(uart_putchar(zeichen)); |
| 62 | } |
69 | } |
| Line 63... | Line 70... | ||
| 63 | } |
70 | } |
| Line 75... | Line 82... | ||
| 75 | @post - |
82 | @post - |
| 76 | @author Michael Walter |
83 | @author Michael Walter |
| 77 | **************************************************************************** */ |
84 | **************************************************************************** */ |
| 78 | void OsdClear(void) |
85 | void OsdClear(void) |
| 79 | { |
86 | { |
| 80 | unsigned char i; |
87 | unsigned char i; |
| 81 | for(i=0;i<80;i++) OSDBuff[i] = ' '; |
88 | for(i=0;i<80;i++) OSDBuff[i] = ' '; |
| 82 | } |
89 | } |
| Line 83... | Line 90... | ||
| 83 | 90 | ||
| 84 | /* **************************************************************************** |
91 | /* **************************************************************************** |
| 85 | Functionname: LcdClear */ /*! |
92 | Functionname: LcdClear */ /*! |
| Line 92... | Line 99... | ||
| 92 | @post - |
99 | @post - |
| 93 | @author |
100 | @author |
| 94 | **************************************************************************** */ |
101 | **************************************************************************** */ |
| 95 | void LcdClear(void) |
102 | void LcdClear(void) |
| 96 | { |
103 | { |
| 97 | unsigned char i; |
104 | unsigned char i; |
| 98 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
105 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| 99 | } |
106 | } |
| Line 100... | Line 107... | ||
| 100 | 107 | ||
| 101 | 108 | ||
| Line 110... | Line 117... | ||
| 110 | @post - |
117 | @post - |
| 111 | @author Michael Walter |
118 | @author Michael Walter |
| 112 | **************************************************************************** */ |
119 | **************************************************************************** */ |
| 113 | void InitOSD() |
120 | void InitOSD() |
| 114 | { |
121 | { |
| 115 | /* Clear OSD */ |
122 | /* Clear OSD */ |
| 116 | OSD_printf ("\33[2J"); |
123 | OSD_printf ("\33[2J"); |
| 117 | Delay_ms_Mess(300); |
124 | Delay_ms_Mess(300); |
| 118 | OSD_printf ("\33[2J"); |
125 | OSD_printf ("\33[2J"); |
| 119 | 126 | ||
| 120 | /* Set OSD Pixel Clock */ |
127 | /* Set OSD Pixel Clock */ |
| 121 | Delay_ms_Mess(300); |
128 | Delay_ms_Mess(300); |
| 122 | OSD_printf ("\33[23;6v"); |
129 | OSD_printf ("\33[23;6v"); |
| 123 | 130 | ||
| 124 | /* Set OSD Pixel Width */ |
131 | /* Set OSD Pixel Width */ |
| 125 | Delay_ms_Mess(300); |
132 | Delay_ms_Mess(300); |
| 126 | OSD_printf ("\33[25;448v"); |
133 | OSD_printf ("\33[25;448v"); |
| 127 | 134 | ||
| 128 | /* Set OSD Font */ |
135 | /* Set OSD Font */ |
| 129 | Delay_ms_Mess(300); |
136 | Delay_ms_Mess(300); |
| 130 | OSD_printf ("\33[0z"); |
137 | OSD_printf ("\33[0z"); |
| 131 | } |
138 | } |
| Line 132... | Line 139... | ||
| 132 | 139 | ||
| Line 141... | Line 148... | ||
| 141 | @post - |
148 | @post - |
| 142 | @author Michael Walter |
149 | @author Michael Walter |
| 143 | **************************************************************************** */ |
150 | **************************************************************************** */ |
| 144 | void UART2Print() |
151 | void UART2Print() |
| 145 | { |
152 | { |
| 146 | OSDBuff[OSDPtr] = '\r'; |
153 | OSDBuff[OSDPtr] = '\r'; |
| 147 | if (UART2PrintAbgeschlossen == 1) |
154 | if (UART2PrintAbgeschlossen == 1) |
| 148 | { |
155 | { |
| 149 | UART2PrintAbgeschlossen = 0; |
156 | UART2PrintAbgeschlossen = 0; |
| 150 | UDR1 = OSDBuff[0]; |
157 | UDR1 = OSDBuff[0]; |
| 151 | } |
158 | } |
| 152 | } |
159 | } |
| Line 153... | Line 160... | ||
| 153 | 160 | ||
| 154 | /* **************************************************************************** |
161 | /* **************************************************************************** |
| 155 | Functionname: SIGNAL */ /*! |
162 | Functionname: SIGNAL */ /*! |
| Line 160... | Line 167... | ||
| 160 | @post - |
167 | @post - |
| 161 | @author Michael Walter |
168 | @author Michael Walter |
| 162 | **************************************************************************** */ |
169 | **************************************************************************** */ |
| 163 | SIGNAL(SIG_USART1_TRANS) |
170 | SIGNAL(SIG_USART1_TRANS) |
| 164 | { |
171 | { |
| 165 | static unsigned int ptr = 0; |
172 | static unsigned int ptr = 0; |
| 166 | 173 | ||
| 167 | unsigned char tmp_tx; |
174 | unsigned char tmp_tx; |
| 168 | if(!UART2PrintAbgeschlossen) |
175 | if(!UART2PrintAbgeschlossen) |
| 169 | { |
176 | { |
| 170 | ptr++; // die [0] wurde schon gesendet |
177 | ptr++; // die [0] wurde schon gesendet |
| 171 | tmp_tx = OSDBuff[ptr]; |
178 | tmp_tx = OSDBuff[ptr]; |
| 172 | if((tmp_tx == '\r') /* tmp_tx == 0 */) |
179 | if((tmp_tx == '\r') /* tmp_tx == 0 */) |
| 173 | { |
180 | { |
| 174 | ptr = 0; |
181 | ptr = 0; |
| 175 | UART2PrintAbgeschlossen = 1; |
182 | UART2PrintAbgeschlossen = 1; |
| 176 | } |
183 | } |
| 177 | UDR1 = tmp_tx; |
184 | UDR1 = tmp_tx; |
| 178 | } |
185 | } |
| 179 | else ptr = 0; |
186 | else ptr = 0; |
| 180 | } |
187 | } |
| Line 181... | Line 188... | ||
| 181 | 188 | ||
| 182 | 189 | ||
| Line 191... | Line 198... | ||
| 191 | @post - |
198 | @post - |
| 192 | @author Michael Walter |
199 | @author Michael Walter |
| 193 | **************************************************************************** */ |
200 | **************************************************************************** */ |
| 194 | void SendOSD() |
201 | void SendOSD() |
| 195 | { |
202 | { |
| 196 | /*--- (SYMBOLIC) CONSTANTS ---*/ |
203 | /*--- (SYMBOLIC) CONSTANTS ---*/ |
| 197 | 204 | ||
| 198 | /*--- VARIABLES ---*/ |
205 | /*--- VARIABLES ---*/ |
| 199 | //static int dx, dy, x1,y1,x2,y2; |
206 | static int dx, dy, x1,y1,x2,y2; |
| 200 | //f32_t sinPhi_P_cosTheta_P; |
207 | f32_t sinPhi_P_cosTheta_P; |
| 201 | //static int x1_old, y1_old, x2_old, y2_old; |
208 | static int x1_old, y1_old, x2_old, y2_old; |
| 202 | - | ||
| 203 | static int iState = 0; |
209 | static int iState = 0; |
| 204 | 210 | ||
| 205 | switch (iState) |
211 | switch (iState) |
| 206 | { |
212 | { |
| 207 | case 0: |
213 | case 0: |
| 208 | OSD_printf ("\33[0;11HHDG:%03d", status.iPsi10 / 10); |
214 | OSD_printf ("\33[0;11HHDG:%03d", status.iPsi10 / 10); |
| 209 | iState++; |
215 | iState++; |
| 210 | break; |
216 | break; |
| 211 | case 1: /* Display the battery voltage an the RC signal level */ |
217 | case 1: /* Display the battery voltage an the RC signal level */ |
| 212 | OSD_printf ("\33[0;0HU:%03d\33[1;0HR:%03d", UBat, RCQuality); |
218 | OSD_printf ("\33[0;0HU:%03d\33[1;0HR:%03d", UBat, RCQuality); |
| 213 | iState++; |
219 | iState++; |
| 214 | break; |
220 | break; |
| 215 | case 2: /* Display the current altitude */ |
221 | case 2: /* Display the current altitude */ |
| 216 | if (targetPosValid == 1) |
222 | if (targetPosValid == 1) |
| 217 | { |
223 | { |
| 218 | int DeltaGPSAltitude = (actualPos.altitude - targetPos.altitude); |
224 | int DeltaGPSAltitude = (actualPos.altitude - targetPos.altitude); |
| 219 | OSD_printf ("\33[18;20HAGL:%03d\33[17;20HBar:%03d", DeltaGPSAltitude, CurrentAltitude); |
225 | OSD_printf ("\33[18;20HAGL:%03d\33[17;20HBar:%03d", DeltaGPSAltitude, CurrentAltitude); |
| 220 | } |
226 | } |
| 221 | else |
227 | else |
| 222 | { |
228 | { |
| 223 | OSD_printf ("\33[18;20HAGL:-.-\33[17;20HBar:%03d", CurrentAltitude); |
229 | OSD_printf ("\33[18;20HAGL:-.-\33[17;20HBar:%03d", CurrentAltitude); |
| 224 | } |
- | |
| 225 | iState++; |
- | |
| 226 | break; |
- | |
| 227 | case 3: /* Draw an artificial horizon. Part 1 */ |
- | |
| 228 | #if 0 |
- | |
| 229 | sinPhi_P_cosTheta_P = sinPhi_P * cosTheta_P; |
- | |
| 230 | Theta45 = c_asin_8192((int)(sin45 * (-sinTheta_P + sinPhi_P_cosTheta_P ) * 8192.F)); |
- | |
| 231 | Phi45 = c_atan2((int)(100.F * sin45 * (-sinTheta_P - sinPhi_P_cosTheta_P) / (cosPhi_P * cosTheta_P)) , 100); |
- | |
| 232 | dx = c_cos_8192(Phi45) / 128; |
- | |
| 233 | dy = c_sin_8192(Phi45) / 128; |
- | |
| 234 | x1 = 180 - dx; |
- | |
| 235 | y1 = 120 + 2 * Theta45 + dy; |
- | |
| 236 | x2 = 180 + dx; |
- | |
| 237 | y2 = y1 - 2 * dy; |
- | |
| 238 | - | ||
| 239 | OSDPtr = 0; |
- | |
| 240 | OSD_printf_("\33[%d;%d.r\33[%d;%d+r\33[0/r",x1_old,y1_old,x2_old,y2_old); |
- | |
| 241 | #endif |
- | |
| 242 | iState++; |
- | |
| 243 | break; |
- | |
| 244 | case 4: /* Draw an artificial horizon. Part 2 */ |
- | |
| 245 | #if 0 |
230 | } |
| 246 | OSD_printf_("\33[%d;%d.r\33[%d;%d+r\33[/r",x1,y1,x2,y2); |
- | |
| 247 | UART2Print(); |
- | |
| 248 | x1_old = x1; |
- | |
| 249 | y1_old = y1; |
- | |
| 250 | x2_old = x2; |
- | |
| 251 | y2_old = y2; |
- | |
| 252 | #endif |
- | |
| 253 | iState++; |
- | |
| 254 | break; |
- | |
| 255 | case 5: /* Display velocity over ground */ |
- | |
| 256 | if (actualPos.state > 1) |
- | |
| 257 | { |
- | |
| 258 | OSD_printf ("\33[0;20HVel:%03d", ((actualPos.groundSpeed / 10) * 36) /100); |
- | |
| 259 | } |
- | |
| 260 | else |
- | |
| 261 | { |
- | |
| 262 | OSD_printf ("\33[0;20HVel:-.-"); |
- | |
| 263 | } |
- | |
| 264 | iState++; |
- | |
| 265 | break; |
- | |
| 266 | case 6: /* Display distance from target */ |
- | |
| 267 | if (targetPosValid == 1) |
- | |
| 268 | { |
- | |
| 269 | OSD_printf ("\33[1;20HDst:%03d", maxDistance / 10); |
- | |
| 270 | } |
- | |
| 271 | else |
- | |
| 272 | { |
- | |
| 273 | OSD_printf ("\33[1;20HDst:-.-"); |
- | |
| 274 | } |
- | |
| 275 | iState++; |
231 | iState++; |
| 276 | break; |
232 | break; |
| 277 | case 7: /* Draw an artificial horizon. Part 1 */ |
233 | case 3: /* Draw an artificial horizon. Part 1 */ |
| 278 | #if 0 |
234 | #if 1 |
| 279 | sinPhi_P_cosTheta_P = sinPhi_P * cosTheta_P; |
235 | sinPhi_P_cosTheta_P = sinPhi_P * cosTheta_P; |
| 280 | Theta45 = c_asin_8192((int)(sin45 * (-sinTheta_P + sinPhi_P_cosTheta_P ) * 8192.F)); |
236 | Theta45 = c_asin_8192((int)(sin45 * (-sinTheta_P + sinPhi_P_cosTheta_P ) * 8192.F)); |
| 281 | Phi45 = c_atan2((int)(100.F * sin45 * (-sinTheta_P - sinPhi_P_cosTheta_P) / (cosPhi_P * cosTheta_P)) , 100); |
237 | Phi45 = c_atan2((int)(100.F * sin45 * (-sinTheta_P - sinPhi_P_cosTheta_P) / (cosPhi_P * cosTheta_P)) , 100); |
| 282 | dx = c_cos_8192(Phi45) / 128; |
238 | dx = c_cos_8192(Phi45) / 128; |
| 283 | dy = c_sin_8192(Phi45) / 128; |
239 | dy = c_sin_8192(Phi45) / 128; |
| 284 | x1 = 180 - dx; |
240 | x1 = 180 - dx; |
| 285 | y1 = 120 + 2 * Theta45 + dy; |
241 | y1 = 120 + 2 * Theta45 + dy; |
| 286 | x2 = 180 + dx; |
242 | x2 = 180 + dx; |
| 287 | y2 = y1 - 2 * dy; |
243 | y2 = y1 - 2 * dy; |
| 288 | 244 | ||
| 289 | OSDPtr = 0; |
245 | OSDPtr = 0; |
| 290 | OSD_printf_("\33[%d;%d.r\33[%d;%d+r\33[0/r",x1_old,y1_old,x2_old,y2_old); |
246 | OSD_printf_("\33[%d;%d.r\33[%d;%d+r\33[0/r",x1_old,y1_old,x2_old,y2_old); |
| 291 | #endif |
- | |
| 292 | iState++; |
- | |
| 293 | break; |
- | |
| 294 | case 8: /* Draw an artificial horizon. Part 2 */ |
- | |
| 295 | #if 0 |
- | |
| 296 | OSD_printf_("\33[%d;%d.r\33[%d;%d+r\33[/r",x1,y1,x2,y2); |
- | |
| 297 | UART2Print(); |
- | |
| 298 | - | ||
| 299 | x1_old = x1; |
- | |
| 300 | y1_old = y1; |
- | |
| 301 | x2_old = x2; |
- | |
| 302 | y2_old = y2; |
- | |
| 303 | #endif |
247 | #endif |
| - | 248 | iState++; |
|
| - | 249 | break; |
|
| - | 250 | case 4: /* Draw an artificial horizon. Part 2 */ |
|
| - | 251 | #if 1 |
|
| - | 252 | OSD_printf_("\33[%d;%d.r\33[%d;%d+r\33[/r",x1,y1,x2,y2); |
|
| - | 253 | UART2Print(); |
|
| - | 254 | x1_old = x1; |
|
| - | 255 | y1_old = y1; |
|
| - | 256 | x2_old = x2; |
|
| - | 257 | y2_old = y2; |
|
| - | 258 | #endif |
|
| - | 259 | iState++; |
|
| - | 260 | break; |
|
| - | 261 | case 5: /* Display velocity over ground */ |
|
| - | 262 | if (actualPos.state > 1) |
|
| - | 263 | { |
|
| - | 264 | OSD_printf ("\33[0;20HVel:%03d", ((actualPos.groundSpeed / 10) * 36) /100); |
|
| - | 265 | } |
|
| - | 266 | else |
|
| - | 267 | { |
|
| - | 268 | OSD_printf ("\33[0;20HVel:-.-"); |
|
| - | 269 | } |
|
| - | 270 | iState++; |
|
| - | 271 | break; |
|
| - | 272 | case 6: /* Display distance from target */ |
|
| - | 273 | if (targetPosValid == 1) |
|
| - | 274 | { |
|
| - | 275 | OSD_printf ("\33[1;20HDst:%03d", maxDistance / 10); |
|
| - | 276 | } |
|
| - | 277 | else |
|
| - | 278 | { |
|
| - | 279 | OSD_printf ("\33[1;20HDst:-.-"); |
|
| - | 280 | } |
|
| - | 281 | iState = 8; |
|
| - | 282 | break; |
|
| - | 283 | case 7: |
|
| - | 284 | OSD_printf ("\33[4;0HN:%03d\33[5;0HR:%03d", status.iTheta10 / 10, status.iPhi10 / 10); |
|
| - | 285 | iState++; |
|
| - | 286 | break; |
|
| - | 287 | case 8: /* Draw an artificial horizon. Part 1 */ |
|
| - | 288 | #if 1 |
|
| - | 289 | sinPhi_P_cosTheta_P = sinPhi_P * cosTheta_P; |
|
| - | 290 | Theta45 = c_asin_8192((int)(sin45 * (-sinTheta_P + sinPhi_P_cosTheta_P ) * 8192.F)); |
|
| - | 291 | Phi45 = c_atan2((int)(100.F * sin45 * (-sinTheta_P - sinPhi_P_cosTheta_P) / (cosPhi_P * cosTheta_P)) , 100); |
|
| - | 292 | dx = c_cos_8192(Phi45) / 128; |
|
| - | 293 | dy = c_sin_8192(Phi45) / 128; |
|
| - | 294 | x1 = 180 - dx; |
|
| - | 295 | y1 = 120 + 2 * Theta45 + dy; |
|
| - | 296 | x2 = 180 + dx; |
|
| - | 297 | y2 = y1 - 2 * dy; |
|
| - | 298 | ||
| - | 299 | OSDPtr = 0; |
|
| - | 300 | OSD_printf_("\33[%d;%d.r\33[%d;%d+r\33[0/r",x1_old,y1_old,x2_old,y2_old); |
|
| - | 301 | #endif |
|
| - | 302 | iState++; |
|
| - | 303 | break; |
|
| - | 304 | case 9: /* Draw an artificial horizon. Part 2 */ |
|
| - | 305 | #if 1 |
|
| - | 306 | OSD_printf_("\33[%d;%d.r\33[%d;%d+r\33[/r",x1,y1,x2,y2); |
|
| - | 307 | UART2Print(); |
|
| - | 308 | ||
| - | 309 | x1_old = x1; |
|
| - | 310 | y1_old = y1; |
|
| - | 311 | x2_old = x2; |
|
| - | 312 | y2_old = y2; |
|
| - | 313 | #endif |
|
| 304 | iState++; |
314 | iState++; |
| 305 | break; |
315 | break; |
| 306 | case 9: /* Display the GPS control outputs */ |
316 | case 10: /* Display the GPS control outputs */ |
| 307 | OSD_printf ("\33[16;0HNG:%03d EG:%03d \33[17;0HNV:%03d EV:%03d ", nick_gain_p, roll_gain_p, nick_gain_d, roll_gain_d); |
317 | OSD_printf ("\33[16;0HNG:%03d EG:%03d \33[17;0HNV:%03d EV:%03d ", nick_gain_p, roll_gain_p, nick_gain_d, roll_gain_d); |
| 308 | iState++; |
318 | iState++; |
| 309 | break; |
319 | break; |
| 310 | case 10: |
320 | case 11: |
| 311 | OSD_printf ("\33[16;20HClb:%03d", DeltaAltitude); |
321 | OSD_printf ("\33[16;20HClb:%03d", DeltaAltitude); |
| 312 | iState++; |
322 | iState++; |
| 313 | break; |
323 | break; |
| 314 | case 11:/* Draw a ^ to indicate the target direction */ |
324 | case 12:/* Draw a ^ to indicate the target direction */ |
| 315 | { |
325 | { |
| 316 | static int LastGierOffset = 0; |
326 | static int LastGierOffset = 0; |
| 317 | int GierOffset = (TargetGier - status.iPsi10) / 10; |
327 | int GierOffset = (TargetGier - status.iPsi10) / 10; |
| 318 | if (GierOffset > 180) |
328 | if (GierOffset > 180) |
| 319 | { |
329 | { |
| 320 | GierOffset -= 360; |
330 | GierOffset -= 360; |
| 321 | } |
331 | } |
| 322 | if (GierOffset < -180) |
332 | if (GierOffset < -180) |
| 323 | { |
333 | { |
| 324 | GierOffset += 360; |
334 | GierOffset += 360; |
| 325 | } |
335 | } |
| 326 | GierOffset /= 14; |
336 | GierOffset /= 14; |
| 327 | 337 | ||
| 328 | OSD_printf ("\33[2;%dH \33[2;%dH^", 14 + LastGierOffset,14 + GierOffset); |
338 | OSD_printf ("\33[2;%dH \33[2;%dH^", 14 + LastGierOffset,14 + GierOffset); |
| 329 | LastGierOffset = GierOffset; |
339 | LastGierOffset = GierOffset; |
| 330 | iState++; |
340 | iState = 14; |
| 331 | break; |
341 | break; |
| 332 | } |
342 | } |
| 333 | case 12: /* Display the GPS_Nick and GPS_Roll / StickNick and StickRoll */ |
343 | case 13: /* Display the GPS_Nick and GPS_Roll / StickNick and StickRoll */ |
| 334 | if (Override == 0) |
344 | if (Override == 0) |
| 335 | { |
345 | { |
| 336 | OSD_printf ("\33[18;0HGN:%03d GR:%03d ", GPS_Nick, GPS_Roll); |
346 | OSD_printf ("\33[18;0HGN:%03d GR:%03d ", GPS_Nick, GPS_Roll); |
| 337 | } |
347 | } |
| 338 | else |
348 | else |
| 339 | { |
349 | { |
| 340 | OSD_printf ("\33[18;0HSN:%03d SR:%03d ", StickNick, StickRoll); |
350 | OSD_printf ("\33[18;0HSN:%03d SR:%03d ", StickNick, StickRoll); |
| 341 | } |
351 | } |
| 342 | iState++; |
352 | iState++; |
| 343 | break; |
353 | break; |
| 344 | case 13: |
354 | case 14: |
| 345 | #if 0 /* Display the Horizon */ |
355 | #if 1/* Display the Horizon */ |
| 346 | OSD_printf ("\33[156;120.r\33[204;120+r\33[/r "); |
356 | OSD_printf ("\33[156;120.r\33[204;120+r\33[/r "); |
| 347 | #endif |
357 | #endif |
| 348 | iState=0; |
358 | iState=0; |
| 349 | break; |
359 | break; |
| 350 | default: |
360 | default: |
| 351 | iState = 0; |
361 | iState = 0; |
| 352 | } |
362 | } |
| 353 | } |
363 | } |