Subversion Repositories Projects

Rev

Rev 2043 | Rev 2099 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2043 Rev 2075
1
/****************************************************************************
1
/****************************************************************************
2
 *   Copyright (C) 2009-2014 by Claas Anders "CaScAdE" Rathje               *
2
 *   Copyright (C) 2009-2014 by Claas Anders "CaScAdE" Rathje               *
3
 *   admiralcascade@gmail.com                                               *
3
 *   admiralcascade@gmail.com                                               *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
5
 *                                                                          *
5
 *                                                                          *
6
 *   This program is free software; you can redistribute it and/or modify   *
6
 *   This program is free software; you can redistribute it and/or modify   *
7
 *   it under the terms of the GNU General Public License as published by   *
7
 *   it under the terms of the GNU General Public License as published by   *
8
 *   the Free Software Foundation; either version 2 of the License.         *
8
 *   the Free Software Foundation; either version 2 of the License.         *
9
 *                                                                          *
9
 *                                                                          *
10
 *   This program is distributed in the hope that it will be useful,        *
10
 *   This program is distributed in the hope that it will be useful,        *
11
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
11
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
12
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
12
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
13
 *   GNU General Public License for more details.                           *
13
 *   GNU General Public License for more details.                           *
14
 *                                                                          *
14
 *                                                                          *
15
 *   You should have received a copy of the GNU General Public License      *
15
 *   You should have received a copy of the GNU General Public License      *
16
 *   along with this program; if not, write to the                          *
16
 *   along with this program; if not, write to the                          *
17
 *   Free Software Foundation, Inc.,                                        *
17
 *   Free Software Foundation, Inc.,                                        *
18
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
18
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
19
 ****************************************************************************/
19
 ****************************************************************************/
20
 
20
 
21
#ifndef _MK_DATA_STRUCTS_H
21
#ifndef _MK_DATA_STRUCTS_H
22
#define _MK_DATA_STRUCTS_H
22
#define _MK_DATA_STRUCTS_H
23
 
23
 
24
/* ##########################################################################
24
/* ##########################################################################
25
 * gain some fake arm compat :)
25
 * gain some fake arm compat :)
26
 * ##########################################################################*/
26
 * ##########################################################################*/
27
#define u8 uint8_t
27
#define u8 uint8_t
28
#define s8 int8_t
28
#define s8 int8_t
29
#define u16 uint16_t
29
#define u16 uint16_t
30
#define s16 int16_t
30
#define s16 int16_t
31
#define u32 uint32_t
31
#define u32 uint32_t
32
#define s32 int32_t
32
#define s32 int32_t
33
 
33
 
34
/**
34
/**
35
 * MikroKopter Slave-Addresses
35
 * MikroKopter Slave-Addresses
36
 * portions taken and adapted from
36
 * portions taken and adapted from
37
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h
37
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h
38
 */
38
 */
39
#define ANY_ADDRESS 0
39
#define ANY_ADDRESS 0
40
#define FC_ADDRESS 1
40
#define FC_ADDRESS 1
41
#define NC_ADDRESS 2
41
#define NC_ADDRESS 2
42
#define MK3MAG_ADDRESS 3
42
#define MK3MAG_ADDRESS 3
43
#define MKOSD_ADDRESS 4
43
#define MKOSD_ADDRESS 4
44
#define BL_ADDRESS 5
44
#define BL_ADDRESS 5
45
 
45
 
46
/*
46
/*
47
 * FC Debug Struct
47
 * FC Debug Struct
48
 * portions taken and adapted from
48
 * portions taken and adapted from
49
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/uart.h
49
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/uart.h
50
 */
50
 */
51
typedef struct {
51
typedef struct {
52
    unsigned char Status[2];
52
    unsigned char Status[2];
53
    signed int Analog[32]; // Debugwerte
53
    signed int Analog[32]; // Debugwerte
54
} __attribute__((packed)) str_DebugOut;
54
} __attribute__((packed)) str_DebugOut;
55
 
55
 
56
typedef struct {
56
typedef struct {
57
    unsigned char SWMajor;
57
    unsigned char SWMajor;
58
    unsigned char SWMinor;
58
    unsigned char SWMinor;
59
    unsigned char ProtoMajor;
59
    unsigned char ProtoMajor;
60
    unsigned char ProtoMinor;
60
    unsigned char ProtoMinor;
61
    unsigned char SWPatch;
61
    unsigned char SWPatch;
62
    unsigned char HardwareError[5];
62
    unsigned char HardwareError[5];
63
} __attribute__((packed)) str_VersionInfo;
63
} __attribute__((packed)) str_VersionInfo;
64
 
64
 
65
/*
65
/*
66
 * NaviCtrl GPS Structs
66
 * NaviCtrl GPS Structs
67
 * portions taken and adapted from
67
 * portions taken and adapted from
68
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h
68
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h
69
 */
69
 */
70
typedef struct {
70
typedef struct {
71
    s32 Longitude; // in 1E-7 deg
71
    s32 Longitude; // in 1E-7 deg
72
    s32 Latitude; // in 1E-7 deg
72
    s32 Latitude; // in 1E-7 deg
73
    s32 Altitude; // in mm
73
    s32 Altitude; // in mm
74
    u8 Status; // validity of data
74
    u8 Status; // validity of data
75
} __attribute__((packed)) GPS_Pos_t;
75
} __attribute__((packed)) GPS_Pos_t;
76
 
76
 
77
#define INVALID         0x00
77
#define INVALID         0x00
78
#define NEWDATA         0x01
78
#define NEWDATA         0x01
79
#define PROCESSED       0x02
79
#define PROCESSED       0x02
80
 
80
 
81
/*
81
/*
82
 * NaviCtrl OSD Structs
82
 * NaviCtrl OSD Structs
83
 * portions taken and adapted from
83
 * portions taken and adapted from
84
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.06a/uart1.h
84
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.06a/uart1.h
85
 */
85
 */
86
typedef struct {
86
typedef struct {
87
    u16 Distance; // distance to target in dm
87
    u16 Distance; // distance to target in dm
88
    s16 Bearing; // course to target in deg
88
    s16 Bearing; // course to target in deg
89
} __attribute__((packed)) GPS_PosDev_t;
89
} __attribute__((packed)) GPS_PosDev_t;
90
 
90
 
91
#define NAVIDATA_VERSION 5
91
#define NAVIDATA_VERSION 5
92
 
92
 
93
typedef struct {
93
typedef struct {
94
    u8 Version; // version of the data structure
94
    u8 Version; // version of the data structure
95
    GPS_Pos_t CurrentPosition; // see gpspos.h for details
95
    GPS_Pos_t CurrentPosition; // see gpspos.h for details
96
    GPS_Pos_t TargetPosition;
96
    GPS_Pos_t TargetPosition;
97
    GPS_PosDev_t TargetPositionDeviation;
97
    GPS_PosDev_t TargetPositionDeviation;
98
    GPS_Pos_t HomePosition;
98
    GPS_Pos_t HomePosition;
99
    GPS_PosDev_t HomePositionDeviation;
99
    GPS_PosDev_t HomePositionDeviation;
100
    u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
100
    u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
101
    u8 WaypointNumber; // number of stored waypoints
101
    u8 WaypointNumber; // number of stored waypoints
102
    u8 SatsInUse; // number of satellites used for position solution
102
    u8 SatsInUse; // number of satellites used for position solution
103
    s16 Altimeter; // hight according to air pressure
103
    s16 Altimeter; // hight according to air pressure
104
    s16 Variometer; // climb(+) and sink(-) rate
104
    s16 Variometer; // climb(+) and sink(-) rate
105
    u16 FlyingTime; // in seconds
105
    u16 FlyingTime; // in seconds
106
    u8 UBat; // Battery Voltage in 0.1 Volts
106
    u8 UBat; // Battery Voltage in 0.1 Volts
107
    u16 GroundSpeed; // speed over ground in cm/s (2D)
107
    u16 GroundSpeed; // speed over ground in cm/s (2D)
108
    s16 Heading; // current flight direction in ° as angle to north
108
    s16 Heading; // current flight direction in ° as angle to north
109
    s16 CompassHeading; // current compass value in °
109
    s16 CompassHeading; // current compass value in °
110
    s8 AngleNick; // current Nick angle in 1°
110
    s8 AngleNick; // current Nick angle in 1°
111
    s8 AngleRoll; // current Rick angle in 1°
111
    s8 AngleRoll; // current Rick angle in 1°
112
    u8 RC_Quality; // RC_Quality
112
    u8 RC_Quality; // RC_Quality
113
    u8 FCStatusFlags; // Flags from FC
113
    u8 FCStatusFlags; // Flags from FC
114
    u8 NCFlags; // Flags from NC
114
    u8 NCFlags; // Flags from NC
115
    u8 Errorcode; // 0 --> okay
115
    u8 Errorcode; // 0 --> okay
116
    u8 OperatingRadius; // current operation radius around the Home Position in m
116
    u8 OperatingRadius; // current operation radius around the Home Position in m
117
    s16 TopSpeed; // velocity in vertical direction in cm/s
117
    s16 TopSpeed; // velocity in vertical direction in cm/s
118
    u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
118
    u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
119
    u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
119
    u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
120
    s16 SetpointAltitude; // setpoint for altitude
120
    s16 SetpointAltitude; // setpoint for altitude
121
    u8 Gas; // for future use
121
    u8 Gas; // for future use
122
    u16 Current; // actual current in 0.1A steps
122
    u16 Current; // actual current in 0.1A steps
123
    u16 UsedCapacity; // used capacity in mAh
123
    u16 UsedCapacity; // used capacity in mAh
124
} __attribute__((packed)) NaviData_t;
124
} __attribute__((packed)) NaviData_t;
125
 
125
 
126
#define NC_FLAG_FREE                    0x01
126
#define NC_FLAG_FREE                    0x01
127
#define NC_FLAG_PH                              0x02
127
#define NC_FLAG_PH                              0x02
128
#define NC_FLAG_CH                              0x04
128
#define NC_FLAG_CH                              0x04
129
#define NC_FLAG_RANGE_LIMIT             0x08
129
#define NC_FLAG_RANGE_LIMIT             0x08
130
#define NC_FLAG_NOSERIALLINK    0x10
130
#define NC_FLAG_NOSERIALLINK    0x10
131
#define NC_FLAG_TARGET_REACHED  0x20
131
#define NC_FLAG_TARGET_REACHED  0x20
132
#define NC_FLAG_MANUAL_CONTROL  0x40
132
#define NC_FLAG_MANUAL_CONTROL  0x40
133
#define NC_FLAG_GPS_OK                  0x80
133
#define NC_FLAG_GPS_OK                  0x80
134
 
134
 
135
/*
135
/*
136
 * MikroKopter Flags
136
 * MikroKopter Flags
137
 * portions taken and adapted from
137
 * portions taken and adapted from
138
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h
138
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h
139
 */
139
 */
140
#define FCFLAG_MOTOR_RUN        0x01
140
#define FCFLAG_MOTOR_RUN        0x01
141
#define FCFLAG_FLY              0x02
141
#define FCFLAG_FLY              0x02
142
#define FCFLAG_CALIBRATE        0x04
142
#define FCFLAG_CALIBRATE        0x04
143
#define FCFLAG_START            0x08
143
#define FCFLAG_START            0x08
144
#define FCFLAG_NOTLANDUNG       0x10
144
#define FCFLAG_NOTLANDUNG       0x10
145
#define FCFLAG_LOWBAT           0x20
145
#define FCFLAG_LOWBAT           0x20
146
#define FCFLAG_VARIO_TRIM_UP    0x40
146
#define FCFLAG_VARIO_TRIM_UP    0x40
147
#define FCFLAG_VARIO_TRIM_DOWN  0x80
147
#define FCFLAG_VARIO_TRIM_DOWN  0x80
148
 
148
 
149
// FC STATUS FLAGS2
149
// FC STATUS FLAGS2
150
#define FC_STATUS2_CAREFREE                 0x01
150
#define FC_STATUS2_CAREFREE                 0x01
151
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
151
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
152
 
152
 
153
#define DEFEKT_G_NICK           0x01
153
#define DEFEKT_G_NICK           0x01
154
#define DEFEKT_G_ROLL           0x02
154
#define DEFEKT_G_ROLL           0x02
155
#define DEFEKT_G_GIER           0x04
155
#define DEFEKT_G_GIER           0x04
156
#define DEFEKT_A_NICK           0x08
156
#define DEFEKT_A_NICK           0x08
157
#define DEFEKT_A_ROLL           0x10
157
#define DEFEKT_A_ROLL           0x10
158
#define DEFEKT_A_Z              0x20
158
#define DEFEKT_A_Z              0x20
159
#define DEFEKT_PRESSURE         0x40
159
#define DEFEKT_PRESSURE         0x40
160
#define DEFEKT_CAREFREE_ERR 0x80
160
#define DEFEKT_CAREFREE_ERR 0x80
161
 
161
 
162
#define DEFEKT_I2C              0x01
162
#define DEFEKT_I2C              0x01
163
#define DEFEKT_BL_MISSING       0x02
163
#define DEFEKT_BL_MISSING       0x02
164
#define DEFEKT_SPI_RX_ERR       0x04
164
#define DEFEKT_SPI_RX_ERR       0x04
165
#define DEFEKT_PPM_ERR          0x08
165
#define DEFEKT_PPM_ERR          0x08
166
#define DEFEKT_MIXER_ERR    0x10
166
#define DEFEKT_MIXER_ERR    0x10
167
 
167
 
168
/*
168
/*
169
 * MikroKopter config struct
169
 * MikroKopter config struct
170
 * portions taken and adapted from
170
 * portions taken and adapted from
171
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.06a/eeprom.h
171
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.08a/eeprom.h
172
 */
172
 */
173
 
173
 
174
#define EEPARAM_REVISION        102 // is count up, if paramater stucture has changed (compatibility)
174
#define EEPARAM_REVISION        103 // is count up, if paramater stucture has changed (compatibility)
175
 
175
 
176
 
176
 
177
typedef struct
177
typedef struct
178
{
178
{
179
        unsigned char Revision;
179
        unsigned char Revision;
180
        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
180
        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
181
        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
181
        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
182
        unsigned char Hoehe_MinGas;           // Wert : 0-100
182
        unsigned char Hoehe_MinGas;           // Wert : 0-100
183
        unsigned char Luftdruck_D;            // Wert : 0-250
183
        unsigned char Luftdruck_D;            // Wert : 0-250
184
        unsigned char HoeheChannel;           // Wert : 0-32
184
        unsigned char HoeheChannel;           // Wert : 0-32
185
        unsigned char Hoehe_P;                // Wert : 0-32
185
        unsigned char Hoehe_P;                // Wert : 0-32
186
        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
186
        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
187
        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
187
        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
188
        unsigned char Hoehe_HoverBand;        // Wert : 0-250
188
        unsigned char Hoehe_HoverBand;        // Wert : 0-250
189
        unsigned char Hoehe_GPS_Z;            // Wert : 0-250
189
        unsigned char Hoehe_TiltCompensation; // Wert : 0-250
190
        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
190
        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
191
        unsigned char Stick_P;                // Wert : 1-6
191
        unsigned char Stick_P;                // Wert : 1-6
192
        unsigned char Stick_D;                // Wert : 0-64
192
        unsigned char Stick_D;                // Wert : 0-64
193
        unsigned char StickGier_P;            // Wert : 1-20
193
        unsigned char StickGier_P;            // Wert : 1-20
194
        unsigned char Gas_Min;                // Wert : 0-32
194
        unsigned char Gas_Min;                // Wert : 0-32
195
        unsigned char Gas_Max;                // Wert : 33-250
195
        unsigned char Gas_Max;                // Wert : 33-250
196
        unsigned char GyroAccFaktor;          // Wert : 1-64
196
        unsigned char GyroAccFaktor;          // Wert : 1-64
197
        unsigned char KompassWirkung;         // Wert : 0-32
197
        unsigned char KompassWirkung;         // Wert : 0-32
198
        unsigned char Gyro_P;                 // Wert : 10-250
198
        unsigned char Gyro_P;                 // Wert : 10-250
199
        unsigned char Gyro_I;                 // Wert : 0-250
199
        unsigned char Gyro_I;                 // Wert : 0-250
200
        unsigned char Gyro_D;                 // Wert : 0-250
200
        unsigned char Gyro_D;                 // Wert : 0-250
201
        unsigned char Gyro_Gier_P;            // Wert : 10-250
201
        unsigned char Gyro_Gier_P;            // Wert : 10-250
202
        unsigned char Gyro_Gier_I;            // Wert : 0-250
202
        unsigned char Gyro_Gier_I;            // Wert : 0-250
203
        unsigned char Gyro_Stability;         // Wert : 0-16
203
        unsigned char Gyro_Stability;         // Wert : 0-16
204
        unsigned char UnterspannungsWarnung;  // Wert : 0-250
204
        unsigned char UnterspannungsWarnung;  // Wert : 0-250
205
        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
205
        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
206
        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
206
        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
207
        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
207
        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
208
        unsigned char I_Faktor;               // Wert : 0-250
208
        unsigned char I_Faktor;               // Wert : 0-250
209
        unsigned char UserParam1;             // Wert : 0-250
209
        unsigned char UserParam1;             // Wert : 0-250
210
        unsigned char UserParam2;             // Wert : 0-250
210
        unsigned char UserParam2;             // Wert : 0-250
211
        unsigned char UserParam3;             // Wert : 0-250
211
        unsigned char UserParam3;             // Wert : 0-250
212
        unsigned char UserParam4;             // Wert : 0-250
212
        unsigned char UserParam4;             // Wert : 0-250
213
        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
213
        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
214
        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
214
        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
215
        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
215
        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
216
        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
216
        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
217
        //--- Seit V0.75
217
        //--- Seit V0.75
218
        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
218
        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
219
        unsigned char ServoRollComp;          // Wert : 0-250
219
        unsigned char ServoRollComp;          // Wert : 0-250
220
        unsigned char ServoRollMin;           // Wert : 0-250
220
        unsigned char ServoRollMin;           // Wert : 0-250
221
        unsigned char ServoRollMax;           // Wert : 0-250
221
        unsigned char ServoRollMax;           // Wert : 0-250
222
        //---
222
        //---
223
        unsigned char ServoNickRefresh;       // Speed of the Servo
223
        unsigned char ServoNickRefresh;       // Speed of the Servo
224
    unsigned char ServoManualControlSpeed;//
224
    unsigned char ServoManualControlSpeed;//
225
    unsigned char CamOrientation;         //
225
    unsigned char CamOrientation;         //
226
        unsigned char Servo3;                    // Value or mapping of the Servo Output
226
        unsigned char Servo3;                    // Value or mapping of the Servo Output
227
        unsigned char Servo4;                            // Value or mapping of the Servo Output
227
        unsigned char Servo4;                            // Value or mapping of the Servo Output
228
        unsigned char Servo5;                            // Value or mapping of the Servo Output
228
        unsigned char Servo5;                            // Value or mapping of the Servo Output
229
        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
229
        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
230
        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
230
        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
231
        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
231
        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
232
        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
232
        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
233
        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
233
        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
234
        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
234
        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
235
        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
235
        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
236
        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
236
        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
237
        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
237
        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
238
        unsigned char Driftkomp;
238
        unsigned char Driftkomp;
239
        unsigned char DynamicStability;
239
        unsigned char DynamicStability;
240
        unsigned char UserParam5;             // Wert : 0-250
240
        unsigned char UserParam5;             // Wert : 0-250
241
        unsigned char UserParam6;             // Wert : 0-250
241
        unsigned char UserParam6;             // Wert : 0-250
242
        unsigned char UserParam7;             // Wert : 0-250
242
        unsigned char UserParam7;             // Wert : 0-250
243
        unsigned char UserParam8;             // Wert : 0-250
243
        unsigned char UserParam8;             // Wert : 0-250
244
        //---Output ---------------------------------------------
244
        //---Output ---------------------------------------------
245
        unsigned char J16Bitmask;             // for the J16 Output
245
        unsigned char J16Bitmask;             // for the J16 Output
246
        unsigned char J16Timing;              // for the J16 Output
246
        unsigned char J16Timing;              // for the J16 Output
247
        unsigned char J17Bitmask;             // for the J17 Output
247
        unsigned char J17Bitmask;             // for the J17 Output
248
        unsigned char J17Timing;              // for the J17 Output
248
        unsigned char J17Timing;              // for the J17 Output
249
        // seit version V0.75c
249
        // seit version V0.75c
250
        unsigned char WARN_J16_Bitmask;       // for the J16 Output
250
        unsigned char WARN_J16_Bitmask;       // for the J16 Output
251
        unsigned char WARN_J17_Bitmask;       // for the J17 Output
251
        unsigned char WARN_J17_Bitmask;       // for the J17 Output
252
        //---NaviCtrl---------------------------------------------
252
        //---NaviCtrl---------------------------------------------
253
        unsigned char AutoPhotoDistance;      // Auto Photo
253
        unsigned char AutoPhotoDistance;      // Auto Photo
254
        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
254
        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
255
        unsigned char NaviGpsGain;
255
        unsigned char NaviGpsGain;
256
        unsigned char NaviGpsP;
256
        unsigned char NaviGpsP;
257
        unsigned char NaviGpsI;
257
        unsigned char NaviGpsI;
258
        unsigned char NaviGpsD;
258
        unsigned char NaviGpsD;
259
        unsigned char NaviGpsPLimit;
259
        unsigned char NaviGpsPLimit;
260
        unsigned char NaviGpsILimit;
260
        unsigned char NaviGpsILimit;
261
        unsigned char NaviGpsDLimit;
261
        unsigned char NaviGpsDLimit;
262
        unsigned char NaviGpsA;
262
        unsigned char NaviGpsA;
263
        unsigned char NaviGpsMinSat;
263
        unsigned char NaviGpsMinSat;
264
        unsigned char NaviStickThreshold;
264
        unsigned char NaviStickThreshold;
265
        unsigned char NaviWindCorrection;
265
        unsigned char NaviWindCorrection;
266
        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
266
        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
267
        unsigned char NaviMaxFlyingRange;     // in 10m
267
        unsigned char NaviMaxFlyingRange;     // in 10m
268
        unsigned char NaviAngleLimitation;
268
        unsigned char NaviAngleLimitation;
269
        unsigned char NaviPH_LoginTime;
269
        unsigned char NaviPH_LoginTime;
270
        unsigned char NaviDescendRange;
270
        unsigned char NaviDescendRange;
271
        //---Ext.Ctrl---------------------------------------------
271
        //---Ext.Ctrl---------------------------------------------
272
        unsigned char ExternalControl;         // for serial Control
272
        unsigned char ExternalControl;         // for serial Control
273
        //---CareFree---------------------------------------------
273
        //---CareFree---------------------------------------------
274
        unsigned char OrientationAngle;        // Where is the front-direction?
274
        unsigned char OrientationAngle;        // Where is the front-direction?
275
        unsigned char CareFreeChannel;     // switch for CareFree
275
        unsigned char CareFreeChannel;     // switch for CareFree
276
    unsigned char MotorSafetySwitch;
276
    unsigned char MotorSafetySwitch;
277
    unsigned char MotorSmooth;
277
    unsigned char MotorSmooth;
278
    unsigned char ComingHomeAltitude;
278
    unsigned char ComingHomeAltitude;
279
    unsigned char FailSafeTime;
279
    unsigned char FailSafeTime;
280
    unsigned char MaxAltitude;
280
    unsigned char MaxAltitude;
281
        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
281
        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
282
        unsigned char ServoFilterNick;  
282
        unsigned char ServoFilterNick;  
283
        unsigned char ServoFilterRoll;  
283
        unsigned char ServoFilterRoll;  
284
    unsigned char Servo3OnValue;
284
    unsigned char Servo3OnValue;
285
    unsigned char Servo3OffValue;
285
    unsigned char Servo3OffValue;
286
    unsigned char Servo4OnValue;
286
    unsigned char Servo4OnValue;
287
    unsigned char Servo4OffValue;
287
    unsigned char Servo4OffValue;
288
        unsigned char StartLandChannel;  
288
        unsigned char StartLandChannel;  
289
        unsigned char LandingSpeed;  
289
        unsigned char LandingSpeed;  
290
        unsigned char CompassOffset;        
290
        unsigned char CompassOffset;        
291
        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
291
        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
292
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
292
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
293
        unsigned char AutoPhotoAtitudes;
293
        unsigned char AutoPhotoAtitudes;
294
        unsigned char SingleWpSpeed;
294
        unsigned char SingleWpSpeed;
295
        //------------------------------------------------
295
        //------------------------------------------------
296
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
296
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
297
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
297
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
298
        unsigned char ExtraConfig;        // bitcodiert
298
        unsigned char ExtraConfig;        // bitcodiert
299
        unsigned char GlobalConfig3;      // bitcodiert
299
        unsigned char GlobalConfig3;      // bitcodiert
300
        char Name[12];
300
        char Name[12];
301
        unsigned char crc;                                // must be the last byte!
301
        unsigned char crc;                                // must be the last byte!
302
} paramset_t; // 127 bytes
302
} paramset_t; // 134 bytes (V1.06)
-
 
303
 
303
 
304
 
304
typedef struct {
305
typedef struct {
305
    u8 SettingsIndex;
306
    u8 SettingsIndex;
306
    paramset_t param;
307
    paramset_t param;
307
} __attribute__((packed)) paramset_serial;
308
} __attribute__((packed)) paramset_serial;
308
 
309
 
309
/*
310
/*
310
 * MikroKopter 3D-Data struct
311
 * MikroKopter 3D-Data struct
311
 * portions taken and adapted from
312
 * portions taken and adapted from
312
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h
313
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h
313
 */
314
 */
314
typedef struct {
315
typedef struct {
315
    s16 AngleNick; // in 0.1 deg
316
    s16 AngleNick; // in 0.1 deg
316
    s16 AngleRoll; // in 0.1 deg
317
    s16 AngleRoll; // in 0.1 deg
317
    s16 Heading; // in 0.1 deg
318
    s16 Heading; // in 0.1 deg
318
    u8 StickNick;
319
    u8 StickNick;
319
    u8 StickRoll;
320
    u8 StickRoll;
320
    u8 StickYaw;
321
    u8 StickYaw;
321
    u8 StickGas;
322
    u8 StickGas;
322
    u8 reserve[4];
323
    u8 reserve[4];
323
} __attribute__((packed)) Data3D_t;
324
} __attribute__((packed)) Data3D_t;
324
 
325
 
325
extern Data3D_t Data3D;
326
extern Data3D_t Data3D;
326
 
327
 
327
#endif
328
#endif
328
 
329