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#define BL_ADDRESS 5
 44 
#define BL_ADDRESS 5
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 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/V2.12a/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
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} __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;
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    unsigned char SWMinor;
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        unsigned char SWMinor;
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    unsigned char ProtoMajor;
 59 
        unsigned char ProtoMajor;
60 
    unsigned char ProtoMinor;
 60 
        unsigned char LabelTextCRC;
- 
 
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        unsigned char SWPatch;
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        unsigned char HardwareError[2];
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 63 
        unsigned char HWMajor;
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    unsigned char SWPatch;
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        unsigned char BL_Firmware;  
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    unsigned char HardwareError[5];
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        unsigned char Flags;
63 
} __attribute__((packed)) str_VersionInfo;
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} __attribute__((packed)) str_VersionInfo;
64 
 
 67 
 
65 
/*
 68 
/*
66 
 * NaviCtrl GPS Structs
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 * NaviCtrl GPS Structs
67 
 * portions taken and adapted from
 70 
 * portions taken and adapted from
68 
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h
 71 
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/gpspos.h
69 
 */
 72 
 */
70 
typedef struct {
 73 
typedef struct {
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} __attribute__((packed)) GPS_Pos_t;
 78 
} __attribute__((packed)) GPS_Pos_t;
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 79 
 
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#define INVALID         0x00
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#define INVALID         0x00
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#define NEWDATA         0x01
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#define NEWDATA         0x01
- 
 
 82 
#define PROCESSED       0x02
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#define PROCESSED       0x02
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#define SIMULATION      0x03
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 84 
 
81 
/*
 85 
/*
82 
 * NaviCtrl OSD Structs
 86 
 * NaviCtrl OSD Structs
83 
 * portions taken and adapted from
 87 
 * portions taken and adapted from
84 
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.06a/uart1.h
 88 
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/uart1.h
85 
 */
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 */
86 
typedef struct {
 90 
typedef struct {
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    u16 Distance; // distance to target in dm
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    u16 Distance; // distance to target in dm
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    s8 AngleRoll; // current Rick angle in 1°
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    s8 AngleRoll; // current Rick angle in 1°
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    u8 RC_Quality; // RC_Quality
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    u8 RC_Quality; // RC_Quality
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    u8 FCStatusFlags; // Flags from FC
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    u8 FCStatusFlags; // Flags from FC
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    u8 NCFlags; // Flags from NC
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    u8 NCFlags; // Flags from NC
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    u8 Errorcode; // 0 --> okay
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    u8 Errorcode; // 0 --> okay
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    u8 OperatingRadius; // current operation radius around the Home Position in m
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    u8  WP_OperatingRadius; // current WP operation radius around the Home Position in m
117 
    s16 TopSpeed; // velocity in vertical direction in cm/s
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    s16 TopSpeed; // velocity in vertical direction in cm/s
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    u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
 122 
    u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
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    u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
 123 
    u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
120 
    s16 SetpointAltitude; // setpoint for altitude
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    s16 SetpointAltitude; // setpoint for altitude
121 
    u8 Gas; // for future use
 125 
    u8 Gas; // for future use
122 
    u16 Current; // actual current in 0.1A steps
 126 
    u16 Current; // actual current in 0.1A steps
123 
    u16 UsedCapacity; // used capacity in mAh
 127 
    u16 UsedCapacity; // used capacity in mAh
124 
} __attribute__((packed)) NaviData_t;
 128 
} __attribute__((packed)) NaviData_t;
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 129 
 
- 
 
 130 
/*
- 
 
 131 
 * NaviCtrl & FCFlags Flags
- 
 
 132 
 * portions taken and adapted from
- 
 
 133 
 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/main.h
- 
 
 134 
 */
125 
 
 135 
 // .NCFlags
126 
#define NC_FLAG_FREE                    0x01
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#define NC_FLAG_FREE                    0x01
127 
#define NC_FLAG_PH                              0x02
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#define NC_FLAG_PH                              0x02
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#define NC_FLAG_CH                              0x04
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#define NC_FLAG_CH                              0x04
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#define NC_FLAG_RANGE_LIMIT             0x08
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#define NC_FLAG_RANGE_LIMIT             0x08
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#define NC_FLAG_NOSERIALLINK    0x10
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#define NC_FLAG_NOSERIALLINK    0x10
131 
#define NC_FLAG_TARGET_REACHED  0x20
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#define NC_FLAG_TARGET_REACHED  0x20
132 
#define NC_FLAG_MANUAL_CONTROL  0x40
 142 
#define NC_FLAG_MANUAL_CONTROL  0x40
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#define NC_FLAG_GPS_OK                  0x80
 - 
 
134 
 
 143 
#define NC_FLAG_GPS_OK                  0x80
135 
/*
 - 
 
136 
 * MikroKopter Flags
 - 
 
137 
 * portions taken and adapted from
 - 
 
138 
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h
 144 
 
139 
 */
 145 
// FC.StatusFlags
140 
#define FCFLAG_MOTOR_RUN        0x01
 146 
#define FCFLAG_MOTOR_RUN        0x01
141 
#define FCFLAG_FLY              0x02
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#define FCFLAG_FLY              0x02
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#define FCFLAG_CALIBRATE        0x04
 148 
#define FCFLAG_CALIBRATE        0x04
143 
#define FCFLAG_START            0x08
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#define FCFLAG_START            0x08
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#define FCFLAG_NOTLANDUNG       0x10
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#define FCFLAG_NOTLANDUNG       0x10
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#define FCFLAG_LOWBAT           0x20
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#define FCFLAG_LOWBAT           0x20
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#define FCFLAG_VARIO_TRIM_UP    0x40
 152 
#define FCFLAG_VARIO_TRIM_UP    0x40
147 
#define FCFLAG_VARIO_TRIM_DOWN  0x80
 153 
#define FCFLAG_VARIO_TRIM_DOWN  0x80
148 
 
 154 
 
- 
 
 155 
// FC.StatusFlags2
- 
 
 156 
#define FC_STATUS2_CAREFREE                 0x01
- 
 
 157 
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
- 
 
 158 
#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
- 
 
 159 
#define FC_STATUS2_OUT1_ACTIVE                  0x08
149 
// FC STATUS FLAGS2
 160 
#define FC_STATUS2_OUT2_ACTIVE                  0x10
- 
 
 161 
#define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground
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 162 
 
- 
 
 163 
 
- 
 
 164 
// FC.StatusFlags3
- 
 
 165 
#define FC_STATUS3_REDUNDANCE_AKTIVE        0x01
- 
 
 166 
#define FC_STATUS3_BOAT                         0x02
- 
 
 167 
#define FC_STATUS3_REDUNDANCE_ERROR                     0x04
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#define FC_STATUS2_CAREFREE                 0x01
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#define FC_STATUS3_REDUNDANCE_TEST                      0x08
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#define FC_STATUS2_ALTITUDE_CONTROL         0x02
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152 
 
 170 
// FC ERRORS FLAGS
153 
#define DEFEKT_G_NICK           0x01
 171 
#define FC_ERROR0_GYRO_NICK     0x01
154 
#define DEFEKT_G_ROLL           0x02
 172 
#define FC_ERROR0_GYRO_ROLL     0x02
155 
#define DEFEKT_G_GIER           0x04
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#define FC_ERROR0_GYRO_YAW              0x04
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#define DEFEKT_A_NICK           0x08
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#define FC_ERROR0_ACC_NICK              0x08
157 
#define DEFEKT_A_ROLL           0x10
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#define FC_ERROR0_ACC_ROLL              0x10
158 
#define DEFEKT_A_Z              0x20
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#define FC_ERROR0_ACC_TOP               0x20
159 
#define DEFEKT_PRESSURE         0x40
 177 
#define FC_ERROR0_PRESSURE              0x40
160 
#define DEFEKT_CAREFREE_ERR 0x80
 178 
#define FC_ERROR0_CAREFREE              0x80
161 
 
 179 
 
162 
#define DEFEKT_I2C              0x01
 180 
#define FC_ERROR1_I2C                   0x01
163 
#define DEFEKT_BL_MISSING       0x02
 181 
#define FC_ERROR1_BL_MISSING    0x02
- 
 
 182 
#define FC_ERROR1_SPI_RX                0x04
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 183 
#define FC_ERROR1_PPM                   0x08
- 
 
 184 
#define FC_ERROR1_MIXER                 0x10
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164 
#define DEFEKT_SPI_RX_ERR       0x04
 185 
#define FC_ERROR1_RES1                  0x20
165 
#define DEFEKT_PPM_ERR          0x08
 186 
#define FC_ERROR1_RES2                  0x40
166 
#define DEFEKT_MIXER_ERR    0x10
 187 
#define FC_ERROR1_RES3                  0x80
167 
 
 188 
 
168 
/*
 189 
/*
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169 
 * MikroKopter config struct
 190 
 * MikroKopter config struct
170 
 * portions taken and adapted from
 - 
 
- 
 
 191 
 * portions taken and adapted from
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171 
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.10a/eeprom.h
 192 
 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h
172 
 */
 193 
 */
173 
 
 194 
 
174 
#define EEPARAM_REVISION        105 // is count up, if paramater stucture has changed (compatibility)
 195 
#define EEPARAM_REVISION        106 // is count up, if paramater stucture has changed (compatibility)
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292 
        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
 313 
        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
293 
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
 314 
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
294 
        unsigned char AutoPhotoAtitudes;
 315 
        unsigned char AutoPhotoAtitudes;
295 
        unsigned char SingleWpSpeed;
 316 
        unsigned char SingleWpSpeed;
296 
        unsigned char LandingPulse;
 317 
        unsigned char LandingPulse;
- 
 
 318 
        unsigned char SingleWpControlChannel;
- 
 
 319 
        unsigned char MenuKeyChannel;
297 
        //------------------------------------------------
 320 
        //------------------------------------------------
298 
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
 321 
        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
299 
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
 322 
        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
300 
        unsigned char ExtraConfig;        // bitcodiert
 323 
        unsigned char ExtraConfig;        // bitcodiert
301 
        unsigned char GlobalConfig3;      // bitcodiert
 324 
        unsigned char GlobalConfig3;      // bitcodiert