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} __attribute__((packed)) DebugOut_t;
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} __attribute__((packed)) DebugOut_t;
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/*
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/*
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 * NaviCtrl OSD Structs
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 * NaviCtrl OSD Structs
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 * portions taken and adapted from
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.14e%2Fuart1.h
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
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 */
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 */
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typedef struct {
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typedef struct {
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    s32 Longitude; // in 1E-7 deg
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    s32 Longitude; // in 1E-7 deg
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    s32 Latitude; // in 1E-7 deg
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    s32 Latitude; // in 1E-7 deg
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    s32 Altitude; // in mm
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    s32 Altitude; // in mm
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    s16 Distance; // distance to target in cm
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    s16 Distance; // distance to target in cm
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    s16 Bearing; // course to target in deg
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    s16 Bearing; // course to target in deg
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} __attribute__((packed)) GPS_PosDev_t;
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} __attribute__((packed)) GPS_PosDev_t;
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typedef struct {
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typedef struct {
-
 
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        u8 Version;                                             // version of the data structure
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    GPS_Pos_t CurrentPosition; // see ubx.h for details
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        GPS_Pos_t CurrentPosition;              // see ubx.h for details
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    GPS_Pos_t TargetPosition;
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        GPS_Pos_t TargetPosition;
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    GPS_PosDev_t TargetPositionDeviation;
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        GPS_PosDev_t TargetPositionDeviation;
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    GPS_Pos_t HomePosition;
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        GPS_Pos_t HomePosition;
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    GPS_PosDev_t HomePositionDeviation;
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        GPS_PosDev_t HomePositionDeviation;
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    u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
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        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
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    u8 WaypointNumber; // number of stored waypoints
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        u8  WaypointNumber;                             // number of stored waypoints
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    u8 SatsInUse; // no of satellites used for position solution
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        u8  SatsInUse;                                  // number of satellites used for position solution
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    s16 Altimeter; // hight according to air pressure
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        s16 Altimeter;                                  // hight according to air pressure
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    s16 Variometer; // climb(+) and sink(-) rate
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        s16 Variometer;                                 // climb(+) and sink(-) rate
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    u16 FlyingTime; // in seconds
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        u16 FlyingTime;                                 // in seconds
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    u8 UBat; // Battery Voltage in 0.1 Volts
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        u8  UBat;                                               // Battery Voltage in 0.1 Volts
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    u16 GroundSpeed; // speed over ground in cm/s (2D)
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        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
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    s16 Heading; // current flight direction in deg as angle to north
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        s16 Heading;                                    // current flight direction in ° as angle to north
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    s16 CompassHeading; // current compass value
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        s16     CompassHeading;                         // current compass value in °
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    s8 AngleNick; // current Nick angle in 1°
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        s8  AngleNick;                                  // current Nick angle in 1°
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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 MKFlags; // Flags from FC
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        u8  MKFlags;                                    // 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  OperatingRadius;                        // current operation radius around the Home Position in m
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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
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    u8 Reserve[7]; // for future use
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        u8  Reserve[4];                                 // for future use
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} __attribute__((packed)) NaviData_t;
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} __attribute__((packed)) NaviData_t;
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/*
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/*
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 * MikroKopter Flags
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 * MikroKopter Flags
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 * portions taken and adapted from
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 * portions taken and adapted from