Rev 513 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 462 | Brean | 1 | #include "Handler.h" |
| 500 | Brean | 2 | #include "FlightLog.h" |
| 513 | Brean | 3 | #include <sstream> |
| 4 | #include <string> |
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| 391 | Brean | 5 | |
| 6 | /** |
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| 392 | Brean | 7 | * Constructor that gets a communication instance |
| 8 | */ |
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| 440 | Brean | 9 | Handler::Handler(Communication * com, KopterData * data) { |
| 392 | Brean | 10 | this->com = com; |
| 440 | Brean | 11 | this->data = data; |
| 392 | Brean | 12 | } |
| 13 | |||
| 399 | Brean | 14 | //-------------FlightCtrl commands-------------------- |
| 392 | Brean | 15 | /** |
| 399 | Brean | 16 | * read settings from FlightCtrl (settings index 0x00-0x05) |
| 17 | */ |
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| 18 | void Handler::get_flightctrl_settings(int index) { |
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| 513 | Brean | 19 | FlightLog::info_FC("getting FlightCtrl settings"); |
| 399 | Brean | 20 | char tx_data[2] = {index, 0}; |
| 21 | com->send_cmd('q', ADDRESS_FC, tx_data, 1, true); |
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| 22 | } |
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| 23 | |||
| 24 | /** |
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| 25 | * write settings to FlightCtrl |
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| 26 | */ |
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| 27 | void Handler::set_flightctrl_settings(char * tx_data) { |
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| 513 | Brean | 28 | FlightLog::info_FC("setting FlightCtrl settings"); |
| 399 | Brean | 29 | com->send_cmd('s', ADDRESS_FC, tx_data, MaxParameter+2, true); |
| 30 | } |
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| 31 | |||
| 32 | /** |
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| 33 | * test one or more motors |
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| 34 | */ |
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| 442 | Brean | 35 | void Handler::motor_test(sMotorData motor) { |
| 36 | char tx_data[MAX_MOTORS]; |
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| 37 | for (int z = 0; z<MAX_MOTORS; z++) |
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| 399 | Brean | 38 | { |
| 442 | Brean | 39 | tx_data[z] = motor.desired_speed[z]; |
| 399 | Brean | 40 | } |
| 513 | Brean | 41 | FlightLog::info_FC("testing motor"); |
| 442 | Brean | 42 | com->send_cmd('t', ADDRESS_FC, tx_data, MAX_MOTORS, false); |
| 399 | Brean | 43 | } |
| 44 | |||
| 440 | Brean | 45 | void Handler::reset_motor() { |
| 442 | Brean | 46 | for (int z = 0; z<MAX_MOTORS; z++) |
| 440 | Brean | 47 | { |
| 442 | Brean | 48 | data->motor.desired_speed[z] = 0; |
| 440 | Brean | 49 | } |
| 50 | |||
| 442 | Brean | 51 | motor_test(data->motor); |
| 440 | Brean | 52 | } |
| 53 | |||
| 399 | Brean | 54 | /** |
| 391 | Brean | 55 | * read mixer values from FlightCtrl |
| 56 | */ |
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| 440 | Brean | 57 | void Handler::read_motor_mixer() { |
| 513 | Brean | 58 | FlightLog::info_FC("reading motor mixer values"); |
| 396 | Brean | 59 | char tx_data[1] = {0}; |
| 60 | //com->log("read motor mixer"); |
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| 397 | Brean | 61 | com->send_cmd('n', ADDRESS_FC, tx_data, 1, true); |
| 393 | Brean | 62 | } |
| 63 | |||
| 399 | Brean | 64 | /** |
| 65 | * write motor mixer values to FlightCtrl |
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| 66 | */ |
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| 440 | Brean | 67 | void Handler::write_motor_mixer(char * tx_data, int length) { |
| 513 | Brean | 68 | FlightLog::info_FC("setting motor mixer values"); |
| 399 | Brean | 69 | com->send_cmd('m', ADDRESS_FC, tx_data, length, true); |
| 70 | } |
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| 71 | |||
| 524 | Brean | 72 | //FIXME: implement me! |
| 440 | Brean | 73 | int Handler::get_motor_config(char * tx_data) { |
| 524 | Brean | 74 | FlightLog::error("get motor config not implemented"); |
| 440 | Brean | 75 | return -1; |
| 396 | Brean | 76 | } |
| 77 | |||
| 399 | Brean | 78 | //-------------NaviCtrl commands-------------------- |
| 79 | /** |
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| 80 | * set debug values for NaviCtrl |
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| 81 | */ |
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| 82 | void Handler::set_navictrl_debug(int speed) { |
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| 513 | Brean | 83 | FlightLog::info_NC("setting NaviCtrl debug speed"); |
| 399 | Brean | 84 | char tx_data[1] = { speed }; |
| 85 | com->send_cmd('o', ADDRESS_NC, tx_data, 1, false); |
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| 86 | } |
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| 87 | |||
| 88 | /** |
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| 89 | * stop debug for NaviCtrl |
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| 90 | */ |
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| 91 | void Handler::stop_navictrl_debug() { |
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| 92 | set_navictrl_debug(0); |
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| 93 | } |
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| 94 | |||
| 95 | /** |
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| 449 | Brean | 96 | * send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
| 399 | Brean | 97 | */ |
| 98 | void Handler::send_waypoint(Waypoint_t desired_pos) { |
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| 513 | Brean | 99 | FlightLog::info_GPS("sending Waypoint"); |
| 399 | Brean | 100 | com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
| 101 | } |
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| 102 | |||
| 103 | /** |
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| 104 | * add waypoint to waypoint list |
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| 105 | */ |
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| 106 | void Handler::add_waypoint(Waypoint_t wp) { |
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| 513 | Brean | 107 | FlightLog::info_GPS("adding Waypoint"); |
| 399 | Brean | 108 | com->send_cmd('w', ADDRESS_NC, (char *)&wp, sizeof(wp), false); |
| 109 | } |
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| 110 | |||
| 111 | /** |
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| 112 | * clear waypoint list on MK |
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| 113 | */ |
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| 114 | void Handler::delete_waypoints() { |
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| 115 | Waypoint_t wp; |
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| 116 | wp.Position.Status = INVALID; |
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| 117 | send_waypoint(wp); |
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| 118 | } |
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| 119 | //-------------switch between Hardware-------------------- |
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| 120 | void Handler::switch_navictrl() { |
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| 513 | Brean | 121 | FlightLog::info("switching to NaviCtrl"); |
| 399 | Brean | 122 | char tx_data[6] = { 0x1B, 0x1B, 0x55, 0xAA, 0x00, '\r'}; |
| 123 | com->send_cmd('#', ADDRESS_NC, tx_data, 6, false); |
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| 124 | } |
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| 125 | |||
| 126 | void Handler::switch_flightctrl() { |
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| 513 | Brean | 127 | FlightLog::info("switching to FlightCtrl"); |
| 399 | Brean | 128 | char tx_data[1] = { 0 }; |
| 129 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
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| 130 | } |
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| 131 | |||
| 132 | void Handler::switch_mk3mag() { |
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| 513 | Brean | 133 | FlightLog::info("switching to MK3MAG"); |
| 399 | Brean | 134 | char tx_data[1] = { 1 }; |
| 135 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
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| 136 | } |
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| 137 | |||
| 138 | //-------------commands for MK3MAG----------------- |
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| 139 | |||
| 140 | |||
| 141 | //-------------commands for all-------------------- |
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| 142 | |||
| 143 | /** |
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| 144 | * set debug values for all components |
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| 145 | */ |
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| 146 | void Handler::set_all_debug(int speed) { |
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| 513 | Brean | 147 | FlightLog::info("setting debug speed"); |
| 399 | Brean | 148 | char tx_data[1] = { speed }; |
| 149 | com->send_cmd('d', ADDRESS_ALL, tx_data, 1, false); |
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| 150 | } |
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| 151 | |||
| 152 | /** |
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| 153 | * stop debug for all components |
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| 154 | */ |
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| 155 | void Handler::stop_all_debug() { |
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| 156 | set_all_debug(0); |
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| 157 | } |
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| 158 | |||
| 159 | /** |
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| 160 | * get all analog labels |
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| 161 | */ |
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| 162 | void Handler::get_analog() { |
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| 513 | Brean | 163 | FlightLog::info("get analog values"); |
| 399 | Brean | 164 | char tx_data[1] = { 0 }; |
| 165 | com->send_cmd('a', ADDRESS_ALL, tx_data, 1, true); |
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| 166 | } |
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| 167 | |||
| 168 | /** |
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| 169 | * get values from LCD / show LCD |
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| 170 | */ |
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| 171 | void Handler::show_lcd() { |
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| 513 | Brean | 172 | FlightLog::info("show LCD"); |
| 399 | Brean | 173 | char tx_data[1] = {0}; |
| 174 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
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| 175 | } |
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| 176 | |||
| 177 | /** |
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| 178 | * got to next LCD Page |
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| 179 | */ |
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| 180 | void Handler::lcd_up() { |
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| 513 | Brean | 181 | FlightLog::info("going up one LCD page"); |
| 399 | Brean | 182 | char tx_data[2] = { 0, 0 }; |
| 440 | Brean | 183 | if (data->lcd_cur != data->lcd_max) |
| 184 | tx_data[0] = data->lcd_cur+1; |
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| 399 | Brean | 185 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
| 186 | } |
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| 187 | |||
| 188 | /** |
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| 189 | * got to previous LCD Page |
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| 190 | */ |
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| 191 | void Handler::lcd_down() { |
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| 513 | Brean | 192 | FlightLog::info("going down one LCD page"); |
| 399 | Brean | 193 | char tx_data[2] = { 0, 0 }; |
| 440 | Brean | 194 | if (data->lcd_cur != 0) |
| 195 | tx_data[0] = data->lcd_cur-1; |
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| 399 | Brean | 196 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
| 197 | } |
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| 198 | |||
| 199 | void Handler::get_version() { |
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| 513 | Brean | 200 | FlightLog::info("get version"); |
| 399 | Brean | 201 | //TODO: Check if is this correct or do we need data from switch_... |
| 202 | char tx_data[1] = { 0 }; |
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| 203 | com->send_cmd('v', ADDRESS_ALL, tx_data, 0, true); |
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| 204 | } |
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| 205 | |||
| 206 | void Handler::get_ppm_channels() { |
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| 513 | Brean | 207 | FlightLog::info("get PPM channels"); |
| 399 | Brean | 208 | char tx_data[1] = { 0 }; |
| 209 | com->send_cmd('p', ADDRESS_ALL, tx_data, 0, false); |
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| 210 | } |
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| 211 | |||
| 513 | Brean | 212 | void Handler::new_navi_data(char * data) { |
| 213 | std::string mode; |
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| 214 | switch(data[N_NC_FLAGS]) |
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| 215 | { |
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| 216 | case 0x01 : mode = "Free"; break; |
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| 217 | case 0x02 : mode = "Position Hold"; break; |
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| 218 | case 0x04 : mode = "Coming Home"; break; |
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| 219 | case 0x08 : mode = "Range Limit"; break; |
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| 220 | case 0x10 : mode = "Serial Error"; break; |
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| 221 | case 0x20 : mode = "Target reached"; break; |
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| 222 | case 0x40 : mode = "Manual Control"; break; |
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| 223 | } |
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| 224 | |||
| 225 | } |
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| 226 | |||
| 399 | Brean | 227 | /** |
| 228 | * receive data |
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| 229 | */ |
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| 500 | Brean | 230 | void Handler::receive_data(char * incomming, int length) { |
| 513 | Brean | 231 | if (incomming[0] != '#') { |
| 500 | Brean | 232 | FlightLog::error("this frame is not correct"); |
| 233 | FlightLog::info(incomming); |
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| 234 | return; |
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| 513 | Brean | 235 | } |
| 500 | Brean | 236 | int hardwareID = incomming[1] - 'a'; |
| 237 | |||
| 238 | //The cmd is also known as ID-Byte (or ID for short) in the wiki-dokumentation |
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| 239 | char cmd = incomming[2]; |
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| 513 | Brean | 240 | //decoded data |
| 241 | unsigned char data[MAX_DATA_SIZE]; |
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| 500 | Brean | 242 | |
| 243 | Parser::decode64(incomming, length, data, 3); |
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| 244 | |||
| 393 | Brean | 245 | switch(hardwareID) |
| 246 | { |
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| 247 | case ADDRESS_FC : |
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| 449 | Brean | 248 | switch(cmd) |
| 393 | Brean | 249 | { |
| 250 | // Motor-Mixer |
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| 251 | case 'N' : |
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| 513 | Brean | 252 | com->stop_resend(); |
| 253 | //decoded data |
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| 254 | FlightLog::info_FC("received motortest values from FlightCtrl"); |
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| 255 | if (data[0] == VERSION_MIXER) |
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| 256 | { |
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| 257 | //TODO: Handler::receivedMotorConfig(incomming) |
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| 258 | //f_MotorMixer->set_MotorConfig(RX); |
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| 259 | } |
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| 449 | Brean | 260 | break; |
| 393 | Brean | 261 | // Motor-Mixer Schreib-Bestätigung |
| 262 | case 'M' : |
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| 449 | Brean | 263 | com->stop_resend(); |
| 264 | |||
| 265 | if (data[0] == 1) |
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| 393 | Brean | 266 | { |
| 513 | Brean | 267 | FlightLog::info_FC("motor values written to FlightCtrl."); |
| 449 | Brean | 268 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
| 500 | Brean | 269 | } else { |
| 270 | FlightLog::warning("could not write motor values to FlightCtrl!"); |
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| 393 | Brean | 271 | } |
| 449 | Brean | 272 | break; |
| 393 | Brean | 273 | |
| 274 | // Stick-Belegung der Fernsteuerung |
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| 275 | case 'P' : // DONE 0.71g |
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| 513 | Brean | 276 | FlightLog::info_FC("received stick-settings:"); |
| 277 | for (int i = 1; i <= 8; i++) { |
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| 278 | std::stringstream d; |
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| 279 | d << "Stickvalue for Stick nr. " << i << ": " << Parser::dataToInt((char *)data, i*2, true);; |
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| 280 | std::string val; |
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| 281 | d >> val; |
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| 282 | FlightLog::info_FC((char *)val.c_str()); |
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| 283 | } |
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| 449 | Brean | 284 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
| 285 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
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| 286 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
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| 287 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
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| 288 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
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| 289 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
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| 290 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
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| 291 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
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| 292 | break; |
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| 393 | Brean | 293 | // Settings lesen |
| 294 | case 'Q' : // DONE 0.71g |
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| 449 | Brean | 295 | com->stop_resend(); |
| 513 | Brean | 296 | FlightLog::info_FC("received settings"); |
| 449 | Brean | 297 | if (data[1] == VERSION_SETTINGS) |
| 393 | Brean | 298 | { |
| 513 | Brean | 299 | int settings_id = data[0]; |
| 300 | std::stringstream d; |
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| 301 | d << "Settings-ID: " << settings_id; |
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| 302 | std::string val; |
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| 303 | d >> val; |
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| 304 | FlightLog::info_FC((char *)val.c_str()); |
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| 305 | for (int i = 0; i < MaxParameter; i++) { |
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| 306 | d.flush(); |
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| 307 | d << "Value for Parameter nr. " << i << ": " << (int)data[i+2]; |
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| 308 | d >> val; |
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| 309 | FlightLog::info_FC((char *)val.c_str()); |
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| 310 | } |
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| 311 | |||
| 449 | Brean | 312 | /*for (int a = 0; a < MaxParameter; a++) |
| 393 | Brean | 313 | { |
| 449 | Brean | 314 | FCSettings[a] = RX.decode[a + 2]; |
| 393 | Brean | 315 | } |
| 449 | Brean | 316 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
| 317 | f_Settings->pb_Read->setEnabled(true); |
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| 318 | f_Settings->pb_Write->setEnabled(true);*/ |
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| 319 | } |
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| 320 | else |
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| 321 | { |
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| 500 | Brean | 322 | FlightLog::error("wrong FlightCtrl version"); |
| 449 | Brean | 323 | /*f_Settings->pb_Read->setDisabled(true); |
| 324 | f_Settings->pb_Write->setDisabled(true); |
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| 393 | Brean | 325 | |
| 449 | Brean | 326 | QString name = QString("Versionen inkompatibel.\n") + |
| 327 | QString("Version von GroundStation benoetigt: ") + |
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| 328 | QString(VERSION_SETTINGS) + |
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| 329 | QString("\nVersion auf der FlightCtrl: ") + |
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| 330 | QString(RX.decode[1]) + |
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| 331 | QString("\nParameterbearbeitung nicht moeglich."); |
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| 332 | QMessageBox::warning(this, QA_NAME, |
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| 333 | name, QMessageBox::Ok);*/ |
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| 393 | Brean | 334 | } |
| 449 | Brean | 335 | break; |
| 396 | Brean | 336 | // Settings written |
| 393 | Brean | 337 | case 'S' : // DONE 0.71g |
| 397 | Brean | 338 | com->stop_resend(); |
| 513 | Brean | 339 | FlightLog::info_FC("settings written successfully"); |
| 396 | Brean | 340 | //TODO: QMessagebox("settings written successful") ? |
| 449 | Brean | 341 | break; |
| 393 | Brean | 342 | } |
| 343 | |||
| 344 | case ADDRESS_NC : |
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| 449 | Brean | 345 | switch(cmd) |
| 393 | Brean | 346 | { |
| 347 | // Navigationsdaten |
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| 348 | case 'O' : // NOT DONE 0.12h |
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| 449 | Brean | 349 | //new_NaviData(RX); |
| 513 | Brean | 350 | FlightLog::info_NC("received navigation data"); |
| 449 | Brean | 351 | break; |
| 393 | Brean | 352 | } |
| 353 | // case ADDRESS_MK3MAG : |
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| 354 | |||
| 355 | default : |
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| 449 | Brean | 356 | switch(cmd) |
| 393 | Brean | 357 | { |
| 358 | // LCD-Anzeige |
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| 359 | case 'L' : // DONE 0.71g |
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| 449 | Brean | 360 | com->stop_resend(); |
| 500 | Brean | 361 | FlightLog::info("received LCD page."); |
| 513 | Brean | 362 | /*int LCD[MAX_DATA_SIZE]; |
| 449 | Brean | 363 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
| 393 | Brean | 364 | |
| 449 | Brean | 365 | f_LCD->show_Data(LCD); |
| 393 | Brean | 366 | |
| 449 | Brean | 367 | LCD_Page = RX.decode[0]; |
| 368 | LCD_MAX_Page = RX.decode[1]; |
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| 369 | */ |
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| 370 | break; |
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| 393 | Brean | 371 | // Analoglabels |
| 372 | case 'A' : // DONE 0.71g |
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| 449 | Brean | 373 | com->stop_resend(); |
| 500 | Brean | 374 | FlightLog::info("received analog labels"); |
| 449 | Brean | 375 | //check position |
| 376 | if (data[0] != 31) { |
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| 377 | /* |
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| 378 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
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| 379 | if (Settings->Analog1.Label[Position] == "") |
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| 393 | Brean | 380 | { |
| 449 | Brean | 381 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
| 393 | Brean | 382 | } |
| 449 | Brean | 383 | Position ++; |
| 384 | TX_Data[0] = Position; |
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| 385 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
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| 386 | } else { |
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| 387 | /* |
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| 388 | for (int a = 0; a < MaxAnalog; a++) |
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| 393 | Brean | 389 | { |
| 449 | Brean | 390 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
| 393 | Brean | 391 | } |
| 449 | Brean | 392 | Settings->Analog1.Version = QString(Mode.Version); |
| 393 | Settings->write_Settings_AnalogLabels(HardwareID); |
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| 394 | config_Plot();*/ |
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| 393 | Brean | 395 | } |
| 449 | Brean | 396 | break; |
| 393 | Brean | 397 | // Debug-Daten |
| 398 | case 'D' : // DONE 0.71g |
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| 500 | Brean | 399 | FlightLog::info("received debug data:"); |
| 449 | Brean | 400 | for (int i = 0; i < MaxAnalog; i++) { |
| 500 | Brean | 401 | /* |
| 402 | Parser::dataToInt((char *)data, (i * 2) + 2, false); |
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| 403 | */ |
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| 393 | Brean | 404 | } |
| 449 | Brean | 405 | //show_DebugData(); |
| 406 | break; |
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| 393 | Brean | 407 | // Version |
| 408 | case 'V' : // DONE 0.71h |
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| 449 | Brean | 409 | com->stop_resend(); |
| 500 | Brean | 410 | FlightLog::info("received version"); |
| 449 | Brean | 411 | /* |
| 412 | Mode.ID = HardwareID; |
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| 413 | Mode.VERSION_MAJOR = RX.decode[0]; |
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| 414 | Mode.VERSION_MINOR = RX.decode[1]; |
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| 415 | Mode.VERSION_PATCH = RX.decode[4]; |
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| 416 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
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| 417 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
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| 393 | Brean | 418 | |
| 449 | Brean | 419 | Mode.Hardware = HardwareType[Mode.ID]; |
| 420 | //TODO: Funktion im Handler get_version() oder sowas |
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| 421 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
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| 422 | QString("%1").arg(RX.decode[1]) + |
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| 423 | QString(RX.decode[4] + 'a'); |
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| 424 | Mode.Version = version.toLatin1().data; |
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| 425 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
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| 426 | Mode.Hardware + " " + |
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| 427 | Mode.Version); |
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| 393 | Brean | 428 | |
| 449 | Brean | 429 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
| 430 | { |
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| 393 | Brean | 431 | // AllowSend = false; |
| 449 | Brean | 432 | QMessageBox::warning(this, QA_NAME, |
| 433 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
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| 434 | } |
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| 393 | Brean | 435 | |
| 449 | Brean | 436 | if (ac_NoDebug->isChecked()) |
| 437 | { |
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| 438 | TX_Data[0] = 0; |
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| 439 | } |
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| 440 | else |
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| 441 | if (ac_FastDebug->isChecked()) |
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| 442 | { |
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| 443 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
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| 444 | } |
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| 445 | else |
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| 446 | { |
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| 447 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
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| 448 | } |
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| 449 | |||
| 450 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
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| 451 | |||
| 452 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
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| 453 | if (Mode.ID == ADDRESS_MK3MAG) |
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| 454 | { |
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| 455 | TickerEvent[3] = true; |
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| 456 | rb_SelMag->setChecked(true); |
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| 457 | } |
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| 458 | |||
| 459 | // Wenn NaviCtrl dann hier. |
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| 460 | if (Mode.ID == ADDRESS_NC) |
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| 461 | { |
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| 462 | rb_SelNC->setChecked(true); |
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| 463 | |||
| 464 | if (ac_NoNavi->isChecked()) |
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| 393 | Brean | 465 | { |
| 466 | TX_Data[0] = 0; |
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| 467 | } |
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| 468 | else |
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| 449 | Brean | 469 | if (ac_FastNavi->isChecked()) |
| 393 | Brean | 470 | { |
| 449 | Brean | 471 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
| 393 | Brean | 472 | } |
| 473 | else |
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| 474 | { |
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| 449 | Brean | 475 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
| 393 | Brean | 476 | } |
| 477 | |||
| 449 | Brean | 478 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
| 479 | } |
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| 393 | Brean | 480 | |
| 481 | |||
| 449 | Brean | 482 | // Wenn FlightCtrl dann Settings abfragen. |
| 483 | if (Mode.ID == ADDRESS_FC) |
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| 484 | { |
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| 485 | rb_SelFC->setChecked(true); |
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| 393 | Brean | 486 | { |
| 449 | Brean | 487 | TX_Data[0] = 0xff; |
| 488 | TX_Data[1] = 0; |
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| 393 | Brean | 489 | |
| 449 | Brean | 490 | // DEP: Raus wenn Resend implementiert. |
| 393 | Brean | 491 | // ToolBox::Wait(SLEEP); |
| 449 | Brean | 492 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
| 493 | qDebug("FC - Get Settings"); |
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| 393 | Brean | 494 | } |
| 449 | Brean | 495 | } |
| 496 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
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| 497 | else |
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| 498 | { |
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| 499 | f_Settings->pb_Read->setDisabled(true); |
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| 500 | f_Settings->pb_Write->setDisabled(true); |
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| 501 | } |
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| 393 | Brean | 502 | |
| 449 | Brean | 503 | Settings->read_Settings_Analog(HardwareID); |
| 504 | Settings->read_Settings_AnalogLabels(HardwareID); |
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| 393 | Brean | 505 | |
| 449 | Brean | 506 | if (Settings->Analog1.Version != QString(Mode.Version)) |
| 507 | { |
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| 508 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
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| 509 | slot_ac_GetLabels(); |
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| 393 | Brean | 510 | } |
| 449 | Brean | 511 | else |
| 512 | for (int a = 0; a < MaxAnalog; a++) |
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| 513 | { |
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| 514 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
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| 515 | } |
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| 516 | config_Plot();*/ |
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| 517 | break; |
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| 393 | Brean | 518 | } |
| 519 | } |
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| 391 | Brean | 520 | } |