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