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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + see the File "License.txt" for further Informations |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 886 | killagreg | 7 | |
| 8 | #include <stdlib.h> |
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| 9 | #include <inttypes.h> |
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| 1 | ingob | 10 | #include "main.h" |
| 886 | killagreg | 11 | #include "eeprom.h" |
| 12 | #include "timer2.h" |
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| 13 | #include "fc.h" |
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| 14 | #include "rc.h" |
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| 15 | #include "uart.h" |
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| 16 | #include "printf_P.h" |
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| 17 | #include "analog.h" |
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| 18 | #ifdef USE_KILLAGREG |
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| 19 | #include "mm3.h" |
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| 908 | killagreg | 20 | #endif |
| 953 | killagreg | 21 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| 886 | killagreg | 22 | #include "ubx.h" |
| 23 | #endif |
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| 24 | #include "_Settings.h" |
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| 1 | ingob | 25 | |
| 26 | |||
| 886 | killagreg | 27 | #define ARRAYSIZE 10 |
| 28 | uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
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| 29 | #define DISPLAYBUFFSIZE 80 |
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| 30 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
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| 31 | uint8_t DispPtr = 0; |
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| 32 | uint8_t RemoteButtons = 0; |
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| 33 | |||
| 1 | ingob | 34 | #define KEY1 0x01 |
| 35 | #define KEY2 0x02 |
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| 36 | #define KEY3 0x04 |
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| 37 | #define KEY4 0x08 |
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| 38 | #define KEY5 0x10 |
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| 39 | |||
| 886 | killagreg | 40 | /************************************/ |
| 41 | /* Clear LCD Buffer */ |
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| 42 | /************************************/ |
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| 43 | void LCD_Clear(void) |
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| 1 | ingob | 44 | { |
| 886 | killagreg | 45 | uint8_t i; |
| 46 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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| 1 | ingob | 47 | } |
| 48 | |||
| 886 | killagreg | 49 | |
| 50 | /************************************/ |
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| 51 | /* Update Menu on LCD */ |
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| 52 | /************************************/ |
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| 53 | // Display with 20 characters in 4 lines |
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| 54 | void LCD_PrintMenu(void) |
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| 908 | killagreg | 55 | { |
| 56 | |||
| 938 | killagreg | 57 | #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG)) |
| 908 | killagreg | 58 | static uint8_t MaxMenuItem = 11; |
| 59 | #else |
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| 60 | #ifdef USE_MK3MAG |
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| 61 | static uint8_t MaxMenuItem = 12; |
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| 62 | #endif |
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| 886 | killagreg | 63 | #ifdef USE_KILLAGREG |
| 64 | static uint8_t MaxMenuItem = 14; |
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| 65 | #endif |
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| 908 | killagreg | 66 | #endif |
| 886 | killagreg | 67 | static uint8_t MenuItem=0; |
| 68 | |||
| 69 | // if KEY1 is activated goto previous menu item |
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| 70 | if(RemoteButtons & KEY1) |
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| 71 | { |
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| 72 | if(MenuItem) MenuItem--; |
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| 73 | else MenuItem = MaxMenuItem; |
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| 74 | LCD_Clear(); |
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| 75 | RemotePollDisplayLine = -1; |
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| 76 | } |
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| 77 | // if KEY2 is activated goto next menu item |
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| 78 | if(RemoteButtons & KEY2) |
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| 79 | { |
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| 80 | if (MenuItem == MaxMenuItem) MenuItem = 0; |
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| 81 | else MenuItem++; |
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| 82 | LCD_Clear(); |
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| 83 | RemotePollDisplayLine = -1; |
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| 84 | } |
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| 85 | |||
| 86 | // if KEY1 and KEY2 is activated goto initial menu item |
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| 87 | if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
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| 88 | |||
| 89 | // print menu item number in the upper right corner |
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| 90 | if(MenuItem < 10) |
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| 91 | { |
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| 92 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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| 93 | } |
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| 94 | else |
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| 95 | { |
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| 96 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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| 97 | } |
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| 98 | |||
| 99 | switch(MenuItem) |
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| 100 | { |
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| 101 | case 0:// Version Info Menu Item |
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| 595 | hbuss | 102 | LCD_printfxy(0,0,"+ MikroKopter +"); |
| 886 | killagreg | 103 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a'); |
| 104 | LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
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| 1 | ingob | 105 | LCD_printfxy(0,3,"(c) Holger Buss"); |
| 106 | break; |
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| 886 | killagreg | 107 | case 1:// Height Control Menu Item |
| 108 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
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| 109 | { |
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| 110 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
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| 111 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
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| 112 | LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
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| 113 | LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
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| 1 | ingob | 114 | } |
| 886 | killagreg | 115 | else |
| 116 | { |
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| 117 | LCD_printfxy(0,1,"No "); |
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| 118 | LCD_printfxy(0,2,"Height Control"); |
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| 1 | ingob | 119 | } |
| 886 | killagreg | 120 | |
| 1 | ingob | 121 | break; |
| 886 | killagreg | 122 | case 2:// Attitude Menu Item |
| 123 | LCD_printfxy(0,0,"Attitude"); |
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| 936 | killagreg | 124 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| 1 | ingob | 125 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| 886 | killagreg | 126 | LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
| 1 | ingob | 127 | break; |
| 886 | killagreg | 128 | case 3:// Remote Control Channel Menu Item |
| 129 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
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| 130 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
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| 131 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
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| 132 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
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| 1 | ingob | 133 | break; |
| 886 | killagreg | 134 | case 4:// Remote Control Mapping Menu Item |
| 912 | killagreg | 135 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| 911 | killagreg | 136 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| 886 | killagreg | 137 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
| 138 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
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| 1 | ingob | 139 | break; |
| 886 | killagreg | 140 | case 5:// Gyro Sensor Menu Item |
| 1 | ingob | 141 | LCD_printfxy(0,0,"Gyro - Sensor"); |
| 936 | killagreg | 142 | switch(BoardRelease) |
| 143 | { |
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| 144 | case 10: |
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| 145 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick); |
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| 146 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
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| 147 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralYaw - AdValueGyrYaw , AdNeutralYaw); |
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| 148 | break; |
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| 149 | |||
| 150 | case 11: |
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| 151 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2); |
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| 152 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
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| 153 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralYaw - AdValueGyrYaw , AdNeutralYaw/2); |
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| 154 | break; |
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| 155 | |||
| 156 | case 12: |
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| 157 | default: |
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| 158 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2, AnalogOffsetNick); |
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| 159 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2, AnalogOffsetRoll); |
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| 160 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralYaw - AdValueGyrYaw , AdNeutralYaw/2 , AnalogOffsetYaw ); |
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| 161 | break; |
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| 401 | hbuss | 162 | } |
| 936 | killagreg | 163 | break; |
| 886 | killagreg | 164 | case 6:// Acceleration Sensor Menu Item |
| 1 | ingob | 165 | LCD_printfxy(0,0,"ACC - Sensor"); |
| 936 | killagreg | 166 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick, NeutralAccX); |
| 886 | killagreg | 167 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
| 168 | LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
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| 1 | ingob | 169 | break; |
| 886 | killagreg | 170 | case 7:// Accumulator Voltage / Remote Control Level |
| 171 | LCD_printfxy(0,1,"Voltage: %5i",UBat); |
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| 172 | LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
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| 1 | ingob | 173 | break; |
| 886 | killagreg | 174 | case 8:// Compass Menu Item |
| 175 | LCD_printfxy(0,0,"Compass "); |
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| 176 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
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| 177 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
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| 178 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
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| 1 | ingob | 179 | break; |
| 886 | killagreg | 180 | case 9:// Poti Menu Item |
| 181 | LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
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| 182 | LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
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| 183 | LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
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| 184 | LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
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| 1 | ingob | 185 | break; |
| 886 | killagreg | 186 | case 10:// Servo Menu Item |
| 1 | ingob | 187 | LCD_printfxy(0,0,"Servo " ); |
| 911 | killagreg | 188 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
| 886 | killagreg | 189 | LCD_printfxy(0,2,"Position: %3i",ServoValue); |
| 911 | killagreg | 190 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
| 1 | ingob | 191 | break; |
| 886 | killagreg | 192 | case 11://Extern Control |
| 595 | hbuss | 193 | LCD_printfxy(0,0,"ExternControl " ); |
| 912 | killagreg | 194 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
| 195 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
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| 886 | killagreg | 196 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
| 595 | hbuss | 197 | break; |
| 886 | killagreg | 198 | |
| 938 | killagreg | 199 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| 886 | killagreg | 200 | case 12://GPS Lat/Lon coords |
| 201 | if (GPSInfo.status == INVALID) |
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| 202 | { |
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| 203 | LCD_printfxy(0,0,"No GPS data!"); |
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| 204 | } |
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| 205 | else |
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| 206 | { |
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| 207 | switch (GPSInfo.satfix) |
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| 208 | { |
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| 209 | case SATFIX_NONE: |
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| 210 | LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
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| 211 | break; |
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| 212 | case SATFIX_2D: |
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| 213 | LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
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| 214 | break; |
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| 215 | case SATFIX_3D: |
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| 216 | LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
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| 217 | break; |
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| 218 | default: |
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| 219 | LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
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| 220 | break; |
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| 221 | } |
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| 222 | int16_t i1,i2,i3; |
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| 223 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
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| 224 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
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| 225 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
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| 226 | LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3); |
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| 227 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
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| 228 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
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| 229 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
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| 230 | LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3); |
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| 231 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
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| 232 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
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| 233 | LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2); |
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| 234 | } |
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| 235 | break; |
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| 908 | killagreg | 236 | #endif |
| 237 | #ifdef USE_KILLAGREG |
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| 886 | killagreg | 238 | case 13:// MM3 Kompass |
| 239 | LCD_printfxy(0,0,"MM3 Offset"); |
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| 240 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
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| 241 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
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| 242 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
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| 243 | break; |
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| 244 | case 14://MM3 Range |
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| 245 | LCD_printfxy(0,0,"MM3 Range"); |
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| 246 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
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| 247 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
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| 248 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
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| 249 | break; |
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| 250 | #endif |
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| 251 | |||
| 252 | default: MaxMenuItem = MenuItem - 1; |
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| 253 | MenuItem = 0; |
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| 1 | ingob | 254 | break; |
| 255 | } |
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| 886 | killagreg | 256 | RemoteButtons = 0; |
| 304 | ingob | 257 | } |