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Rev | Author | Line No. | Line |
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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 40 | // + with our written permission |
41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 57 | #include <stdlib.h> |
58 | #include "91x_lib.h" |
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1 | ingob | 59 | #include "main.h" |
264 | killagreg | 60 | #include "led.h" |
41 | ingob | 61 | #include "ubx.h" |
62 | #include "GPS.h" |
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119 | killagreg | 63 | #include "timer1.h" |
242 | killagreg | 64 | #include "compass.h" |
41 | ingob | 65 | #include "spi_slave.h" |
66 | #include "menu.h" |
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67 | #include "uart1.h" |
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267 | holgerb | 68 | #include "ncmag.h" |
380 | holgerb | 69 | #include "logging.h" |
426 | holgerb | 70 | #include "settings.h" |
548 | holgerb | 71 | #include "sdc.h" |
1 | ingob | 72 | |
73 | u8 DispPtr = 0; |
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201 | killagreg | 74 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
1 | ingob | 75 | |
201 | killagreg | 76 | |
41 | ingob | 77 | u8 MenuItem = 0; |
514 | holgerb | 78 | u8 MaxMenuItem = 27; |
41 | ingob | 79 | |
203 | killagreg | 80 | void Menu_Putchar(char c) |
81 | { |
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516 | holgerb | 82 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
203 | killagreg | 83 | } |
84 | |||
201 | killagreg | 85 | void Menu_Clear(void) |
1 | ingob | 86 | { |
201 | killagreg | 87 | u8 i; |
88 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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1 | ingob | 89 | } |
90 | |||
41 | ingob | 91 | // Display with 20 characters in 4 lines |
201 | killagreg | 92 | void Menu_Update(u8 Keys) |
41 | ingob | 93 | { |
516 | holgerb | 94 | s32 i1,i2; |
51 | killagreg | 95 | u8 sign; |
41 | ingob | 96 | |
201 | killagreg | 97 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
98 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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99 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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41 | ingob | 100 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
201 | killagreg | 101 | Menu_Clear(); |
41 | ingob | 102 | // print menu item number in the upper right corner |
516 | holgerb | 103 | if(MenuItem < 10) |
104 | { |
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41 | ingob | 105 | LCD_printfxy(17,0,"[%i]",MenuItem); |
106 | } |
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201 | killagreg | 107 | else // Menuitem >= 10 |
41 | ingob | 108 | { |
109 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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110 | } |
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111 | |||
516 | holgerb | 112 | switch(MenuItem) |
113 | { |
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41 | ingob | 114 | // Version Info |
115 | case 0: |
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116 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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530 | holgerb | 117 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
118 | if(FC.RedundanceBlOperation) LCD_printfxy(19,1,"R"); |
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516 | holgerb | 119 | if(ErrorCode) |
264 | killagreg | 120 | { |
121 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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516 | holgerb | 122 | LCD_printfxy(0,3,"%s",ErrorMSG); |
264 | killagreg | 123 | } |
489 | killagreg | 124 | else |
125 | { |
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516 | holgerb | 126 | LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
127 | LCD_printfxy(0,2,"%s",ErrorMSG); |
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321 | holgerb | 128 | } |
41 | ingob | 129 | break; |
130 | case 1: |
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131 | if (GPSData.Status == INVALID) |
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132 | { |
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133 | LCD_printfxy(0,0,"No GPS data"); |
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134 | LCD_printfxy(0,1,"Lon: "); |
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135 | LCD_printfxy(0,2,"Lat: "); |
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136 | LCD_printfxy(0,3,"Alt: "); |
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137 | } |
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138 | else // newdata or processed |
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139 | { |
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122 | killagreg | 140 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 141 | switch (GPSData.SatFix) |
142 | { |
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143 | case SATFIX_NONE: |
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127 | killagreg | 144 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 145 | break; |
146 | case SATFIX_2D: |
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127 | killagreg | 147 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 148 | break; |
149 | case SATFIX_3D: |
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127 | killagreg | 150 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 151 | break; |
152 | default: |
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127 | killagreg | 153 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 154 | break; |
155 | } |
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121 | killagreg | 156 | if(GPSData.Flags & FLAG_DIFFSOLN) |
157 | { |
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127 | killagreg | 158 | LCD_printfxy(12,0,"/DGPS"); |
121 | killagreg | 159 | } |
160 | else |
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161 | { |
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127 | killagreg | 162 | LCD_printfxy(12,0," "); |
121 | killagreg | 163 | } |
164 | |||
51 | killagreg | 165 | if(GPSData.Position.Longitude < 0) sign = '-'; |
166 | else sign = '+'; |
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53 | killagreg | 167 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
168 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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54 | killagreg | 169 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 170 | if(GPSData.Position.Latitude < 0) sign = '-'; |
171 | else sign = '+'; |
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53 | killagreg | 172 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
173 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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54 | killagreg | 174 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 175 | if(GPSData.Position.Altitude < 0) sign = '-'; |
176 | else sign = '+'; |
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53 | killagreg | 177 | i1 = abs(GPSData.Position.Altitude)/1000L; |
178 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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54 | killagreg | 179 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
41 | ingob | 180 | } |
181 | break; |
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182 | case 2: |
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183 | if (GPSData.Status == INVALID) |
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184 | { |
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185 | LCD_printfxy(0,0,"No GPS data"); |
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186 | LCD_printfxy(0,1,"Speed N: "); |
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187 | LCD_printfxy(0,2,"Speed E: "); |
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188 | LCD_printfxy(0,3,"Speed T: "); |
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189 | } |
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190 | else // newdata or processed |
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191 | { |
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124 | killagreg | 192 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 193 | switch (GPSData.SatFix) |
194 | { |
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195 | case SATFIX_NONE: |
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127 | killagreg | 196 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 197 | break; |
198 | case SATFIX_2D: |
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127 | killagreg | 199 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 200 | break; |
201 | case SATFIX_3D: |
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127 | killagreg | 202 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 203 | break; |
204 | default: |
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127 | killagreg | 205 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 206 | break; |
207 | } |
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124 | killagreg | 208 | if(GPSData.Flags & FLAG_DIFFSOLN) |
209 | { |
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127 | killagreg | 210 | LCD_printfxy(12,0,"/DGPS"); |
124 | killagreg | 211 | } |
212 | else |
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213 | { |
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127 | killagreg | 214 | LCD_printfxy(12,0," "); |
124 | killagreg | 215 | } |
216 | |||
41 | ingob | 217 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
218 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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219 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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220 | } |
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221 | break; |
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222 | case 3: |
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223 | LCD_printfxy(0,0,"GPS UTC Time"); |
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224 | if (!SystemTime.Valid) |
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225 | { |
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226 | LCD_printfxy(0,1," "); |
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227 | LCD_printfxy(0,2," No time data! "); |
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228 | LCD_printfxy(0,3," "); |
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229 | } |
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230 | else // newdata or processed |
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231 | { |
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232 | LCD_printfxy(0,1," "); |
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233 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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234 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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235 | } |
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236 | break; |
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59 | killagreg | 237 | case 4: // Navi Params 1 from FC |
41 | ingob | 238 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
516 | holgerb | 239 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
240 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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241 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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41 | ingob | 242 | break; |
516 | holgerb | 243 | case 5: // Navi Params 2 from FC |
59 | killagreg | 244 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
532 | holgerb | 245 | LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m); |
516 | holgerb | 246 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
247 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
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59 | killagreg | 248 | break; |
249 | case 6: // Navi Params 3 from FC |
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250 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
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516 | holgerb | 251 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
252 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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253 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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59 | killagreg | 254 | break; |
351 | holgerb | 255 | case 7: // Max Ranges |
256 | LCD_printfxy(0,0,"Maximum flying "); |
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532 | holgerb | 257 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m); |
258 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m); |
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516 | holgerb | 259 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
532 | holgerb | 260 | if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled"); |
261 | if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled"); |
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355 | holgerb | 262 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
351 | holgerb | 263 | break; |
264 | case 8: |
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41 | ingob | 265 | LCD_printfxy(0,0,"Home Position"); |
215 | killagreg | 266 | if(NaviData.HomePosition.Status == INVALID) |
41 | ingob | 267 | { |
268 | LCD_printfxy(0,1," "); |
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269 | LCD_printfxy(0,2," Is not set. "); |
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270 | LCD_printfxy(0,3," "); |
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271 | } |
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272 | else |
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273 | { |
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215 | killagreg | 274 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
51 | killagreg | 275 | else sign = '+'; |
215 | killagreg | 276 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
277 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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55 | killagreg | 278 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 279 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
51 | killagreg | 280 | else sign = '+'; |
215 | killagreg | 281 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
282 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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55 | killagreg | 283 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 284 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
51 | killagreg | 285 | else sign = '+'; |
215 | killagreg | 286 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
287 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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54 | killagreg | 288 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
41 | ingob | 289 | } |
290 | break; |
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351 | holgerb | 291 | case 9: |
318 | holgerb | 292 | LCD_printfxy(0,0,"Target Position"); |
293 | if(NaviData.TargetPosition.Status == INVALID) |
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294 | { |
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295 | LCD_printfxy(0,1," "); |
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296 | LCD_printfxy(0,2," Is not set. "); |
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297 | LCD_printfxy(0,3," "); |
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298 | } |
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299 | else |
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300 | { |
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301 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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302 | else sign = '+'; |
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303 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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304 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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305 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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306 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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307 | else sign = '+'; |
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308 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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309 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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310 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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311 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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312 | else sign = '+'; |
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313 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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314 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
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315 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
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316 | } |
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317 | break; |
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351 | holgerb | 318 | case 10: // RC stick controls from FC |
41 | ingob | 319 | LCD_printfxy(0,0,"RC-Sticks" ); |
516 | holgerb | 320 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
321 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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322 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
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41 | ingob | 323 | break; |
351 | holgerb | 324 | case 11: // RC poti controls from FC |
190 | killagreg | 325 | LCD_printfxy(0,0,"RC-Potis 1" ); |
516 | holgerb | 326 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
327 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
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41 | ingob | 328 | break; |
351 | holgerb | 329 | case 12: // RC poti controls from FC |
190 | killagreg | 330 | LCD_printfxy(0,0,"RC-Potis 2" ); |
516 | holgerb | 331 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
332 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
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190 | killagreg | 333 | break; |
351 | holgerb | 334 | case 13: // attitude from FC |
66 | killagreg | 335 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
336 | else sign = '+'; |
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337 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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338 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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201 | killagreg | 339 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
66 | killagreg | 340 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
341 | else sign = '+'; |
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342 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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343 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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516 | holgerb | 344 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
67 | killagreg | 345 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
346 | else sign = '+'; |
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347 | i1 = abs(FromFlightCtrl.AccNick)/10; |
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348 | i2 = abs(FromFlightCtrl.AccNick)%10; |
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201 | killagreg | 349 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
516 | holgerb | 350 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
67 | killagreg | 351 | else sign = '+'; |
352 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
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353 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
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516 | holgerb | 354 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
41 | ingob | 355 | break; |
351 | holgerb | 356 | case 14: // gyros from FC |
516 | holgerb | 357 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
358 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
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41 | ingob | 359 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
489 | killagreg | 360 | if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ") |
361 | else LCD_printfxy(0,3,"not calibrated"); |
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41 | ingob | 362 | break; |
489 | killagreg | 363 | case 15: |
475 | holgerb | 364 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
365 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
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366 | if(FC.FromFC_DisableDeclination) |
||
516 | holgerb | 367 | { |
489 | killagreg | 368 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
475 | holgerb | 369 | } |
370 | else |
||
371 | { |
||
489 | killagreg | 372 | if(GeoMagDec < 0) sign = '-'; |
373 | else sign = '+'; |
||
374 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
475 | holgerb | 375 | } |
463 | holgerb | 376 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
516 | holgerb | 377 | break; |
351 | holgerb | 378 | case 16: // User Parameter |
153 | killagreg | 379 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
380 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
381 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
382 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
41 | ingob | 383 | break; |
380 | holgerb | 384 | case 17: // User Parameter |
426 | holgerb | 385 | LCD_printfxy(0,0,"SD-Card Logs"); |
548 | holgerb | 386 | if(SDCardInfo.Valid == 1) |
387 | { |
||
388 | LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
||
389 | LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
390 | } |
||
391 | else |
||
392 | LCD_printfxy(0,1,"no card in slot "); |
||
380 | holgerb | 393 | break; |
394 | case 18: // magnetic field |
||
292 | killagreg | 395 | if(Compass_CalState) |
254 | killagreg | 396 | { |
292 | killagreg | 397 | LCD_printfxy(0,0,"Calibration:"); |
398 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
516 | holgerb | 399 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
292 | killagreg | 400 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
401 | switch(Compass_CalState) |
||
254 | killagreg | 402 | { |
292 | killagreg | 403 | case 1: |
404 | case 3: |
||
405 | LCD_printfxy(7,1,"pause"); |
||
406 | break; |
||
407 | |||
408 | case 2: |
||
409 | LCD_printfxy(7,1,"horizontal"); |
||
410 | break; |
||
411 | |||
412 | case 4: |
||
413 | LCD_printfxy(7,1,"vertical"); |
||
414 | break; |
||
415 | |||
416 | case 5: |
||
417 | LCD_printfxy(7,1,"data saved"); |
||
418 | LCD_printfxy(8,3," (END) "); |
||
419 | break; |
||
489 | killagreg | 420 | |
292 | killagreg | 421 | default: |
422 | break; |
||
254 | killagreg | 423 | } |
424 | } |
||
292 | killagreg | 425 | else |
254 | killagreg | 426 | { |
330 | holgerb | 427 | if(GeoMagDec < 0) sign = '-'; |
428 | else sign = '+'; |
||
254 | killagreg | 429 | LCD_printfxy(0,0,"Magnetic Field"); |
516 | holgerb | 430 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
292 | killagreg | 431 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
432 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
330 | holgerb | 433 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
489 | killagreg | 434 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
435 | else LCD_printfxy(11,2,"Intern"); |
||
338 | holgerb | 436 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
437 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
292 | killagreg | 438 | LCD_printfxy(15,3,"(CAL)"); |
439 | } |
||
440 | if(Keys & KEY4) // next step |
||
441 | { |
||
442 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
443 | else Compass_SetCalState(0); |
||
444 | } |
||
445 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
41 | ingob | 446 | break; |
489 | killagreg | 447 | case 19: |
345 | holgerb | 448 | if(GeoMagDec < 0) sign = '-'; |
449 | else sign = '+'; |
||
338 | holgerb | 450 | LCD_printfxy(0,0,"Magnetic Field"); |
451 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
452 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
453 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
454 | break; |
||
489 | killagreg | 455 | case 20: |
426 | holgerb | 456 | LCD_printfxy(0,0,"SD-Setting "); |
457 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
458 | break; |
||
489 | killagreg | 459 | case 21: |
453 | holgerb | 460 | LCD_printfxy(0,0,"CPU Processing "); |
457 | holgerb | 461 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10); |
462 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10); |
||
463 | if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
||
464 | if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
||
453 | holgerb | 465 | break; |
489 | killagreg | 466 | case 22: |
467 | LCD_printfxy(0,0,"BL Current" ); |
||
468 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
469 | for(i1 = 0; i1 < 3; i1++) |
||
470 | { |
||
502 | killagreg | 471 | LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i1*4),BL3_Current(i1*4+1),BL3_Current(i1*4+2),BL3_Current(i1*4+3)); |
472 | if(Motor[4 + i1 * 4].State == 0) break; |
||
489 | killagreg | 473 | } |
471 | holgerb | 474 | break; |
489 | killagreg | 475 | |
473 | holgerb | 476 | case 23: |
489 | killagreg | 477 | LCD_printfxy(0,0,"Ext. Compass" ); |
478 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
479 | { |
||
516 | holgerb | 480 | u8 tmp; |
481 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
482 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
||
483 | tmp = NCMAG_GetOrientationFromAcc(); |
||
484 | LCD_printfxy(0,3,"Orientat.: "); |
||
485 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
486 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
||
489 | killagreg | 487 | } |
488 | else |
||
489 | { |
||
490 | LCD_printfxy(0,1,"Not connected"); |
||
491 | } |
||
473 | holgerb | 492 | break; |
498 | killagreg | 493 | |
494 | case 24: |
||
495 | { |
||
504 | holgerb | 496 | static u8 index = 1; |
498 | killagreg | 497 | if(Keys & KEY3) // next step |
498 | { |
||
503 | holgerb | 499 | if(index < ToFC_MaxWpListIndex) index++; |
498 | killagreg | 500 | else index = 1; |
501 | } |
||
503 | holgerb | 502 | if(Keys & KEY4) FromFC_LoadWP_List = index; |
503 | LCD_printfxy(0,0,"Load WPL (fix)" ); |
||
498 | killagreg | 504 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
505 | // 12345678901234567890 |
||
506 | LCD_printfxy(0,2,"Points Index "); |
||
507 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
516 | holgerb | 508 | } |
498 | killagreg | 509 | break; |
504 | holgerb | 510 | case 25: |
511 | { |
||
512 | static u8 index = 1; |
||
516 | holgerb | 513 | if(Keys & KEY3) |
504 | holgerb | 514 | { |
515 | if(index < ToFC_MaxWpListIndex) index++; |
||
516 | else index = 1; |
||
517 | } |
||
514 | holgerb | 518 | LCD_printfxy(0,0,"Load WPL (Rel)" ); |
504 | holgerb | 519 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
520 | // 12345678901234567890 |
||
521 | LCD_printfxy(0,2,"Points Index "); |
||
516 | holgerb | 522 | if(GPSData.SatFix == SATFIX_3D) |
523 | { |
||
524 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
525 | if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80; |
||
526 | } |
||
527 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
514 | holgerb | 528 | |
516 | holgerb | 529 | } |
504 | holgerb | 530 | break; |
514 | holgerb | 531 | case 26: |
532 | { |
||
533 | static u8 index = 1; |
||
516 | holgerb | 534 | if(Keys & KEY3) |
514 | holgerb | 535 | { |
536 | if(index < ToFC_MaxWpListIndex) index++; |
||
537 | else index = 1; |
||
538 | } |
||
539 | if(Keys & KEY4) FromFC_Load_SinglePoint = index; |
||
540 | LCD_printfxy(0,0,"Load Point" ); |
||
541 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
542 | // 12345678901234567890 |
||
543 | // LCD_printfxy(0,2,"Points Index "); |
||
544 | LCD_printfxy(0,3,"Number: %3d (LOAD)", index); |
||
516 | holgerb | 545 | } |
514 | holgerb | 546 | break; |
547 | case 27: |
||
548 | { |
||
549 | static u8 index = 1; |
||
550 | if(Keys & KEY3) |
||
551 | { |
||
552 | if(index < ToFC_MaxWpListIndex) index++; |
||
553 | else index = 1; |
||
554 | } |
||
555 | LCD_printfxy(0,0,"Save Point" ); |
||
556 | LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter/20); |
||
557 | // 12345678901234567890 |
||
558 | LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
||
516 | holgerb | 559 | if(GPSData.SatFix == SATFIX_3D) |
514 | holgerb | 560 | { |
561 | LCD_printfxy(0,3,"Number: %3d (SAVE)", index); |
||
562 | if(Keys & KEY4) FromFC_Save_SinglePoint = index; |
||
563 | } |
||
564 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
516 | holgerb | 565 | } |
514 | holgerb | 566 | break; |
41 | ingob | 567 | default: |
201 | killagreg | 568 | //MaxMenuItem = MenuItem - 1; |
41 | ingob | 569 | MenuItem = 0; |
570 | break; |
||
516 | holgerb | 571 | } |
1 | ingob | 572 | } |