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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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708 | holgerb | 67 | #include "uart0.h" |
41 | ingob | 68 | #include "uart1.h" |
267 | holgerb | 69 | #include "ncmag.h" |
380 | holgerb | 70 | #include "logging.h" |
426 | holgerb | 71 | #include "settings.h" |
548 | holgerb | 72 | #include "sdc.h" |
677 | holgerb | 73 | #include "analog.h" |
697 | holgerb | 74 | #include "canbus.h" |
708 | holgerb | 75 | #include "triggerlog.h" |
724 | holgerb | 76 | #include "CamCtrl.h" |
780 | holgerb | 77 | #include "eeprom.h" |
1 | ingob | 78 | |
79 | u8 DispPtr = 0; |
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201 | killagreg | 80 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
1 | ingob | 81 | |
201 | killagreg | 82 | |
41 | ingob | 83 | u8 MenuItem = 0; |
864 | holgerb | 84 | u8 MaxMenuItem = 34; |
41 | ingob | 85 | |
203 | killagreg | 86 | void Menu_Putchar(char c) |
87 | { |
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516 | holgerb | 88 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
203 | killagreg | 89 | } |
90 | |||
201 | killagreg | 91 | void Menu_Clear(void) |
1 | ingob | 92 | { |
201 | killagreg | 93 | u8 i; |
94 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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1 | ingob | 95 | } |
96 | |||
41 | ingob | 97 | // Display with 20 characters in 4 lines |
201 | killagreg | 98 | void Menu_Update(u8 Keys) |
41 | ingob | 99 | { |
516 | holgerb | 100 | s32 i1,i2; |
51 | killagreg | 101 | u8 sign; |
41 | ingob | 102 | |
201 | killagreg | 103 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
104 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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105 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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41 | ingob | 106 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
201 | killagreg | 107 | Menu_Clear(); |
41 | ingob | 108 | // print menu item number in the upper right corner |
516 | holgerb | 109 | if(MenuItem < 10) |
110 | { |
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41 | ingob | 111 | LCD_printfxy(17,0,"[%i]",MenuItem); |
112 | } |
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201 | killagreg | 113 | else // Menuitem >= 10 |
41 | ingob | 114 | { |
115 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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116 | } |
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117 | |||
516 | holgerb | 118 | switch(MenuItem) |
119 | { |
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41 | ingob | 120 | // Version Info |
121 | case 0: |
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708 | holgerb | 122 | if(IamMaster == SLAVE) LCD_printfxy(0,0,"+ Navi-Ctrl (S) +") |
123 | else |
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124 | if(IamMaster == MASTER)LCD_printfxy(0,0,"+ Navi-Ctrl (M) +") |
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125 | else LCD_printfxy(0,0,"++ Navi-Ctrl ++") |
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126 | |||
530 | holgerb | 127 | 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); |
617 | holgerb | 128 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) LCD_printfxy(19,1,"R"); |
516 | holgerb | 129 | if(ErrorCode) |
264 | killagreg | 130 | { |
131 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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516 | holgerb | 132 | LCD_printfxy(0,3,"%s",ErrorMSG); |
264 | killagreg | 133 | } |
489 | killagreg | 134 | else |
697 | holgerb | 135 | if(Partner.ErrorCode) |
489 | killagreg | 136 | { |
697 | holgerb | 137 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
138 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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139 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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140 | } |
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141 | else |
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142 | { |
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693 | holgerb | 143 | LCD_printfxy(0,2,"Set:%d %s", Parameter.ActiveSetting,EE_Parameter.Name); |
144 | LCD_printfxy(0,3,"%s",ErrorMSG); |
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145 | // LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
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321 | holgerb | 146 | } |
574 | holgerb | 147 | if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
785 | holgerb | 148 | //if(NC_To_FC_Flags & NC_TO_FC_SWITCHOFF_IF_LANDED) LCD_printfxy(16,2,"Off"); |
41 | ingob | 149 | break; |
150 | case 1: |
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697 | holgerb | 151 | if(IamMaster == SLAVE) LCD_printfxy(0,0,"++ Master - NC ++") |
152 | else LCD_printfxy(0,0,"++ Slave - NC ++"); |
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153 | |||
154 | if(CanRxMessage[CAN_ID_VERSION].D.Byte[3]) |
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155 | { |
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156 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", CanRxMessage[CAN_ID_VERSION].D.Byte[3]/10, CanRxMessage[CAN_ID_VERSION].D.Byte[3]%10, CanRxMessage[CAN_ID_VERSION].D.Byte[7], CanRxMessage[CAN_ID_VERSION].D.Byte[6], 'a'+ CanRxMessage[CAN_ID_VERSION].D.Byte[5]); |
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157 | if(Partner.ErrorCode) |
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158 | { |
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159 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
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160 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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161 | } |
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162 | else |
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163 | { |
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164 | LCD_printfxy(0,2,"Set:%d", CanRxMessage[CAN_ID_VERSION].D.Byte[1]); |
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165 | } |
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166 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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167 | if(Partner.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
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168 | } |
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169 | else |
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170 | LCD_printfxy(0,2,"not connected", CanTxMessage[CAN_ID_VERSION].D.Byte[1]); |
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832 | holgerb | 171 | /* |
172 | LCD_printfxy(0,2,"%2u",NaviData_HoTT_Text.HoTT_TextLevel); |
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173 | LCD_printfxy(0,3,"%s",NaviData_HoTT_Text.HoTT_DisplayText); |
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174 | if(NaviData_Home.OSDStatusFlags3 & OSD3_FLAG_MK_IS_READY) LCD_printfxy(5,2,"ready") else LCD_printfxy(5,2," -- "); |
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175 | */ |
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697 | holgerb | 176 | break; |
177 | case 2: |
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41 | ingob | 178 | if (GPSData.Status == INVALID) |
179 | { |
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180 | LCD_printfxy(0,0,"No GPS data"); |
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181 | LCD_printfxy(0,1,"Lon: "); |
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182 | LCD_printfxy(0,2,"Lat: "); |
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183 | LCD_printfxy(0,3,"Alt: "); |
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184 | } |
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185 | else // newdata or processed |
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186 | { |
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122 | killagreg | 187 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 188 | switch (GPSData.SatFix) |
189 | { |
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190 | case SATFIX_NONE: |
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127 | killagreg | 191 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 192 | break; |
193 | case SATFIX_2D: |
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127 | killagreg | 194 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 195 | break; |
196 | case SATFIX_3D: |
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127 | killagreg | 197 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 198 | break; |
199 | default: |
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127 | killagreg | 200 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 201 | break; |
202 | } |
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121 | killagreg | 203 | if(GPSData.Flags & FLAG_DIFFSOLN) |
204 | { |
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127 | killagreg | 205 | LCD_printfxy(12,0,"/DGPS"); |
121 | killagreg | 206 | } |
207 | else |
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208 | { |
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127 | killagreg | 209 | LCD_printfxy(12,0," "); |
121 | killagreg | 210 | } |
211 | |||
51 | killagreg | 212 | if(GPSData.Position.Longitude < 0) sign = '-'; |
213 | else sign = '+'; |
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53 | killagreg | 214 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
215 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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54 | killagreg | 216 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 217 | if(GPSData.Position.Latitude < 0) sign = '-'; |
218 | else sign = '+'; |
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53 | killagreg | 219 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
220 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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54 | killagreg | 221 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 222 | if(GPSData.Position.Altitude < 0) sign = '-'; |
223 | else sign = '+'; |
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53 | killagreg | 224 | i1 = abs(GPSData.Position.Altitude)/1000L; |
225 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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708 | holgerb | 226 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm V%d", sign, i1, i2, GPS_Version/1000); |
41 | ingob | 227 | } |
228 | break; |
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697 | holgerb | 229 | case 3: |
41 | ingob | 230 | if (GPSData.Status == INVALID) |
231 | { |
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232 | LCD_printfxy(0,0,"No GPS data"); |
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233 | LCD_printfxy(0,1,"Speed N: "); |
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234 | LCD_printfxy(0,2,"Speed E: "); |
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235 | LCD_printfxy(0,3,"Speed T: "); |
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236 | } |
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237 | else // newdata or processed |
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238 | { |
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124 | killagreg | 239 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 240 | switch (GPSData.SatFix) |
241 | { |
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242 | case SATFIX_NONE: |
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127 | killagreg | 243 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 244 | break; |
245 | case SATFIX_2D: |
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127 | killagreg | 246 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 247 | break; |
248 | case SATFIX_3D: |
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127 | killagreg | 249 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 250 | break; |
251 | default: |
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127 | killagreg | 252 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 253 | break; |
254 | } |
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124 | killagreg | 255 | if(GPSData.Flags & FLAG_DIFFSOLN) |
256 | { |
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127 | killagreg | 257 | LCD_printfxy(12,0,"/DGPS"); |
124 | killagreg | 258 | } |
259 | else |
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260 | { |
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127 | killagreg | 261 | LCD_printfxy(12,0," "); |
124 | killagreg | 262 | } |
263 | |||
41 | ingob | 264 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
265 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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266 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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267 | } |
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268 | break; |
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697 | holgerb | 269 | case 4: |
41 | ingob | 270 | LCD_printfxy(0,0,"GPS UTC Time"); |
271 | if (!SystemTime.Valid) |
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272 | { |
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273 | LCD_printfxy(0,1," "); |
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274 | LCD_printfxy(0,2," No time data! "); |
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275 | LCD_printfxy(0,3," "); |
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276 | } |
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277 | else // newdata or processed |
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278 | { |
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279 | LCD_printfxy(0,1," "); |
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280 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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281 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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282 | } |
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283 | break; |
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697 | holgerb | 284 | case 5: // Navi Params 1 from FC |
41 | ingob | 285 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
516 | holgerb | 286 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
287 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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288 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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41 | ingob | 289 | break; |
697 | holgerb | 290 | case 6: // Navi Params 2 from FC |
59 | killagreg | 291 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
532 | holgerb | 292 | LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m); |
516 | holgerb | 293 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
294 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
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59 | killagreg | 295 | break; |
697 | holgerb | 296 | case 7: // Navi Params 3 from FC |
59 | killagreg | 297 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
516 | holgerb | 298 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
299 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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300 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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59 | killagreg | 301 | break; |
697 | holgerb | 302 | case 8: // Max Ranges |
351 | holgerb | 303 | LCD_printfxy(0,0,"Maximum flying "); |
532 | holgerb | 304 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m); |
305 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m); |
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516 | holgerb | 306 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
532 | holgerb | 307 | if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled"); |
308 | if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled"); |
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355 | holgerb | 309 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
351 | holgerb | 310 | break; |
697 | holgerb | 311 | case 9: |
41 | ingob | 312 | LCD_printfxy(0,0,"Home Position"); |
215 | killagreg | 313 | if(NaviData.HomePosition.Status == INVALID) |
41 | ingob | 314 | { |
315 | LCD_printfxy(0,1," "); |
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316 | LCD_printfxy(0,2," Is not set. "); |
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317 | LCD_printfxy(0,3," "); |
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318 | } |
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319 | else |
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320 | { |
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215 | killagreg | 321 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
51 | killagreg | 322 | else sign = '+'; |
215 | killagreg | 323 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
324 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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55 | killagreg | 325 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 326 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
51 | killagreg | 327 | else sign = '+'; |
215 | killagreg | 328 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
329 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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55 | killagreg | 330 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 331 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
51 | killagreg | 332 | else sign = '+'; |
215 | killagreg | 333 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
334 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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589 | holgerb | 335 | LCD_printfxy(0,3,"Alt:%c%04ld.%1dm",sign, i1, i2/1000); |
588 | holgerb | 336 | switch(Parameter.HomeYawMode) |
337 | { |
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338 | case NO_CHANGE: LCD_printfxy(17,3,"(-)"); break; |
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339 | case FRONT_TO_HOME: LCD_printfxy(17,3,"(F)"); break; |
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340 | case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break; |
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341 | case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break; |
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342 | } |
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41 | ingob | 343 | } |
344 | break; |
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697 | holgerb | 345 | case 10: |
318 | holgerb | 346 | LCD_printfxy(0,0,"Target Position"); |
347 | if(NaviData.TargetPosition.Status == INVALID) |
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348 | { |
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349 | LCD_printfxy(0,1," "); |
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350 | LCD_printfxy(0,2," Is not set. "); |
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351 | LCD_printfxy(0,3," "); |
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352 | } |
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353 | else |
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354 | { |
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355 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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356 | else sign = '+'; |
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357 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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358 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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359 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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360 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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361 | else sign = '+'; |
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362 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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363 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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364 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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365 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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366 | else sign = '+'; |
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367 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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368 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
||
588 | holgerb | 369 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2); |
318 | holgerb | 370 | } |
371 | break; |
||
697 | holgerb | 372 | case 11: // RC stick controls from FC |
41 | ingob | 373 | LCD_printfxy(0,0,"RC-Sticks" ); |
516 | holgerb | 374 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
375 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
||
376 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
||
41 | ingob | 377 | break; |
864 | holgerb | 378 | case 12: // RC stick controls from FC |
865 | holgerb | 379 | LCD_printfxy(0,0,"External-Ctrl" ); |
864 | holgerb | 380 | |
381 | if(!EE_Parameter.ExternalControl) |
||
382 | { |
||
383 | LCD_printfxy(0,2,"not used" ); |
||
384 | } |
||
385 | else |
||
865 | holgerb | 386 | if((EE_Parameter.ExternalControl >= 248) && (FC.Poti[255 - EE_Parameter.ExternalControl] < 128)) |
864 | holgerb | 387 | { |
388 | LCD_printfxy(0,2,"Switch is off"); |
||
389 | } |
||
390 | else |
||
391 | { |
||
392 | if(FromFC_ExternalCtrlCfg) |
||
393 | { |
||
865 | holgerb | 394 | LCD_printfxy(0,1,"Nick:%4i Roll:%4i ",ExternControl.Nick, ExternControl.Roll); |
395 | LCD_printfxy(0,2,"Gas: %4i Yaw: %4i ",ExternControl.Gas, ExternControl.Gier); |
||
396 | LCD_printfxy(0,3,"Cfg:0x%02x SW:0x%02x",FromFC_ExternalCtrlCfg,FromFC_ExternalCtrlSwitch); |
||
864 | holgerb | 397 | } |
398 | else |
||
399 | LCD_printfxy(0,2,"No Data"); |
||
400 | } |
||
401 | break; |
||
402 | |||
403 | case 13: // RC poti controls from FC |
||
190 | killagreg | 404 | LCD_printfxy(0,0,"RC-Potis 1" ); |
516 | holgerb | 405 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
406 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
||
41 | ingob | 407 | break; |
864 | holgerb | 408 | case 14: // RC poti controls from FC |
190 | killagreg | 409 | LCD_printfxy(0,0,"RC-Potis 2" ); |
516 | holgerb | 410 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
411 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
||
190 | killagreg | 412 | break; |
864 | holgerb | 413 | case 15: // attitude from FC |
66 | killagreg | 414 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
415 | else sign = '+'; |
||
416 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
||
417 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
||
201 | killagreg | 418 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
66 | killagreg | 419 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
420 | else sign = '+'; |
||
421 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
||
422 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
||
516 | holgerb | 423 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
688 | holgerb | 424 | if(FromFlightCtrl_AccNick < 0) sign = '-'; |
67 | killagreg | 425 | else sign = '+'; |
688 | holgerb | 426 | i1 = abs(FromFlightCtrl_AccNick)/10; |
427 | i2 = abs(FromFlightCtrl_AccNick)%10; |
||
201 | killagreg | 428 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
688 | holgerb | 429 | if(FromFlightCtrl_AccRoll < 0) sign = '-'; |
67 | killagreg | 430 | else sign = '+'; |
688 | holgerb | 431 | i1 = abs(FromFlightCtrl_AccRoll)/10; |
432 | i2 = abs(FromFlightCtrl_AccRoll)%10; |
||
516 | holgerb | 433 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
41 | ingob | 434 | break; |
864 | holgerb | 435 | case 16: |
688 | holgerb | 436 | LCD_printfxy(0,0,"Analog inputs"); |
437 | LCD_printfxy(0,1,"A5:%3i ",AnalogData.Ch5); |
||
438 | LCD_printfxy(0,2,"A6:%3i ",AnalogData.Ch6); |
||
439 | LCD_printfxy(0,3,"A7:%3i ",AnalogData.Ch7); |
||
41 | ingob | 440 | break; |
864 | holgerb | 441 | case 17: |
475 | holgerb | 442 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
443 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
||
444 | if(FC.FromFC_DisableDeclination) |
||
516 | holgerb | 445 | { |
489 | killagreg | 446 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
475 | holgerb | 447 | } |
448 | else |
||
449 | { |
||
489 | killagreg | 450 | if(GeoMagDec < 0) sign = '-'; |
451 | else sign = '+'; |
||
452 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
475 | holgerb | 453 | } |
463 | holgerb | 454 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
516 | holgerb | 455 | break; |
864 | holgerb | 456 | case 18: // User Parameter |
153 | killagreg | 457 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
458 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
459 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
460 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
41 | ingob | 461 | break; |
864 | holgerb | 462 | case 19: // User Parameter |
426 | holgerb | 463 | LCD_printfxy(0,0,"SD-Card Logs"); |
548 | holgerb | 464 | if(SDCardInfo.Valid == 1) |
465 | { |
||
708 | holgerb | 466 | LCD_printfxy(0,1,"GPX: %4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
467 | LCD_printfxy(0,2,"KML: %4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
468 | LCD_printfxy(0,3,"Trig:%4i ",Logged_TRIG_Counter); |
||
548 | holgerb | 469 | } |
470 | else |
||
471 | LCD_printfxy(0,1,"no card in slot "); |
||
380 | holgerb | 472 | break; |
864 | holgerb | 473 | case 20: // magnetic field |
292 | killagreg | 474 | if(Compass_CalState) |
254 | killagreg | 475 | { |
292 | killagreg | 476 | LCD_printfxy(0,0,"Calibration:"); |
477 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
516 | holgerb | 478 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
292 | killagreg | 479 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
480 | switch(Compass_CalState) |
||
254 | killagreg | 481 | { |
292 | killagreg | 482 | case 1: |
483 | case 3: |
||
484 | LCD_printfxy(7,1,"pause"); |
||
485 | break; |
||
486 | |||
487 | case 2: |
||
488 | LCD_printfxy(7,1,"horizontal"); |
||
489 | break; |
||
490 | |||
491 | case 4: |
||
492 | LCD_printfxy(7,1,"vertical"); |
||
493 | break; |
||
494 | |||
495 | case 5: |
||
496 | LCD_printfxy(7,1,"data saved"); |
||
497 | LCD_printfxy(8,3," (END) "); |
||
498 | break; |
||
489 | killagreg | 499 | |
292 | killagreg | 500 | default: |
501 | break; |
||
254 | killagreg | 502 | } |
503 | } |
||
292 | killagreg | 504 | else |
254 | killagreg | 505 | { |
330 | holgerb | 506 | if(GeoMagDec < 0) sign = '-'; |
507 | else sign = '+'; |
||
254 | killagreg | 508 | LCD_printfxy(0,0,"Magnetic Field"); |
516 | holgerb | 509 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
292 | killagreg | 510 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
511 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
330 | holgerb | 512 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
489 | killagreg | 513 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
514 | else LCD_printfxy(11,2,"Intern"); |
||
338 | holgerb | 515 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
516 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
292 | killagreg | 517 | LCD_printfxy(15,3,"(CAL)"); |
518 | } |
||
519 | if(Keys & KEY4) // next step |
||
520 | { |
||
521 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
522 | else Compass_SetCalState(0); |
||
523 | } |
||
524 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
41 | ingob | 525 | break; |
864 | holgerb | 526 | case 21: |
345 | holgerb | 527 | if(GeoMagDec < 0) sign = '-'; |
528 | else sign = '+'; |
||
338 | holgerb | 529 | LCD_printfxy(0,0,"Magnetic Field"); |
530 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
531 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
532 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
533 | break; |
||
864 | holgerb | 534 | case 22: |
426 | holgerb | 535 | LCD_printfxy(0,0,"SD-Setting "); |
536 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
537 | break; |
||
864 | holgerb | 538 | case 23: |
453 | holgerb | 539 | LCD_printfxy(0,0,"CPU Processing "); |
659 | holgerb | 540 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10); |
663 | holgerb | 541 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10); |
659 | holgerb | 542 | if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
663 | holgerb | 543 | if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
453 | holgerb | 544 | break; |
864 | holgerb | 545 | case 24: |
489 | killagreg | 546 | LCD_printfxy(0,0,"BL Current" ); |
547 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
548 | for(i1 = 0; i1 < 3; i1++) |
||
549 | { |
||
502 | killagreg | 550 | 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)); |
551 | if(Motor[4 + i1 * 4].State == 0) break; |
||
489 | killagreg | 552 | } |
471 | holgerb | 553 | break; |
489 | killagreg | 554 | |
864 | holgerb | 555 | case 25: |
489 | killagreg | 556 | LCD_printfxy(0,0,"Ext. Compass" ); |
686 | holgerb | 557 | if(NCMAG_Compass_use_Orientation) |
489 | killagreg | 558 | { |
516 | holgerb | 559 | u8 tmp; |
560 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
561 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
||
562 | tmp = NCMAG_GetOrientationFromAcc(); |
||
563 | LCD_printfxy(0,3,"Orientat.: "); |
||
564 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
565 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
||
489 | killagreg | 566 | } |
567 | else |
||
568 | { |
||
569 | LCD_printfxy(0,1,"Not connected"); |
||
570 | } |
||
473 | holgerb | 571 | break; |
864 | holgerb | 572 | case 26: |
498 | killagreg | 573 | { |
504 | holgerb | 574 | static u8 index = 1; |
498 | killagreg | 575 | if(Keys & KEY3) // next step |
576 | { |
||
503 | holgerb | 577 | if(index < ToFC_MaxWpListIndex) index++; |
498 | killagreg | 578 | else index = 1; |
579 | } |
||
503 | holgerb | 580 | if(Keys & KEY4) FromFC_LoadWP_List = index; |
581 | LCD_printfxy(0,0,"Load WPL (fix)" ); |
||
498 | killagreg | 582 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
583 | // 12345678901234567890 |
||
584 | LCD_printfxy(0,2,"Points Index "); |
||
585 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
516 | holgerb | 586 | } |
498 | killagreg | 587 | break; |
864 | holgerb | 588 | case 27: |
504 | holgerb | 589 | { |
590 | static u8 index = 1; |
||
516 | holgerb | 591 | if(Keys & KEY3) |
504 | holgerb | 592 | { |
593 | if(index < ToFC_MaxWpListIndex) index++; |
||
594 | else index = 1; |
||
595 | } |
||
514 | holgerb | 596 | LCD_printfxy(0,0,"Load WPL (Rel)" ); |
504 | holgerb | 597 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
598 | // 12345678901234567890 |
||
599 | LCD_printfxy(0,2,"Points Index "); |
||
516 | holgerb | 600 | if(GPSData.SatFix == SATFIX_3D) |
601 | { |
||
602 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
603 | if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80; |
||
604 | } |
||
605 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
514 | holgerb | 606 | |
516 | holgerb | 607 | } |
504 | holgerb | 608 | break; |
864 | holgerb | 609 | case 28: |
514 | holgerb | 610 | { |
611 | static u8 index = 1; |
||
516 | holgerb | 612 | if(Keys & KEY3) |
514 | holgerb | 613 | { |
614 | if(index < ToFC_MaxWpListIndex) index++; |
||
615 | else index = 1; |
||
616 | } |
||
617 | if(Keys & KEY4) FromFC_Load_SinglePoint = index; |
||
618 | LCD_printfxy(0,0,"Load Point" ); |
||
619 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
620 | // 12345678901234567890 |
||
621 | // LCD_printfxy(0,2,"Points Index "); |
||
622 | LCD_printfxy(0,3,"Number: %3d (LOAD)", index); |
||
516 | holgerb | 623 | } |
514 | holgerb | 624 | break; |
864 | holgerb | 625 | case 29: |
514 | holgerb | 626 | { |
627 | static u8 index = 1; |
||
628 | if(Keys & KEY3) |
||
629 | { |
||
630 | if(index < ToFC_MaxWpListIndex) index++; |
||
631 | else index = 1; |
||
632 | } |
||
633 | LCD_printfxy(0,0,"Save Point" ); |
||
740 | holgerb | 634 | LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter_5cm/20); |
514 | holgerb | 635 | // 12345678901234567890 |
636 | LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
||
516 | holgerb | 637 | if(GPSData.SatFix == SATFIX_3D) |
514 | holgerb | 638 | { |
639 | LCD_printfxy(0,3,"Number: %3d (SAVE)", index); |
||
640 | if(Keys & KEY4) FromFC_Save_SinglePoint = index; |
||
641 | } |
||
642 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
516 | holgerb | 643 | } |
514 | holgerb | 644 | break; |
677 | holgerb | 645 | /* case 28: |
646 | LCD_printfxy(0,0,"Analog inputs"); |
||
647 | LCD_printfxy(0,0,"A0:%3i A1:%3i",AnalogData.Ch0,AnalogData.Ch1); |
||
648 | LCD_printfxy(0,1,"A2:%3i A3:%3i",AnalogData.Ch2,AnalogData.Ch3); |
||
649 | LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5); |
||
650 | LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7); |
||
651 | break; |
||
652 | */ |
||
688 | holgerb | 653 | |
864 | holgerb | 654 | case 30: |
708 | holgerb | 655 | LCD_printfxy(0,0,"Trigger Input"); |
656 | if(UART_VersionInfo.HWMajor >= 30) |
||
657 | { |
||
658 | if(BlitzSchuhConnected) LCD_printfxy(0,1,"External") |
||
659 | else LCD_printfxy(0,1,"Internal"); |
||
660 | LCD_printfxy(0,2,"Counter:%4d ",TrigLogging.Count); |
||
661 | LCD_printfxy(0,3,"Logfile:%4i ",Logged_TRIG_Counter); |
||
662 | } |
||
663 | else |
||
664 | { |
||
665 | LCD_printfxy(0,1,"Not Supported in "); |
||
666 | LCD_printfxy(0,2,"Hardware V%d ", UART_VersionInfo.HWMajor/10); |
||
667 | LCD_printfxy(0,3,"(V3 required)"); |
||
668 | } |
||
724 | holgerb | 669 | break; |
864 | holgerb | 670 | case 31: |
724 | holgerb | 671 | LCD_printfxy(0,0,"CamCtrl"); |
672 | if(!(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK)) |
||
673 | { |
||
674 | LCD_printfxy(0,2,"Not connected"); |
||
729 | holgerb | 675 | if(CamCtrlTimeout < 10) LCD_printfxy(14,3,"(conn)"); // connect manually |
864 | holgerb | 676 | if(Keys & KEY4) CamCtrlTimeout = 31000; |
724 | holgerb | 677 | } |
678 | else |
||
679 | { |
||
729 | holgerb | 680 | LCD_printfxy(8,0,"V%i.%02i",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
681 | |||
724 | holgerb | 682 | switch(FromCamCtrl.Type) |
683 | { |
||
729 | holgerb | 684 | case TYPE_LANC: LCD_printfxy(13,0,"L"); break; |
685 | case TYPE_IR: LCD_printfxy(13,0,"I"); break; |
||
686 | case TYPE_MULTI: LCD_printfxy(13,0,"M"); break; |
||
724 | holgerb | 687 | } |
688 | LCD_printfxy(0,0,"CamCtrl"); |
||
729 | holgerb | 689 | LCD_printfxy(0,1,"Stat:"); |
690 | if(FromCamCtrl.CamStatus & CAM_STATE_RDY) LCD_printfxy(5,1,"RDY") |
||
691 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) LCD_printfxy(10,1,"REC"); |
||
692 | if(FromCamCtrl.CamStatus & CAM_STATE_PHOTO_MODE) LCD_printfxy(14,1,"PHOTO"); |
||
693 | if(FromCamCtrl.CamStatus & CAM_STATE_ZOOM) LCD_printfxy(5,1,"ZOOM "); |
||
694 | if(!(FromCamCtrl.CamStatus & CAM_STATE_RDY)) LCD_printfxy(5,1," ---"); |
||
708 | holgerb | 695 | |
729 | holgerb | 696 | LCD_printfxy(17,1,"(%c)",CamCtrlCharacter); |
697 | |||
724 | holgerb | 698 | if(FromCamCtrl.CamStatus & CAM_STATE_CAM_DISCONN) LCD_printfxy(0,2,"Disconn.") |
699 | else |
||
700 | { |
||
729 | holgerb | 701 | if(FromCamCtrl.CamStatus & CAM_STATE_OFF) LCD_printfxy(1,2,"Cam:OFF") else LCD_printfxy(1,2,"Cam:ON"); |
724 | holgerb | 702 | } |
729 | holgerb | 703 | LCD_printfxy(11,2,"Pics:%3d ",FromCamCtrl.PhotoCount); |
704 | //LCD_printfxy(5,2,"x%2x ",FromCamCtrl.CamStatus); |
||
724 | holgerb | 705 | if(FromCamCtrl.PPM1Okay) LCD_printfxy(0,3,"Zoom:%3i",FromCamCtrl.PPM1Data); |
706 | if(!FromCamCtrl.PPM2Okay) // there is PPM Input connected to the CamCtrl |
||
707 | { |
||
708 | LCD_printfxy(14,3,"(TRIG)"); |
||
709 | if(EE_Parameter.CamCtrlModeChannel == 0) |
||
710 | { |
||
729 | holgerb | 711 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) LCD_printfxy(9,3,"(off)") |
712 | else LCD_printfxy(9,3,"(REC)"); // Control only possible if no switch is assigned |
||
724 | holgerb | 713 | } |
729 | holgerb | 714 | else LCD_printfxy(2,3,"CH:%3i",127+PPM_In[EE_Parameter.CamCtrlModeChannel]); |
724 | holgerb | 715 | |
716 | if(Keys & KEY3) |
||
717 | { |
||
718 | ToCamCtrl.CamCommand &= ~(CAM_CMD_REC_OFF|CAM_CMD_REC_ON); |
||
719 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) ToCamCtrl.CamCommand |= CAM_CMD_REC_OFF; |
||
720 | else ToCamCtrl.CamCommand |= CAM_CMD_REC_ON; |
||
721 | } |
||
722 | if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SHUTTER; |
||
723 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_RESET_CAM; |
||
724 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_ON; |
||
725 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_OFF; |
||
726 | } |
||
727 | else |
||
728 | { |
||
729 | if(FromCamCtrl.PPM2Okay) LCD_printfxy(10,3,"PPM:%3i",FromCamCtrl.PPM2Data); |
||
730 | } |
||
731 | } |
||
688 | holgerb | 732 | break; |
864 | holgerb | 733 | case 32: |
792 | holgerb | 734 | LCD_printfxy(0,0,"LaserCtrl"); |
735 | if(!(FromLaserCtrl.LaserStatus & LASER_I2C_OK)) |
||
736 | { |
||
737 | LCD_printfxy(0,2,"Not connected"); |
||
827 | holgerb | 738 | if(LaserCtrlTimeout < 10) LCD_printfxy(14,3,"(conn)"); // connect manually |
862 | holgerb | 739 | if(Keys & KEY4) LaserCtrlTimeout = 25000; |
792 | holgerb | 740 | } |
741 | else |
||
742 | { |
||
743 | LCD_printfxy(10,0,"V%i.%02i",1 + FromLaserCtrl.Version / 100, FromLaserCtrl.Version % 100); |
||
744 | LCD_printfxy(0,1,"Stat:"); |
||
745 | if(FromLaserCtrl.LaserStatus & LASER_DATA_OK) LCD_printfxy(8,1,"OK") else LCD_printfxy(5,1,"No Laser"); |
||
746 | LCD_printfxy(0,2,"Dist:%5dcm",FromLaserCtrl.Distance); |
||
747 | } |
||
748 | break; |
||
864 | holgerb | 749 | case 33: |
827 | holgerb | 750 | LCD_printfxy(0,0,"GimbalCtrl"); |
751 | if(!(FromGimbalCtrl.GimbalStatus & GIMBAL_I2C_OK)) |
||
752 | { |
||
753 | LCD_printfxy(0,2,"Not connected"); |
||
754 | if(GimbalCtrlTimeout < 10) LCD_printfxy(14,3,"(conn)"); // connect manually |
||
862 | holgerb | 755 | if(Keys & KEY4) GimbalCtrlTimeout = 30000; |
827 | holgerb | 756 | } |
757 | else |
||
758 | { |
||
859 | holgerb | 759 | LCD_printfxy(11,0,"V%i.%02i",1 + FromGimbalCtrl.Version / 100, FromGimbalCtrl.Version % 100); |
827 | holgerb | 760 | LCD_printfxy(0,1,"Stat:"); |
761 | if(FromGimbalCtrl.GimbalStatus & GIMBAL_DATA_OK) LCD_printfxy(8,1,"OK") else LCD_printfxy(5,1,"No Gimbal"); |
||
762 | LCD_printfxy(0,2,"Nick:%3i Roll:%3i",FromGimbalCtrl.Nick,FromGimbalCtrl.Roll); |
||
763 | LCD_printfxy(0,3,"Yaw: %3i [0,1 Deg]",FromGimbalCtrl.Yaw); |
||
859 | holgerb | 764 | if(Keys & KEY4) { ToGimbalCtrl.BitCmd |= (GIMBAL_CMD_YW_ZERO); MenuNickGimbalOffset = 0;} |
866 | holgerb | 765 | //if(PPM_In[EE_Parameter.GimbalOut1Channel] > 10) LCD_printfxy(18,1,"1") else LCD_printfxy(18,1,"0") |
766 | //if(PPM_In[EE_Parameter.GimbalOut2Channel] > 10) LCD_printfxy(19,1,"1") else LCD_printfxy(19,1,"0") |
||
767 | //if(ToGimbalCtrl.BitCmd & GIMBAL_CMD_OUT_TRIGGER) LCD_printfxy(16,1,"1") else LCD_printfxy(16,1,"0") |
||
827 | holgerb | 768 | } |
769 | break; |
||
864 | holgerb | 770 | case 34: // Temperaturecompensation of the Barosensor |
780 | holgerb | 771 | { |
772 | static s32 dT = 0, tAlt = 0, faktor = 0; |
||
773 | static s32 dP = 0, pAlt = 0; |
||
774 | static u8 stored = 0, heateroff_msg = 0; |
||
724 | holgerb | 775 | |
780 | holgerb | 776 | if(BaroCalState) |
777 | { |
||
778 | dP = NaviData.Altimeter_5cm/2 - pAlt; |
||
779 | dT = FC_Temperatur - tAlt; |
||
780 | faktor = (dP * 100) / dT; |
||
781 | |||
782 | if(abs(dT) < 130) LCD_printfxy(0,0,"Warm up slowly") |
||
783 | else |
||
784 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) LCD_printfxy(0,0,"Motors off! ") |
||
785 | else LCD_printfxy(0,0,"Wait... "); |
||
786 | |||
787 | if((abs(FC_Temperatur_raw/10 - tAlt) >= 250)) heateroff_msg = 1; |
||
788 | if((abs(FC_Temperatur_raw/10 - tAlt) <= 150)) heateroff_msg = 0; |
||
789 | if(heateroff_msg) LCD_printfxy(0,0,"Heater off! "); |
||
790 | |||
791 | LCD_printfxy(0,1,"T=%4dC dT=%3dC ",FC_Temperatur_raw/100,dT/10 ); |
||
792 | LCD_printfxy(0,2,"P=%4dm dP=%3dm ",NaviData.Altimeter_5cm/20,dP/10 ); |
||
793 | |||
794 | if(dT > 30) LCD_printfxy(0,3,"K=%4dcm/C ",faktor) |
||
795 | else LCD_printfxy(0,3," (cancel)",faktor); |
||
796 | |||
797 | if(abs(dT) > 120 && (abs(FC_Temperatur_raw/10 - FC_Temperatur) <= 5)) // kein Temperaturgradient und mehr als 12°C erwärmt |
||
798 | { |
||
799 | heateroff_msg = 0; |
||
800 | LCD_printfxy(12,3,"(save)"); |
||
801 | LCD_printfxy(0,0,"Okay "); |
||
802 | |||
803 | if(Keys & KEY4) // Store |
||
804 | { |
||
805 | LuftdruckTemperaturKompensation = faktor; |
||
806 | WriteBaroCalibrationToEEprom(); |
||
807 | BaroCalState = 0; |
||
808 | stored = 1; |
||
809 | } |
||
810 | } |
||
811 | else LCD_printfxy(15,3,"(--) "); |
||
812 | } |
||
813 | else |
||
814 | if(UART_VersionInfo.HWMajor >= 30) |
||
815 | { |
||
816 | LCD_printfxy(0,0,"Barometer"); |
||
817 | LCD_printfxy(0,1,"Temperat.= %4d.%1dC ",FC_Temperatur_raw/100,abs(FC_Temperatur_raw%100)/10); |
||
818 | LCD_printfxy(0,2,"Faktor = %4dcm/C ",LuftdruckTemperaturKompensation); |
||
819 | //LCD_printfxy(0,3,"Offset =%4dcm ",LuftdruckTemperaturOffset); |
||
820 | if(stored) LCD_printfxy(0,3,"Stored "); |
||
821 | |||
822 | if((abs(FC_Temperatur_raw/10 - FC_Temperatur) <= 5)) // kein Temperaturgradient |
||
823 | { |
||
824 | LCD_printfxy(15,3,"(CAL)"); |
||
825 | if(Keys & KEY4) // next step |
||
826 | { |
||
827 | pAlt = NaviData.Altimeter_5cm/2; |
||
828 | tAlt = FC_Temperatur_raw/10; |
||
829 | FC_Temperatur = FC_Temperatur_raw/10; |
||
830 | BaroCalState = 1; |
||
831 | stored = 0; |
||
832 | } |
||
833 | |||
834 | } |
||
835 | else LCD_printfxy(15,3,"(---)"); |
||
836 | } |
||
837 | else |
||
838 | { |
||
839 | LCD_printfxy(0,0,"Barometer"); |
||
840 | LCD_printfxy(0,1,"Temperat = ??C "); |
||
841 | LCD_printfxy(0,2,"Faktor = ?? cm/C"); |
||
842 | LCD_printfxy(0,3,"Not supported"); |
||
843 | } |
||
844 | |||
845 | if(Keys & KEY3) BaroCalState = 0; // cancel |
||
846 | } |
||
847 | break; |
||
848 | |||
849 | |||
850 | |||
41 | ingob | 851 | default: |
201 | killagreg | 852 | //MaxMenuItem = MenuItem - 1; |
41 | ingob | 853 | MenuItem = 0; |
854 | break; |
||
516 | holgerb | 855 | } |
1 | ingob | 856 | } |