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331 | cascade | 1 | /**************************************************************************** |
1866 | - | 2 | * Copyright (C) 2009-2013 by Claas Anders "CaScAdE" Rathje * |
331 | cascade | 3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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5 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | ****************************************************************************/ |
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20 | |||
762 | - | 21 | #ifndef _MK_DATA_STRUCTS_H |
22 | #define _MK_DATA_STRUCTS_H |
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23 | |||
331 | cascade | 24 | /* ########################################################################## |
25 | * gain some fake arm compat :) |
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26 | * ##########################################################################*/ |
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27 | #define u8 uint8_t |
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28 | #define s8 int8_t |
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29 | #define u16 uint16_t |
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30 | #define s16 int16_t |
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31 | #define u32 uint32_t |
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32 | #define s32 int32_t |
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33 | |||
832 | - | 34 | /** |
35 | * MikroKopter Slave-Addresses |
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36 | * portions taken and adapted from |
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37 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h |
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38 | */ |
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39 | #define ANY_ADDRESS 0 |
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40 | #define FC_ADDRESS 1 |
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41 | #define NC_ADDRESS 2 |
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42 | #define MK3MAG_ADDRESS 3 |
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43 | #define MKOSD_ADDRESS 4 |
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44 | #define BL_ADDRESS 5 |
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45 | |||
46 | |||
331 | cascade | 47 | /* |
48 | * FC Debug Struct |
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49 | * portions taken and adapted from |
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1591 | - | 50 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/uart.h |
331 | cascade | 51 | */ |
783 | - | 52 | typedef struct { |
53 | unsigned char Status[2]; |
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54 | signed int Analog[32]; // Debugwerte |
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55 | } __attribute__((packed)) str_DebugOut; |
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331 | cascade | 56 | |
677 | cascade | 57 | typedef struct { |
783 | - | 58 | unsigned char SWMajor; |
59 | unsigned char SWMinor; |
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60 | unsigned char ProtoMajor; |
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61 | unsigned char ProtoMinor; |
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62 | unsigned char SWPatch; |
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63 | unsigned char HardwareError[5]; |
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64 | } __attribute__((packed)) str_VersionInfo; |
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677 | cascade | 65 | |
331 | cascade | 66 | /* |
783 | - | 67 | * NaviCtrl GPS Structs |
761 | - | 68 | * portions taken and adapted from |
783 | - | 69 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h |
331 | cascade | 70 | */ |
71 | typedef struct { |
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783 | - | 72 | s32 Longitude; // in 1E-7 deg |
73 | s32 Latitude; // in 1E-7 deg |
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74 | s32 Altitude; // in mm |
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75 | u8 Status;// validity of data |
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761 | - | 76 | } __attribute__((packed)) GPS_Pos_t; |
783 | - | 77 | |
761 | - | 78 | #define INVALID 0x00 |
79 | #define NEWDATA 0x01 |
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80 | #define PROCESSED 0x02 |
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331 | cascade | 81 | |
783 | - | 82 | |
83 | /* |
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84 | * NaviCtrl OSD Structs |
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85 | * portions taken and adapted from |
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941 | - | 86 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h |
783 | - | 87 | */ |
761 | - | 88 | typedef struct { |
783 | - | 89 | u16 Distance; // distance to target in dm |
90 | s16 Bearing; // course to target in deg |
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331 | cascade | 91 | } __attribute__((packed)) GPS_PosDev_t; |
92 | |||
93 | typedef struct { |
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783 | - | 94 | u8 Version; // version of the data structure |
95 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
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96 | GPS_Pos_t TargetPosition; |
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97 | GPS_PosDev_t TargetPositionDeviation; |
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98 | GPS_Pos_t HomePosition; |
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99 | GPS_PosDev_t HomePositionDeviation; |
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100 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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101 | u8 WaypointNumber; // number of stored waypoints |
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102 | u8 SatsInUse; // number of satellites used for position solution |
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103 | s16 Altimeter; // hight according to air pressure |
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104 | s16 Variometer; // climb(+) and sink(-) rate |
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105 | u16 FlyingTime; // in seconds |
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106 | u8 UBat; // Battery Voltage in 0.1 Volts |
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107 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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108 | s16 Heading; // current flight direction in ° as angle to north |
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941 | - | 109 | s16 CompassHeading; // current compass value in ° |
783 | - | 110 | s8 AngleNick; // current Nick angle in 1° |
111 | s8 AngleRoll; // current Rick angle in 1° |
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112 | u8 RC_Quality; // RC_Quality |
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113 | u8 FCFlags; // Flags from FC |
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114 | u8 NCFlags; // Flags from NC |
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115 | u8 Errorcode; // 0 --> okay |
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941 | - | 116 | u8 OperatingRadius; // current operation radius around the Home Position in m |
783 | - | 117 | s16 TopSpeed; // velocity in vertical direction in cm/s |
118 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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941 | - | 119 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
120 | s16 SetpointAltitude; // setpoint for altitude |
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783 | - | 121 | u8 Gas; // for future use |
122 | u16 Current; // actual current in 0.1A steps |
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123 | u16 UsedCapacity; // used capacity in mAh |
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331 | cascade | 124 | } __attribute__((packed)) NaviData_t; |
125 | |||
783 | - | 126 | #define NC_FLAG_FREE 0x01 |
127 | #define NC_FLAG_PH 0x02 |
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128 | #define NC_FLAG_CH 0x04 |
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129 | #define NC_FLAG_RANGE_LIMIT 0x08 |
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130 | #define NC_FLAG_NOSERIALLINK 0x10 |
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131 | #define NC_FLAG_TARGET_REACHED 0x20 |
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132 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
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832 | - | 133 | #define NC_FLAG_GPS_OK 0x80 |
728 | cascade | 134 | |
331 | cascade | 135 | /* |
136 | * MikroKopter Flags |
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783 | - | 137 | * portions taken and adapted from |
138 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
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331 | cascade | 139 | */ |
734 | cascade | 140 | #define FCFLAG_MOTOR_RUN 0x01 |
141 | #define FCFLAG_FLY 0x02 |
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142 | #define FCFLAG_CALIBRATE 0x04 |
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143 | #define FCFLAG_START 0x08 |
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144 | #define FCFLAG_NOTLANDUNG 0x10 |
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145 | #define FCFLAG_LOWBAT 0x20 |
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832 | - | 146 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
147 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
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407 | cascade | 148 | |
941 | - | 149 | // FC STATUS FLAGS2 |
150 | #define FC_STATUS2_CAREFREE 0x01 |
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151 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
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152 | |||
783 | - | 153 | #define DEFEKT_G_NICK 0x01 |
154 | #define DEFEKT_G_ROLL 0x02 |
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155 | #define DEFEKT_G_GIER 0x04 |
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156 | #define DEFEKT_A_NICK 0x08 |
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157 | #define DEFEKT_A_ROLL 0x10 |
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158 | #define DEFEKT_A_Z 0x20 |
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159 | #define DEFEKT_PRESSURE 0x40 |
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160 | #define DEFEKT_CAREFREE_ERR 0x80 |
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734 | cascade | 161 | |
783 | - | 162 | #define DEFEKT_I2C 0x01 |
163 | #define DEFEKT_BL_MISSING 0x02 |
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164 | #define DEFEKT_SPI_RX_ERR 0x04 |
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165 | #define DEFEKT_PPM_ERR 0x08 |
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166 | #define DEFEKT_MIXER_ERR 0x10 |
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167 | |||
168 | |||
407 | cascade | 169 | /* |
783 | - | 170 | * MikroKopter config struct |
171 | * portions taken and adapted from |
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1596 | - | 172 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.88e/eeprom.h |
407 | cascade | 173 | */ |
783 | - | 174 | typedef struct { |
1468 | - | 175 | unsigned char Revision; |
176 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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177 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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178 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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179 | unsigned char Luftdruck_D; // Wert : 0-250 |
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180 | unsigned char MaxHoehe; // Wert : 0-32 |
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181 | unsigned char Hoehe_P; // Wert : 0-32 |
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182 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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183 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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184 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
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185 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
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186 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
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187 | unsigned char Stick_P; // Wert : 1-6 |
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188 | unsigned char Stick_D; // Wert : 0-64 |
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189 | unsigned char StickGier_P; // Wert : 1-20 |
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190 | unsigned char Gas_Min; // Wert : 0-32 |
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191 | unsigned char Gas_Max; // Wert : 33-250 |
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192 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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193 | unsigned char KompassWirkung; // Wert : 0-32 |
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194 | unsigned char Gyro_P; // Wert : 10-250 |
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195 | unsigned char Gyro_I; // Wert : 0-250 |
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196 | unsigned char Gyro_D; // Wert : 0-250 |
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197 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
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198 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
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199 | unsigned char Gyro_Stability; // Wert : 0-16 |
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200 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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201 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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202 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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203 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
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204 | unsigned char I_Faktor; // Wert : 0-250 |
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205 | unsigned char UserParam1; // Wert : 0-250 |
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206 | unsigned char UserParam2; // Wert : 0-250 |
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207 | unsigned char UserParam3; // Wert : 0-250 |
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208 | unsigned char UserParam4; // Wert : 0-250 |
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209 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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210 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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211 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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212 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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213 | //--- Seit V0.75 |
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214 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
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215 | unsigned char ServoRollComp; // Wert : 0-250 |
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216 | unsigned char ServoRollMin; // Wert : 0-250 |
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217 | unsigned char ServoRollMax; // Wert : 0-250 |
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218 | //--- |
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219 | unsigned char ServoNickRefresh; // Speed of the Servo |
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220 | unsigned char ServoManualControlSpeed;// |
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221 | unsigned char CamOrientation; // |
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222 | unsigned char Servo3; // Value or mapping of the Servo Output |
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223 | unsigned char Servo4; // Value or mapping of the Servo Output |
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224 | unsigned char Servo5; // Value or mapping of the Servo Output |
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225 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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226 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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227 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
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228 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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229 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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230 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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231 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
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232 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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233 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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234 | unsigned char Driftkomp; |
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235 | unsigned char DynamicStability; |
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236 | unsigned char UserParam5; // Wert : 0-250 |
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237 | unsigned char UserParam6; // Wert : 0-250 |
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238 | unsigned char UserParam7; // Wert : 0-250 |
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239 | unsigned char UserParam8; // Wert : 0-250 |
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240 | //---Output --------------------------------------------- |
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241 | unsigned char J16Bitmask; // for the J16 Output |
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242 | unsigned char J16Timing; // for the J16 Output |
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243 | unsigned char J17Bitmask; // for the J17 Output |
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244 | unsigned char J17Timing; // for the J17 Output |
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245 | // seit version V0.75c |
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246 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
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247 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
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248 | //---NaviCtrl--------------------------------------------- |
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249 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
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250 | unsigned char NaviGpsGain; |
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251 | unsigned char NaviGpsP; |
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252 | unsigned char NaviGpsI; |
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253 | unsigned char NaviGpsD; |
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254 | unsigned char NaviGpsPLimit; |
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255 | unsigned char NaviGpsILimit; |
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256 | unsigned char NaviGpsDLimit; |
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257 | unsigned char NaviGpsACC; |
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258 | unsigned char NaviGpsMinSat; |
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259 | unsigned char NaviStickThreshold; |
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260 | unsigned char NaviWindCorrection; |
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261 | unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
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262 | unsigned char NaviOperatingRadius; |
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263 | unsigned char NaviAngleLimitation; |
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264 | unsigned char NaviPH_LoginTime; |
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265 | //---Ext.Ctrl--------------------------------------------- |
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266 | unsigned char ExternalControl; // for serial Control |
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267 | //---CareFree--------------------------------------------- |
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268 | unsigned char OrientationAngle; // Where is the front-direction? |
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269 | unsigned char CareFreeModeControl; // switch for CareFree |
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270 | unsigned char MotorSafetySwitch; |
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271 | unsigned char MotorSmooth; |
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272 | unsigned char ComingHomeAltitude; |
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273 | unsigned char FailSafeTime; |
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274 | unsigned char MaxAltitude; |
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1591 | - | 275 | unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
276 | unsigned char ServoFilterNick; |
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277 | unsigned char ServoFilterRoll; |
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1468 | - | 278 | //------------------------------------------------ |
279 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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280 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
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281 | unsigned char ExtraConfig; // bitcodiert |
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1591 | - | 282 | unsigned char GlobalConfig3; // bitcodiert |
1468 | - | 283 | char Name[12]; |
284 | unsigned char crc; // must be the last byte! |
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783 | - | 285 | } __attribute__((packed)) paramset_t; |
407 | cascade | 286 | |
783 | - | 287 | typedef struct { |
288 | u8 SettingsIndex; |
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289 | paramset_t param; |
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290 | } __attribute__((packed)) paramset_serial; |
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407 | cascade | 291 | |
1801 | - | 292 | |
293 | |||
294 | /* |
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295 | * MikroKopter 3D-Data struct |
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296 | * portions taken and adapted from |
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297 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.28o%2Fuart1.h |
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298 | */ |
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299 | typedef struct { |
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300 | s16 AngleNick; // in 0.1 deg |
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301 | s16 AngleRoll; // in 0.1 deg |
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302 | s16 Heading; // in 0.1 deg |
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303 | u8 StickNick; |
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304 | u8 StickRoll; |
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305 | u8 StickYaw; |
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306 | u8 StickGas; |
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307 | u8 reserve[4]; |
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308 | } __attribute__((packed)) Data3D_t; |
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309 | |||
310 | extern Data3D_t Data3D; |
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311 | |||
762 | - | 312 | #endif |