Subversion Repositories FlightCtrl

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Ignore whitespace Rev 1214 → Rev 1215

/trunk/fc.c
1187,6 → 1187,7
DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift;
// DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion;
// DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K;
DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
DebugOut.Analog[30] = GPS_Nick;
DebugOut.Analog[31] = GPS_Roll;
 
/trunk/fc.h
42,6 → 42,7
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
extern unsigned char HoehenReglerAktiv;
extern volatile float NeutralAccZ;
extern long Umschlag180Nick, Umschlag180Roll;
extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
/trunk/main.c
307,6 → 307,18
ExternStickGier = 0;
}
if(SenderOkay) SenderOkay--;
 
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
 
if(NaviDataOkay)
{
if(--NaviDataOkay == 0)
{
GPS_Nick = 0;
GPS_Roll = 0;
}
}
if(!--I2CTimeout || MissingMotor)
{
if(!I2CTimeout)
/trunk/makefile
5,11 → 5,11
#-------------------------------------------------------------------
VERSION_MAJOR = 0
VERSION_MINOR = 73
VERSION_PATCH = 2
VERSION_PATCH = 3
 
VERSION_SERIAL_MAJOR = 10 # Serial Protocol
VERSION_SERIAL_MINOR = 1 # Serial Protocol
NC_SPI_COMPATIBLE = 5 # Navi-Kompatibilität
NC_SPI_COMPATIBLE = 6 # Navi-Kompatibilität
#-------------------------------------------------------------------
 
ifeq ($(MCU), atmega32)
/trunk/spi.c
16,7 → 16,7
unsigned char *SPI_TX_Buffer;
 
unsigned char SPITransferCompleted, SPI_ChkSum;
unsigned char SPI_RxDataValid;
unsigned char SPI_RxDataValid,NaviDataOkay = 0;
 
unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION };
unsigned char SPI_CommandCounter = 0;
43,6 → 43,7
ToNaviCtrl.Command = SPI_CMD_USER;
ToNaviCtrl.IntegralNick = 0;
ToNaviCtrl.IntegralRoll = 0;
FromNaviCtrl_Value.SerialDataOkay = 0;
SPI_RxDataValid = 0;
 
SPI_VersionInfo.Major = VERSION_MAJOR;
240,12 → 241,13
 
sei();
 
if (SPI_RxDataValid)
if(SPI_RxDataValid)
{
if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
{
GPS_Nick = FromNaviCtrl.GPS_Nick;
GPS_Roll = FromNaviCtrl.GPS_Roll;
NaviDataOkay = 250;
}
if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
258,6 → 260,7
FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0];
FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1];
FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2];
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
break;
 
default:
268,7 → 271,6
{
// KompassValue = 0;
// KompassRichtung = 0;
 
GPS_Nick = 0;
GPS_Roll = 0;
}
/trunk/spi.h
102,6 → 102,7
signed char Kalman_K;
signed char Kalman_MaxDrift;
signed char Kalman_MaxFusion;
unsigned char SerialDataOkay;
};
 
struct str_SPI_VersionInfo
117,7 → 118,7
extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
extern struct str_ToNaviCtrl ToNaviCtrl;
extern struct str_FromNaviCtrl FromNaviCtrl;
extern unsigned char SPI_CommandCounter;
extern unsigned char SPI_CommandCounter,NaviDataOkay;
 
//#define SPI_CMD_VALUE 0x03
 
/trunk/uart.c
76,7 → 76,7
" ",
"Kalman_MaxDrift ",
" ",
" ",
"Navi Serial Data",
"GPS_Nick ", //30
"GPS_Roll "
};