/trunk/main.h |
---|
4,12 → 4,12 |
#define VERSION_MAJOR 0 |
#define VERSION_MINOR 16 |
#define VERSION_PATCH 6 |
#define VERSION_PATCH 11 |
#define VERSION_SERIAL_MAJOR 10 |
#define VERSION_SERIAL_MINOR 1 |
#define FC_SPI_COMPATIBLE 9 |
#define FC_SPI_COMPATIBLE 10 |
#define MK3MAG_I2C_COMPATIBLE 3 |
// FC FLAGS |
/trunk/spi_slave.c |
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369,6 → 369,7 |
FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
NaviData.Gas = FromFlightCtrl.Param.Byte[10]; |
break; |
case SPI_CMD_MISC: |
380,9 → 381,10 |
Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
NaviData.SetpointAltitude = (s16) FromFlightCtrl.Param.Int[2]; // is located at byte 4 and 5 |
CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
break; |
case SPI_CMD_SERVOS: |
/trunk/uart1.c |
---|
434,7 → 434,7 |
UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
break; |
case 'p':// Set/Get NC-Parameter |
case 'j':// Set/Get NC-Parameter |
switch(SerialMsg.pData[0]) |
{ |
case 0: // get |
584,7 → 584,7 |
NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
//sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
//UART1_PutString(text); |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
UART1_Request_Parameter = FALSE; |
} |
else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
/trunk/uart1.h |
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101,7 → 101,8 |
s16 TopSpeed; // velocity in vertical direction in cm/s |
u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
u8 Reserve[3]; // for future use |
s16 SetpointAltitude; // setpoint for altitude |
u8 Gas; // for future use |
} __attribute__((packed)) NaviData_t; |
extern NaviData_t NaviData; |