| 216,7 → 216,7 |
|---|
| if(RxdBuffer[2] == 'R' && !MotorenEin) |
| { |
| LcdClear(); |
| wdt_enable(WDTO_250MS); // Reset-Commando |
| wdt_enable(WDTO_15MS); // Reset-Commando |
| ServoActive = 0; |
| } |
| } |
| 637,7 → 637,8 |
|---|
| { |
| memcpy((unsigned char *)&ExternalControl, (unsigned char *)pRxData, sizeof(ExternalControl)); |
| ConfirmFrame = ExternalControl.Frame; |
| ExternalControlTimeout = 100; // 2 seconds timeout |
| if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0; |
| else ExternalControlTimeout = 100; // 2 seconds timeout |
| } |
| break; |
| case 'c': // Poll the 3D-Data |
| 845,6 → 846,7 |
|---|
| GetPPMChannelAnforderung = 0; |
| } |
| #ifndef REDUNDANT_FC_SLAVE |
| /* |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| if(!NaviDataOkay) // no external compass needed |
| 859,6 → 861,50 |
|---|
| if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
| else Kompass_Timer = SetDelay(999); |
| } |
| */ |
| |
| /* |
| #define EC_VALID 0x01 // only valid if this is 1 |
| #define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX |
| #define EC_USE_SWITCH 0x20 // if 1 -> use the Switches for further control |
| #define EC_IGNORE_RC_STICK 0x40 // direct control (do nor add to RC-Stick) |
| #define EC_IGNORE_RC 0x80 // if 1 -> for Flying without RC-Control |
| |
| // defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH) |
| #define EC2_PH 0x01 // GPS-Mode: PH |
| #define EC2_CH 0x02 // GPS-Mode: CH |
| #define EC2_CAREFREE 0x10 // |
| #define EC2_ALTITUDE 0x20 // |
| #define EC2_AUTOSTART 0x40 // |
| #define EC2_AUTOLAND 0x80 // |
| |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| static struct str_ExternControl Test; |
| |
| Test.Nick = ChannelNick; |
| Test.Roll = ChannelRoll; |
| Test.Gier = ChannelYaw; |
| Test.Gas = ChannelGas; |
| Test.Frame++; |
| |
| if(PPM_in[16] > 64) Test.Config = EC_GAS_ADD | EC_USE_SWITCH | EC_VALID; |
| else Test.Config = 0; |
| |
| if(PPM_in[13] > 64) Test.Config |= EC_IGNORE_RC | EC_IGNORE_RC_STICK; |
| |
| Test.Switches = 0; |
| if(PPM_in[5] > 64) Test.Switches |= EC2_ALTITUDE; |
| if(PPM_in[6] > 64) Test.Switches |= EC2_CH; |
| else if(PPM_in[6] > -64) Test.Switches |= EC2_PH; |
| if(PPM_in[8] > 64) Test.Switches |= EC2_CAREFREE; |
| if(PPM_in[10] > 64) Test.Switches |= EC2_AUTOSTART; |
| if(PPM_in[10] < -64) Test.Switches |= EC2_AUTOLAND; |
| |
| SendOutData('b', FC_ADDRESS, 1, (unsigned char *) &Test,sizeof(Test)); |
| Kompass_Timer = SetDelay(50); |
| } |
| */ |
| #endif |
| |
| #ifdef REDUNDANT_FC_SLAVE |