275,6 → 275,7 |
static u8 counter = 50; |
static u8 CompassCalState = 0; |
static u8 FCCalibActive = 0; |
s16 tmp; |
|
if (SPI_RxBuffer_Request) |
{ |
314,8 → 315,12 |
ToFlightCtrl.Param.sInt[4] = -1; |
} |
|
if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &(ToFlightCtrl.Param.sInt[5]))) // Elevation set via 'j' command |
if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
{ |
ToFlightCtrl.Param.sInt[5] = tmp; |
} |
else |
{ |
if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
else ToFlightCtrl.Param.sInt[5] = 0; |
} |
340,11 → 345,9 |
ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
|
if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
{ |
s16 tmp; |
// if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
if(NCRARAM_STATE_VALID == NCParams_GetValue(3, &tmp)) |
{ |
ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
} |
else |
351,14 → 354,18 |
{ |
ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeRate; |
} |
if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
{ |
ToFlightCtrl.Param.sInt[5] = tmp; |
} |
else |
{ |
ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
} |
DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
} |
break; |
|
default: |
break; |
// 0 = 0,1 |