WebSVN - NaviCtrl - Path Comparison - / Rev 61 and / Rev 62

Ignore whitespace Rev 61 → Rev 62

 /trunk/GPS.c
 ,9 → 600,9
         NaviData.UBat = FC.UBat;
         NaviData.GroundSpeed = (u16)GPSData.Speed_Ground;
         NaviData.Heading = (s16)GPSData.Heading;
-        NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading / 10;
-        NaviData.AngleNick = FromFlightCtrl.IntegralNick / 10;
-        NaviData.AngleRoll = FromFlightCtrl.IntegralRoll / 10;
+        NaviData.CompassHeading = FromFlightCtrl.GyroHeading / 10; // in deg
+        NaviData.AngleNick = FromFlightCtrl.AngleNick / 10;     // in deg
+        NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10;     // in deg
         NaviData.RC_Quality = (u8) FC.RC_Quality;
         NaviData.MKFlags = (u8)FC.MKFlags;

 /trunk/Obj/Navi-Ctrl_STR9.hex
 ,18 → 43,18
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 ,120 → 63,120
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+:10BED400A0140100A0140100A0140100A01401008A
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+:10BF04001F9801003C0000005B980100160000002F
+:10BF140000000000000000000100000000E100E15A
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+:0CBFA40000000000000000000000000091
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+:04BFE000E002000477
+:10BFE400200100000000000000000000000000002C
+:10BFF40028030004B4050004B4060004B4050004D6
+:10C00400B4050004B4050004B4050004EC02000403
+:10C01400449401004C940100000000005494010079
+:10C0240000000000000000001001000000000000FB
+:10C03400000000000100000070030004B4060004C6
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+:10C0640000000000549401000000000000000000E3
+:10C0740010020000000000000000000002000000A8
+:10C0840000000000000000000000000000000000AC
+:10C094000000000000000000000000007C03000419
+:10C0A400449401004C9401000000000054940100E9
+:08C0B400000000000000000084
 :00000001FF

 /trunk/i2c.c
 ,8 → 436,8
                         I2C_RxBuffer = (u8 *)&I2C_Heading;
                         I2C_RxBufferSize = sizeof(I2C_Heading);
                         // updat atitude from spi rx buffer
-                        I2C_WriteAttitude.Roll = FromFlightCtrl.IntegralRoll;
-                        I2C_WriteAttitude.Nick = FromFlightCtrl.IntegralNick;
+                        I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
+                        I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
                         I2C_TxBuffer =  (u8 *)&I2C_WriteAttitude;
                         I2C_TxBufferSize = sizeof(I2C_WriteAttitude);
                         break;

 /trunk/menu.c
 ,10 → 268,10
             LCD_printfxy(0,2,"Po3:%3i  Po4:%3i ",FC.Poti3, FC.Poti4);
                         break;
                 case 10: // attitude from FC
-                        LCD_printfxy(0,0,"IntNick:  %5i", FromFlightCtrl.IntegralNick);
-            LCD_printfxy(0,1,"IntRoll:  %5i", FromFlightCtrl.IntegralRoll);
-                        LCD_printfxy(0,2,"AccNick:  %5i", FromFlightCtrl.AccNick);
-            LCD_printfxy(0,3,"AccRoll:  %5i", FromFlightCtrl.AccRoll);
+                        LCD_printfxy(0,0,"AngleNick:  %3i.%1i", FromFlightCtrl.AngleNick/10, FromFlightCtrl.AngleNick%10);
+            LCD_printfxy(0,1,"AngleRoll:  %3i.%1i", FromFlightCtrl.AngleRoll/10, FromFlightCtrl.AngleRoll%10);
+                        LCD_printfxy(0,2,"  AccNick:  %5i", FromFlightCtrl.AccNick);
+            LCD_printfxy(0,3,"  AccRoll:  %5i", FromFlightCtrl.AccRoll);
                         break;
                 case 11: // gyros from FC
                         LCD_printfxy(0,0,"GyroNick:  %4i", FromFlightCtrl.GyroNick);
 ,7 → 280,7
                         break;
                 case 12: // Remote Control Level from FC
             LCD_printfxy(0,0,"RC-Level:    %3i", FC.RC_Quality);
-                        LCD_printfxy(0,1,"Ubat:        %3i.%i V", FC.UBat/10, FC.UBat%10);
+                        LCD_printfxy(0,1,"Ubat:        %3i.%1i V", FC.UBat/10, FC.UBat%10);
                         LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading);
                         LCD_printfxy(0,3,"GyroHeading: %3i", FromFlightCtrl.GyroHeading/10);
             break;

 /trunk/spi_slave.c
 ,14 → 388,14
                 SPI_RxBuffer_Request = 0;
-                DebugOut.Analog[0] = FromFlightCtrl.IntegralNick;
-                DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll;
+                DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
+                DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
                 DebugOut.Analog[2] = FromFlightCtrl.AccNick;
                 DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
-                DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;
-        Data3D.Winkel[0] = FromFlightCtrl.IntegralNick;
-        Data3D.Winkel[1] = FromFlightCtrl.IntegralRoll;
-        Data3D.Winkel[2] = FromFlightCtrl.GyroHeading;
+                DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
+        Data3D.AngleNick = FromFlightCtrl.AngleNick;            // in 0.1 deg
+        Data3D.AngleRoll = FromFlightCtrl.AngleRoll;            // in 0.1 deg
+        Data3D.Heading   = FromFlightCtrl.GyroHeading;          // in 0.1 deg
         }  // EOF if(SPI_RxBuffer_Request)
 }

 /trunk/spi_slave.h
 ,11 → 18,11
 typedef struct
  {
          u8   Command;
-         s16  IntegralNick;
-         s16  IntegralRoll;
+         s16  AngleNick;         // NickAngle in 0.1 deg
+         s16  AngleRoll;         // RollAngle in 0.1 deg
          s16  AccNick;
          s16  AccRoll;
-         s16  GyroHeading;
+         s16  GyroHeading;       // Heading in 0.1 deg
          s16  GyroNick;
          s16  GyroRoll;
          s16  GyroYaw;

 /trunk/uart1.c
 ,7 → 92,7
 u8 Request_NaviData                     = FALSE;
 u8 Request_ErrorMessage     = FALSE;
 u8 Request_NewWaypoint          = FALSE;
-u8 Request_3DData                    = FALSE;
+u8 Request_Data3D                    = FALSE;
 u8 DisplayLine = 0;
 ,11 → 121,11
 Data3D_t Data3D;
 u32 DebugData_Timer;
-u32 DebugData_Interval = 1000; // in ms
+u32 DebugData_Interval = 1000;  // in ms
 u32 NaviData_Timer;
-u32 NaviData_Interval = 1000; // in ms
-u32 Data3D_Timer = 0;
-u32 Intervall3D = 0;
+u32 NaviData_Interval = 1000;   // in ms
+u32 Data3D_Timer = 0;                   // in ms
+u32 Data3D_Interval = 0;
 static u16 ptr_txd_buffer = 0;
 ,6 → 549,11
                                 }
                                 break;
+                        case 'c': // request for 3D data;
+                                Data3D_Interval = (u32) pRxData[0] * 10;
+                                if(Data3D_Interval > 0) Request_Data3D = TRUE;
+                                break;
                         case 'u': // redirect debug uart
                                 switch(pRxData[0])
                                 {
 ,11 → 613,6
                                 ConfirmFrame = ExternControl.Frame;
                                 break;
-                        case 'c': // request for debug data;
-                                Intervall3D = (u32) pRxData[0] * 10;
-                                if(Intervall3D > 0) Request_3DData = TRUE;
-                                break;
                         case 'd': // request for debug data;
                                 DebugData_Interval = (u32) pRxData[0] * 10;
                                 if(DebugData_Interval > 0) Request_DebugData = TRUE;
 ,7 → 693,7
                 SendOutData('B', NC_ADDRESS, 1, &ConfirmFrame, sizeof(ConfirmFrame));
                 ConfirmFrame = 0;
         }
-        if( ((DebugData_Interval>0 && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete)
+        if( (( (DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete)
         {
                 SendOutData('D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut));
                 DebugData_Timer = SetDelay(DebugData_Interval);
 ,11 → 700,11
                 Request_DebugData = FALSE;
         }
-        if(((Intervall3D>0 && CheckDelay(Data3D_Timer)) || Request_3DData) && txd_complete)
+        if((( (Data3D_Interval > 0) && CheckDelay(Data3D_Timer) ) || Request_Data3D) && txd_complete)
         {
                 SendOutData('C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D));
-                Data3D_Timer = SetDelay(Intervall3D);
-                Request_3DData = FALSE;
+                Data3D_Timer = SetDelay(Data3D_Interval);
+                Request_Data3D = FALSE;
         }
         if(Request_ExternalControl && txd_complete)

 /trunk/uart1.h
 ,9 → 11,11
 #include "ubx.h"
-typedef struct str_Data3D
+typedef struct
 {
-   s16 Winkel[3]; // nick, roll, compass in 0,1°
+   s16 AngleNick;       // in 0.1 deg
+   s16 AngleRoll;   // in 0.1 deg
+   s16 Heading;         // in 0.1 deg
    u8 reserve[8];
 } __attribute__((packed)) Data3D_t;

Subversion Repositories NaviCtrl

Compare Revisions

Ignore whitespace Rev 61 → Rev 62