1,5 → 1,5 |
/**************************************************************************** |
* Copyright (C) 2009-2013 by Claas Anders "CaScAdE" Rathje * |
* Copyright (C) 2009-2014 by Claas Anders "CaScAdE" Rathje * |
* admiralcascade@gmail.com * |
* Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
* * |
81,16 → 81,17 |
/* |
* NaviCtrl OSD Structs |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h |
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.04a/uart1.h |
*/ |
typedef struct { |
u16 Distance; // distance to target in dm |
s16 Bearing; // course to target in deg |
} __attribute__((packed)) GPS_PosDev_t; |
#define NAVIDATA_VERSION 5 |
|
typedef struct { |
u8 Version; // version of the data structure |
GPS_Pos_t CurrentPosition; // see ubx.h for details |
GPS_Pos_t CurrentPosition; // see gpspos.h for details |
GPS_Pos_t TargetPosition; |
GPS_PosDev_t TargetPositionDeviation; |
GPS_Pos_t HomePosition; |
103,12 → 104,12 |
u16 FlyingTime; // in seconds |
u8 UBat; // Battery Voltage in 0.1 Volts |
u16 GroundSpeed; // speed over ground in cm/s (2D) |
s16 Heading; // current flight direction in ° as angle to north |
s16 CompassHeading; // current compass value in ° |
s8 AngleNick; // current Nick angle in 1° |
s8 AngleRoll; // current Rick angle in 1° |
s16 Heading; // current flight direction in ° as angle to north |
s16 CompassHeading; // current compass value in ° |
s8 AngleNick; // current Nick angle in 1° |
s8 AngleRoll; // current Rick angle in 1° |
u8 RC_Quality; // RC_Quality |
u8 FCFlags; // Flags from FC |
u8 FCStatusFlags; // Flags from FC |
u8 NCFlags; // Flags from NC |
u8 Errorcode; // 0 --> okay |
u8 OperatingRadius; // current operation radius around the Home Position in m |
121,13 → 122,13 |
u16 UsedCapacity; // used capacity in mAh |
} __attribute__((packed)) NaviData_t; |
|
#define NC_FLAG_FREE 0x01 |
#define NC_FLAG_PH 0x02 |
#define NC_FLAG_CH 0x04 |
#define NC_FLAG_RANGE_LIMIT 0x08 |
#define NC_FLAG_NOSERIALLINK 0x10 |
#define NC_FLAG_TARGET_REACHED 0x20 |
#define NC_FLAG_MANUAL_CONTROL 0x40 |
#define NC_FLAG_FREE 0x01 |
#define NC_FLAG_PH 0x02 |
#define NC_FLAG_CH 0x04 |
#define NC_FLAG_RANGE_LIMIT 0x08 |
#define NC_FLAG_NOSERIALLINK 0x10 |
#define NC_FLAG_TARGET_REACHED 0x20 |
#define NC_FLAG_MANUAL_CONTROL 0x40 |
#define NC_FLAG_GPS_OK 0x80 |
|
/* |
166,8 → 167,11 |
/* |
* MikroKopter config struct |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.90j/eeprom.h |
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.04a/eeprom.h |
*/ |
|
#define EEPARAM_REVISION 98 // is count up, if paramater stucture has changed (compatibility) |
|
typedef struct { |
unsigned char Revision; |
unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
174,7 → 178,7 |
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
unsigned char Hoehe_MinGas; // Wert : 0-100 |
unsigned char Luftdruck_D; // Wert : 0-250 |
unsigned char MaxHoehe; // Wert : 0-32 |
unsigned char HoeheChannel; // Wert : 0-32 |
unsigned char Hoehe_P; // Wert : 0-32 |
unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
244,7 → 248,7 |
unsigned char WARN_J17_Bitmask; // for the J17 Output |
//---NaviCtrl--------------------------------------------- |
unsigned char NaviOut1Parameter; // for the J16 Output |
unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
unsigned char NaviGpsGain; |
unsigned char NaviGpsP; |
unsigned char NaviGpsI; |
252,7 → 256,7 |
unsigned char NaviGpsPLimit; |
unsigned char NaviGpsILimit; |
unsigned char NaviGpsDLimit; |
unsigned char NaviGpsACC; |
unsigned char NaviGpsA; |
unsigned char NaviGpsMinSat; |
unsigned char NaviStickThreshold; |
unsigned char NaviWindCorrection; |
264,7 → 268,7 |
unsigned char ExternalControl; // for serial Control |
//---CareFree--------------------------------------------- |
unsigned char OrientationAngle; // Where is the front-direction? |
unsigned char CareFreeModeControl; // switch for CareFree |
unsigned char CareFreeChannel; // switch for CareFree |
unsigned char MotorSafetySwitch; |
unsigned char MotorSmooth; |
unsigned char ComingHomeAltitude; |
273,8 → 277,11 |
unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
unsigned char ServoFilterNick; |
unsigned char ServoFilterRoll; |
unsigned char StartLandChannel; |
unsigned char LandingSpeed; |
unsigned char StartLandChannel; |
unsigned char LandingSpeed; |
unsigned char CompassOffset; |
unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
//------------------------------------------------ |
unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
282,7 → 289,7 |
unsigned char GlobalConfig3; // bitcodiert |
char Name[12]; |
unsigned char crc; // must be the last byte! |
} paramset_t; |
} paramset_t; // 127 bytes |
|
typedef struct { |
u8 SettingsIndex; |