85,7 → 85,7 |
/* |
* NaviCtrl OSD Structs |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/uart1.h |
* http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.16a/uart1.h |
*/ |
typedef struct { |
u16 Distance; // distance to target in dm |
94,8 → 94,9 |
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#define NAVIDATA_VERSION 5 |
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typedef struct { |
u8 Version; // version of the data structure |
typedef struct // 84 Bytes (note: this is the old protocol) |
{ |
u8 Version; // version of the data structure = 5 |
GPS_Pos_t CurrentPosition; // see gpspos.h for details |
GPS_Pos_t TargetPosition; |
GPS_PosDev_t TargetPositionDeviation; |
114,8 → 115,8 |
s8 AngleNick; // current Nick angle in 1° |
s8 AngleRoll; // current Rick angle in 1° |
u8 RC_Quality; // RC_Quality |
u8 FCStatusFlags; // Flags from FC |
u8 NCFlags; // Flags from NC |
u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
u8 Errorcode; // 0 --> okay |
u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
s16 TopSpeed; // velocity in vertical direction in cm/s |
122,10 → 123,13 |
u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
s16 SetpointAltitude; // setpoint for altitude |
u8 Gas; // for future use |
u8 Gas; // current gas (thrust) |
u16 Current; // actual current in 0.1A steps |
u16 UsedCapacity; // used capacity in mAh |
u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
} __attribute__((packed)) NaviData_t; |
extern NaviData_t NaviData; |
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/* |
* NaviCtrl & FCFlags Flags |
192,12 → 196,15 |
/* |
* MikroKopter config struct |
* portions taken and adapted from |
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h |
* http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.16a/eeprom.h |
*/ |
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#define EEPARAM_REVISION 108 // is count up, if paramater stucture has changed (compatibility) |
#define EEPARAM_REVISION 109 // !!!Update NC also!!! is count up, if paramater stucture has changed (compatibility) |
#define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
#define EE_BACKWARD_COMP 1 // change if the eepropm parameters are not backwards compatible |
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typedef struct |
{ |
unsigned char Revision; |
331,6 → 338,7 |
char Name[12]; |
unsigned char crc; // must be the last byte! |
} paramset_t; // since 2.14 -> size is always 179 Bytes |
// -> if changed: update NC-Data structure also <- |
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typedef struct { |