87,7 → 87,7 |
"Yaw Term ", //15 |
"Throttle Term ", |
"ControlAct/10 ", |
"RC Qual ", |
"Acc. Vector ", |
"heightTrottleIn ", |
"HeightdThrottle ", //20 |
"Height ", |
96,12 → 96,11 |
"HeightPdThrottle", |
"HeightIdThrottle", //25 |
"HeightDdThrottle", |
"NaviStickPitch ", |
"NaviStickRoll ", |
"StickPitch ", |
"StickRoll ", //30 |
"navi mode " |
}; |
"HeightPFactor ", |
"HeightIFactor ", |
"HeightDFactor ", |
"Altitude ", //30 |
"AirpressADC " }; |
|
/****************************************************************/ |
/* Initialization of the USART0 */ |
654,9 → 653,11 |
if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) |
&& txd_complete) { |
sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D)); |
data3D.anglePitch = (int16_t) (angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1° |
data3D.angleRoll = (int16_t) (angle[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1° |
data3D.heading = (int16_t) (yawGyroHeading / (GYRO_DEG_FACTOR_YAW/10)); // convert to multiple of 0.1° |
data3D.anglePitch = (int16_t) ((10 * angle[PITCH]) |
/ GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
data3D.angleRoll = (int16_t) ((10 * angle[ROLL]) |
/ GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
data3D.heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
data3D_timer = setDelay(data3D_interval); |
request_data3D = FALSE; |
} |