129,8 → 129,8 |
"GyroPitch(PID) ", |
"GyroRoll(PID) ", |
"GyroYaw ", //5 |
"AccPitch (raw) ", |
"AccRoll (raw) ", |
"OffsPitch ", |
"OffsRoll ", |
"AttitudeControl ", |
"AccPitch (angle)", |
"AccRoll (angle) ", //10 |
521,13 → 521,13 |
case 'n':// "Get Mixer Table |
while (!txd_complete) |
; // wait for previous frame to be sent |
SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix)); |
break; |
|
case 'm':// "Set Mixer Table |
if (pRxData[0] == EEMIXER_REVISION) { |
memcpy(&Mixer, (uint8_t*) pRxData, sizeof(Mixer)); |
MixerTable_WriteToEEProm(); |
memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix)); |
mixerMatrix_writeToEEProm(); |
while (!txd_complete) |
; // wait for previous frame to be sent |
tempchar1 = 1; |
543,7 → 543,7 |
|
case 'q':// request settings |
if (pRxData[0] == 0xFF) { |
pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
pRxData[0] = getParamByte(PID_ACTIVE_SET); |
} |
// limit settings range |
if (pRxData[0] < 1) |
551,7 → 551,7 |
else if (pRxData[0] > 5) |
pRxData[0] = 5; // limit to 5 |
// load requested parameter set |
ParamSet_ReadFromEEProm(pRxData[0]); |
paramSet_readFromEEProm(pRxData[0]); |
tempchar1 = pRxData[0]; |
tempchar2 = EEPARAM_REVISION; |
while (!txd_complete) |
568,7 → 568,7 |
== EEPARAM_REVISION)) // check for setting to be in range and version of settings |
{ |
memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
ParamSet_WriteToEEProm(pRxData[0]); |
paramSet_writeToEEProm(pRxData[0]); |
tempchar1 = getActiveParamSet(); |
beepNumber(tempchar1); |
} else { |
734,8 → 734,8 |
if((checkDelay(Compass_Timer)) && txd_complete) { |
ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
ToMk3Mag.UserParam[0] = dynamicParams.userParams[0]; |
ToMk3Mag.UserParam[1] = dynamicParams.userParams[1]; |
ToMk3Mag.CalState = compassCalState; |
SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
// the last state is 5 and should be send only once to avoid multiple flash writing |