283,7 → 283,7 |
VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
// cycle spi commands |
ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
// restart command cycle at the end |
292,7 → 292,7 |
switch (ToFlightCtrl.Command) |
{ |
case SPI_NCCMD_KALMAN: |
CalcHeadFree(); |
CalcHeadFree(); |
ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
299,7 → 299,7 |
ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
break; |
|
case SPI_NCCMD_VERSION: |
309,7 → 309,7 |
ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
ToFlightCtrl.Param.Byte[4] = BoardRelease; |
break; |
|
|
case SPI_NCCMD_GPSINFO: |
ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
340,15 → 340,15 |
FC.Flags = 0; |
ClearFCFlags = 0; |
} |
FC.Flags |= FromFlightCtrl.Param.Byte[8]; |
Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
FC.Flags |= FromFlightCtrl.Param.Byte[8]; |
Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
DebugOut.Analog[5] = FC.Flags; |
NaviData.FCFlags = FC.Flags; |
HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; |
HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
break; |
|
case SPI_FCCMD_ACCU: |
FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |