| 87,7 → 87,7 |
|---|
| "Yaw Term ", //15 |
| "Throttle Term ", |
| "ControlAct/10 ", |
| "Acc. Vector ", |
| "RC Qual ", |
| "heightTrottleIn ", |
| "HeightdThrottle ", //20 |
| "Height ", |
| 96,11 → 96,12 |
|---|
| "HeightPdThrottle", |
| "HeightIdThrottle", //25 |
| "HeightDdThrottle", |
| "HeightPFactor ", |
| "HeightIFactor ", |
| "HeightDFactor ", |
| "Altitude ", //30 |
| "AirpressADC " }; |
| "NaviStickPitch ", |
| "NaviStickRoll ", |
| "StickPitch ", |
| "StickRoll ", //30 |
| "navi mode " |
| }; |
| |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| 653,11 → 654,9 |
|---|
| if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) |
| && txd_complete) { |
| sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D)); |
| 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.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_timer = setDelay(data3D_interval); |
| request_data3D = FALSE; |
| } |