| 13,6 → 13,7 |
|---|
| #include "externalControl.h" |
| #include "output.h" |
| #include "attitude.h" |
| #include "commands.h" |
| |
| #ifdef USE_DIRECT_GPS |
| #include "mk3mag.h" |
| 96,10 → 97,10 |
|---|
| "HeightPdThrottle", |
| "HeightIdThrottle", //25 |
| "HeightDdThrottle", |
| "NaviStickPitch ", |
| "NaviStickRoll ", |
| "StickPitch ", |
| "StickRoll ", //30 |
| "HeadingInDegrees", |
| "TargetHeadingDeg", |
| "Diff ", |
| " ", //30 |
| "navi mode " |
| }; |
| |
| 654,9 → 655,9 |
|---|
| if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) |
| && txd_complete) { |
| sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D)); |
| data3D.anglePitch = (int16_t) (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) (attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1° |
| data3D.angleRoll = (int16_t) (attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1° |
| data3D.heading = (int16_t) (heading / (GYRO_DEG_FACTOR_YAW/10)); // convert to multiple of 0.1° |
| data3D_timer = setDelay(data3D_interval); |
| request_data3D = FALSE; |
| } |
| 669,8 → 670,8 |
|---|
| |
| #ifdef USE_DIRECT_GPS |
| if((checkDelay(toMk3MagTimer)) && 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.attitude[0] = (int16_t)(attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // approx. 0.1 deg |
| toMk3Mag.attitude[1] = (int16_t)(attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // approx. 0.1 deg |
| toMk3Mag.userParam[0] = dynamicParams.userParams[0]; |
| toMk3Mag.userParam[1] = dynamicParams.userParams[1]; |
| toMk3Mag.calState = compassCalState; |