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Compare Revisions

• This comparison shows the changes necessary to convert path

  → / @ 158

  → / @ 159

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 158 → Rev 159

/trunk/GPS.c
168,9 → 168,9
{
if(Parameter.NaviGpsModeControl < 50)
{
if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY);
if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY);
if(CheckDelay(SwitchDelay))
{
{
GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE;
NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH);
NCFlags |= NC_FLAG_FREE;
475,7 → 475,7
GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty
if(GPS_pWaypoint != NULL) // if new WP exist
{ // update WP hold time stamp immediately!
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp
NCFlags &= ~NC_FLAG_TARGET_REACHED;
}
}
508,7 → 508,7
}
else
{
/*
/*
#define PH_MOVE_THRESHOLD 8
if( ((abs(FC.StickNick) > PH_MOVE_THRESHOLD) || (abs(FC.StickRoll) > PH_MOVE_THRESHOLD) ) && (FC.RC_Quality > 150))
{ // indirect control by moving the hold position with rc sticks
519,7 → 519,7
GPS_HoldPosition.Latitude += (s32)(cos_h*FC.StickNick + sin_h*FC.StickRoll);
GPS_HoldPosition.Longitude += (s32)((sin_h*FC.StickNick - cos_h*FC.StickRoll) / cos(RadiansFromGPS(GPS_HoldPosition.Latitude)) );
}*/
// set target position
// set target position
GPS_pTargetPosition = &GPS_HoldPosition;
GPS_TargetRadius = 100; // 1 meter
}
546,7 → 546,7
GPS_pWaypoint = WPList_Next(); // goto to next WP
if(GPS_pWaypoint != NULL) // if new WP exist
{ // update WP hold time stamp immediately!
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp
NCFlags &= ~NC_FLAG_TARGET_REACHED;
}
BeepTime = 255;
563,7 → 563,7
if(GPS_pWaypoint == NULL) GPS_pWaypoint = WPList_End(); // goto last WP if next one not exist
if(GPS_pWaypoint != NULL) // if new WP exist
{ // update WP hold time stamp immediately!
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp
NCFlags &= ~NC_FLAG_TARGET_REACHED;
}
}
573,7 → 573,7
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp
}
}
}
}
else // pointer to waypoint does not exist
{
// try to catch the first waypoint from the list
580,17 → 580,25
GPS_pWaypoint = WPList_Begin();
if(GPS_pWaypoint != NULL) // if new WP exist
{ // update WP hold time stamp immediately!
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp
NCFlags &= ~NC_FLAG_TARGET_REACHED;
}
}
}
// EOF waypoint trigger logic
if(GPS_pWaypoint != NULL) // Waypoint exist
{
// possible new data have been put into wp-list
if(GPS_pWaypoint->Position.Status == NEWDATA)
{
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp
NCFlags &= ~NC_FLAG_TARGET_REACHED;
}
// update the hold position
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition);
GPS_pTargetPosition = &(GPS_pWaypoint->Position);
// set target to the waypoint
GPS_pTargetPosition = &(GPS_pWaypoint->Position);
// update target radius
GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L;
}

/trunk/logging.c
438,17 → 438,20
}
}
else // a logging error has occured
{
if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside
{ // try to reinitialize sd-card when motors are not running
if(!(FC.MKFlags & MKFLAG_MOTOR_RUN))
{
Logging_Init(); // initialize the logs
logstate = LOGFILE_IDLE;
logtimer = SetDelay(10); // try next log in 10 mili sec
}
else
{ // retry in 5 seconds
logtimer = SetDelay(5000); // try again in 5 sec
}
if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside
{
Logging_Init(); // initialize the logs
logstate = LOGFILE_IDLE;
logtimer = SetDelay(10); // try next log in 10 mili sec
}
else
{ // retry in 5 seconds
logtimer = SetDelay(5000); // try again in 5 sec
}
} // EOF motors are not running
} //EOF logfile error
} // EOF CheckDelay
}// EOF Card in Slot

/trunk/uart1.c
441,7 → 441,11
break;
case 1: // set
NCParams_SetValue(SerialMsg.pData[1], (s16*)(&SerialMsg.pData[2]));
{
s16 value;
value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;
NCParams_SetValue(SerialMsg.pData[1], &value);
}
break;
default: