| 135,6 → 135,7 |
|---|
| void GPS_UpdateParameter(void) |
| { |
| #define SWITCH_DELAY 500 |
| static u8 wpclear = FALSE; |
| static u32 SwitchDelay = 0; |
| static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
| |
| 172,8 → 173,6 |
|---|
| if(CheckDelay(SwitchDelay)) |
| { |
| GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
| NCFlags |= NC_FLAG_FREE; |
| } |
| } |
| else if(Parameter.NaviGpsModeControl < 180) |
| 182,8 → 181,6 |
|---|
| if(CheckDelay(SwitchDelay)) |
| { |
| GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
| NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
| NCFlags |= NC_FLAG_PH; |
| } |
| } |
| else |
| 192,8 → 189,6 |
|---|
| if(CheckDelay(SwitchDelay)) |
| { |
| GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
| NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
| NCFlags |= NC_FLAG_CH; |
| } |
| } |
| } |
| 214,15 → 209,40 |
|---|
| GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
| GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
| } |
| // FlightMode changed? |
| // FlightMode transitions |
| if(GPS_Parameter.FlightMode != FlightMode_Old) |
| { |
| BeepTime = 200; // beep to indicate that mode has been switched |
| BeepTime = 100; // beep to indicate that mode has been switched |
| NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| // if the mode has changed to free (avoid clear of WP-List when StopNavigation is active) |
| if((!StopNavigation) && (GPS_Parameter.FlightMode == GPS_FLIGHT_MODE_FREE)) WPList_Clear(); // clear WPList if mode has changed to Free |
| switch(GPS_Parameter.FlightMode) |
| { |
| case GPS_FLIGHT_MODE_FREE: |
| NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
| NCFlags |= NC_FLAG_FREE; |
| if(!StopNavigation && wpclear) |
| { |
| WPList_Clear(); // clear WPList if mode has changed to Free |
| wpclear = FALSE; |
| } |
| break; |
| |
| case GPS_FLIGHT_MODE_AID: |
| NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
| NCFlags |= NC_FLAG_PH; |
| break; |
| |
| case GPS_FLIGHT_MODE_WAYPOINT: |
| wpclear = TRUE; // clear WP's only if CH was once active |
| NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
| NCFlags |= NC_FLAG_CH; |
| break; |
| |
| default: // should never happen |
| NCFlags = 0; |
| break; |
| } |
| FlightMode_Old = GPS_Parameter.FlightMode; |
| } |
| FlightMode_Old = GPS_Parameter.FlightMode; |
| } |
| |
| //------------------------------------------------------------- |