| /trunk/GPS.h |
|---|
| 11,6 → 11,14 |
| s16 Yaw; |
| } __attribute__((packed)) GPS_Stick_t; |
| typedef struct |
| { |
| s16 Azimuth; // angle measured clockwise from north |
| s16 Elevation; // angle measured upwards from horizont |
| u8 State; // NEWDATA, PROCESSED, INVALID |
| } __attribute__((packed)) CAM_Orientation_t; |
| extern CAM_Orientation_t CAM_Orientation; |
| extern Waypoint_t* GPS_pWaypoint; |
| void GPS_Init(void); |
| /trunk/params.c |
|---|
| 1,6 → 1,7 |
| #include "91x_lib.h" |
| #include "params.h" |
| #include "spi_slave.h" |
| #include "waypoints.h" |
| s16 NCParams[255]; |
| 13,8 → 14,21 |
| u8 NCParams_SetValue(u8 id, s16* pvalue) |
| { |
| NCParams[id] = *pvalue; |
| // Process data |
| if(id == NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT) NewCompassDirectionSetpoint = NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT]; |
| switch(id) |
| { |
| case NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT: |
| if(NULL == WPList_GetPOI()) |
| { |
| CAM_Orientation.Azimuth = *pvalue; |
| CAM_Orientation.Elevation = 0; |
| CAM_Orientation.State = NEWDATA; |
| } |
| break; |
| default: |
| break; |
| } |
| return 1; |
| } |
| /trunk/spi_slave.c |
|---|
| 102,7 → 102,6 |
| u8 SPI_CommandCounter = 0; |
| s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| s32 HeadFreeStartAngle = 0; |
| s16 NewCompassDirectionSetpoint = -1; |
| s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| SPI_Version_t FC_Version; |
| 297,9 → 296,17 |
| 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[7] ist frei |
| ToFlightCtrl.Param.sInt[4] = (s16) NewCompassDirectionSetpoint; |
| NewCompassDirectionSetpoint = -1; // delete the Value |
| if(CAM_Orientation.State == NEWDATA) |
| { |
| ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
| ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
| CAM_Orientation.State = PROCESSED; |
| } |
| else |
| { // set invalid values |
| ToFlightCtrl.Param.sInt[4] = -1; |
| ToFlightCtrl.Param.sInt[5] = -1; |
| } |
| break; |
| case SPI_NCCMD_VERSION: |
| /trunk/spi_slave.h |
|---|
| 21,7 → 21,6 |
| extern s32 ToFcGpsZ; |
| extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
| extern s32 HeadFreeStartAngle; |
| extern s16 NewCompassDirectionSetpoint; |
| extern s16 FC_WP_EventChannel; |
| typedef struct |
| /trunk/waypoints.c |
|---|
| 209,7 → 209,7 |
| else POIIndex = 0; |
| return(&(WPList[WPIndex-1])); |
| } |
| else // list conbtains some points but no WP in the list |
| else // list contains some points but no WP in the list |
| { |
| // search backward for a POI! |
| for(i = 1; i <= WPNumber; i++) |