| /trunk/spi_slave.c |
|---|
| 103,7 → 103,7 |
| s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| s32 HeadFreeStartAngle = 0; |
| s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| u32 ToFC_AltitudeSpeed = 0; |
| u32 ToFC_AltitudeRate = 0; |
| s32 ToFC_AltitudeSetpoint = 0; |
| SPI_Version_t FC_Version; |
| 282,9 → 282,9 |
| ToFlightCtrl.CompassHeading = Compass_Heading; |
| DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| // ToFlightCtrl.MagVecX = MagVector.X; |
| // ToFlightCtrl.MagVecY = MagVector.Y; |
| // ToFlightCtrl.MagVecZ = MagVector.Z; |
| ToFlightCtrl.MagVecX = MagVector.X; |
| ToFlightCtrl.MagVecY = MagVector.Y; |
| ToFlightCtrl.MagVecZ = MagVector.Z; |
| ToFlightCtrl.NCStatus = 0; |
| // cycle spi commands |
| ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 334,7 → 334,7 |
| ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
| ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
| ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeSpeed; |
| ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeRate; |
| ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
| break; |
| default: |
| /trunk/spi_slave.h |
|---|
| 22,7 → 22,7 |
| extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
| extern s32 HeadFreeStartAngle; |
| extern s16 FC_WP_EventChannel; |
| extern u32 ToFC_AltitudeSpeed; |
| extern u32 ToFC_AltitudeRate; |
| extern s32 ToFC_AltitudeSetpoint; |
| typedef struct |
| 62,9 → 62,9 |
| u8 Command; |
| GPS_Stick_t GPSStick; |
| s16 CompassHeading; |
| // s16 MagVecX; |
| // s16 MagVecY; |
| // s16 MagVecZ; |
| s16 MagVecX; |
| s16 MagVecY; |
| s16 MagVecZ; |
| s16 NCStatus; |
| u16 BeepTime; |
| union |
| /trunk/waypoints.c |
|---|
| 98,8 → 98,9 |
| PointList[i].Heading = 361; // invalid value |
| PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
| PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
| PointList[i].Type = POINT_TYPE_INVALID; |
| PointList[i].Event_Flag = 0; // future implementation |
| PointList[i].Type = POINT_TYPE_INVALID; |
| PointList[i].AltitudeRate = 0; // no change of setpoint |
| } |
| return TRUE; |
| } |
| /trunk/waypoints.h |
|---|
| 19,9 → 19,8 |
| u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
| u8 Type; // typeof Waypoint |
| u8 WP_EventChannelValue; // |
| s16 DesiredAltitude; |
| u8 ClimbingSpeed; |
| u8 reserve[6]; // reserve |
| u8 AltitudeRate; // rate to change the setpoint |
| u8 reserve[8]; // reserve |
| } __attribute__((packed)) Point_t; |
| extern Point_t* GPS_pPoi; // pointer to the actual point of interrest |