| /trunk/compass.c |
|---|
| 142,6 → 142,8 |
| void Compass_Update(void) |
| { |
| static s16vec_t old; |
| static u32 check_value_counter = 0; |
| // check for new cal state |
| Compass_UpdateCalState(); |
| // initiate new compass communication |
| 158,6 → 160,19 |
| DebugOut.Analog[24] = MagVector.X; |
| DebugOut.Analog[25] = MagVector.Y; |
| DebugOut.Analog[26] = MagVector.Z; |
| if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
| if(check_value_counter > 5000) |
| { |
| Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
| } |
| else check_value_counter++; |
| DebugOut.Analog[16] = check_value_counter; |
| old.X = MagVector.X; |
| old.Y = MagVector.Y; |
| old.Z = MagVector.Z; |
| } |
| // put cal state into fifo |
| /trunk/main.h |
|---|
| 35,7 → 35,7 |
| #define VERSION_SERIAL_MINOR 0 |
| #ifndef FOLLOW_ME |
| #define FC_SPI_COMPATIBLE 20 |
| #define FC_SPI_COMPATIBLE 21 |
| #else |
| #define FC_SPI_COMPATIBLE 0xFF |
| #endif |
| 148,6 → 148,7 |
| u8 OrientationAngle; |
| u8 GlobalConfig; |
| u8 ExtraConfig; |
| u8 ComingHomeAltitude; |
| } __attribute__((packed)) Param_t; |
| typedef struct |
| /trunk/menu.c |
|---|
| 115,12 → 115,17 |
| case 0: |
| LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
| LCD_printfxy(0,1,"HW V%d.%d SW V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| if(ErrorCode) |
| { |
| LCD_printfxy(0,2,"Error: %d",ErrorCode); |
| LCD_printfxy(0,3,"%s",ErrorMSG); |
| } |
| else LCD_printfxy(0,3,"(c) Buss, Busker"); |
| else |
| { |
| LCD_printfxy(0,3,"(c) Buss, Busker"); |
| LCD_printfxy(0,2,"%s",ErrorMSG); |
| } |
| break; |
| case 1: |
| if (GPSData.Status == INVALID) |
| /trunk/ncmag.c |
|---|
| 565,6 → 565,7 |
| void NCMAG_Update(void) |
| { |
| static u32 TimerUpdate = 0; |
| static u8 send_config = 0; |
| if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
| { |
| 574,11 → 575,23 |
| if(CheckDelay(TimerUpdate)) |
| { |
| if(++send_config == 100) // every two seconds |
| { |
| send_config = 0; |
| MagConfig.mode = MODE_CONTINUOUS; |
| // activate positive bias field |
| NCMAG_SetMagConfig(); |
| TimerUpdate = SetDelay(15); // back into the old time-slot |
| } |
| else |
| { |
| // check for new calibration state |
| Compass_UpdateCalState(); |
| if(Compass_CalState) NCMAG_Calibrate(); |
| NCMAG_GetMagVector(); //Get new data; |
| TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| if(send_config == 99) TimerUpdate = SetDelay(5); // next event is the re-configuration |
| else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| } |
| } |
| } |
| /trunk/spi_slave.c |
|---|
| 427,7 → 427,7 |
| FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| NaviData.FCStatusFlags = FC.StatusFlags; |
| NaviData.FCStatusFlags2 = FC.StatusFlags2; |
| // HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
| Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
| break; |
| case SPI_FCCMD_ACCU: |
| /trunk/uart1.c |
|---|
| 149,7 → 149,7 |
| "SPI Okay ", |
| "I2C Error ", |
| "I2C Okay ", //15 |
| "*POI_INDEX ",// "Kalman_K ", |
| " ",// "Kalman_K ", |
| "ACC_Speed_N ", |
| "ACC_Speed_E ", |
| "Speed_z ",// "GPS ACC ", |