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Rev 909 | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed

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1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
2
// + Copyright (c) 04.2007 Holger Buss
3
// + only for non-profit use
3
// + only for non-profit use
4
// + www.MikroKopter.com
4
// + www.MikroKopter.com
5
// + see the File "License.txt" for further Informations
5
// + see the File "License.txt" for further Informations
6
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7
 
7
 
8
#include <stdlib.h>
8
#include <stdlib.h>
9
#include <inttypes.h>
9
#include <inttypes.h>
10
#include "main.h"
10
#include "main.h"
11
#include "eeprom.h"
11
#include "eeprom.h"
12
#include "timer2.h"
12
#include "timer2.h"
13
#include "fc.h"
13
#include "fc.h"
14
#include "rc.h"
14
#include "rc.h"
15
#include "uart.h"
15
#include "uart.h"
16
#include "printf_P.h"
16
#include "printf_P.h"
17
#include "analog.h"
17
#include "analog.h"
18
#ifdef USE_KILLAGREG
18
#ifdef USE_KILLAGREG
19
#include "mm3.h"
19
#include "mm3.h"
20
#endif
20
#endif
21
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
21
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
22
#include "ubx.h"
22
#include "ubx.h"
23
#endif
23
#endif
24
#include "_Settings.h"
24
#include "_Settings.h"
25
 
25
 
26
 
26
 
27
#define ARRAYSIZE 10
27
#define ARRAYSIZE 10
28
uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10};
28
uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10};
29
#define DISPLAYBUFFSIZE 80
29
#define DISPLAYBUFFSIZE 80
30
int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
30
int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
31
uint8_t DispPtr = 0;
31
uint8_t DispPtr = 0;
32
uint8_t RemoteButtons = 0;
32
uint8_t RemoteButtons = 0;
33
 
33
 
34
#define KEY1    0x01
34
#define KEY1    0x01
35
#define KEY2    0x02
35
#define KEY2    0x02
36
#define KEY3    0x04
36
#define KEY3    0x04
37
#define KEY4    0x08
37
#define KEY4    0x08
38
#define KEY5    0x10
38
#define KEY5    0x10
39
 
39
 
40
/************************************/
40
/************************************/
41
/*        Clear LCD Buffer          */
41
/*        Clear LCD Buffer          */
42
/************************************/
42
/************************************/
43
void LCD_Clear(void)
43
void LCD_Clear(void)
44
{
44
{
45
 uint8_t i;
45
 uint8_t i;
46
 for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
46
 for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
47
}
47
}
48
 
48
 
49
 
49
 
50
/************************************/
50
/************************************/
51
/*        Update Menu on LCD        */
51
/*        Update Menu on LCD        */
52
/************************************/
52
/************************************/
53
// Display with 20 characters in 4 lines
53
// Display with 20 characters in 4 lines
54
void LCD_PrintMenu(void)
54
void LCD_PrintMenu(void)
55
{
55
{
56
 
56
 
57
  #if !defined (USE_MK3MAG) & !defined (USE_MK3MAG)
57
  #if !defined (USE_MK3MAG) & !defined (USE_MK3MAG)
58
  static uint8_t MaxMenuItem = 11;
58
  static uint8_t MaxMenuItem = 11;
59
  #else
59
  #else
60
  #ifdef USE_MK3MAG
60
  #ifdef USE_MK3MAG
61
  static uint8_t MaxMenuItem = 12;
61
  static uint8_t MaxMenuItem = 12;
62
  #endif
62
  #endif
63
  #ifdef USE_KILLAGREG
63
  #ifdef USE_KILLAGREG
64
  static uint8_t MaxMenuItem = 14;
64
  static uint8_t MaxMenuItem = 14;
65
  #endif
65
  #endif
66
  #endif
66
  #endif
67
  static uint8_t MenuItem=0;
67
  static uint8_t MenuItem=0;
68
 
68
 
69
  //  if KEY1 is activated goto previous menu item
69
  //  if KEY1 is activated goto previous menu item
70
  if(RemoteButtons & KEY1)
70
  if(RemoteButtons & KEY1)
71
  {
71
  {
72
          if(MenuItem) MenuItem--;
72
          if(MenuItem) MenuItem--;
73
          else MenuItem = MaxMenuItem;
73
          else MenuItem = MaxMenuItem;
74
          LCD_Clear();
74
          LCD_Clear();
75
          RemotePollDisplayLine = -1;
75
          RemotePollDisplayLine = -1;
76
  }
76
  }
77
  // if KEY2 is activated goto next menu item
77
  // if KEY2 is activated goto next menu item
78
  if(RemoteButtons & KEY2)
78
  if(RemoteButtons & KEY2)
79
  {
79
  {
80
          if (MenuItem == MaxMenuItem) MenuItem = 0;
80
          if (MenuItem == MaxMenuItem) MenuItem = 0;
81
          else MenuItem++;
81
          else MenuItem++;
82
          LCD_Clear();
82
          LCD_Clear();
83
          RemotePollDisplayLine = -1;
83
          RemotePollDisplayLine = -1;
84
   }
84
   }
85
 
85
 
86
  // if KEY1 and KEY2 is activated goto initial menu item
86
  // if KEY1 and KEY2 is activated goto initial menu item
87
  if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0;
87
  if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0;
88
 
88
 
89
  // print menu item number in the upper right corner
89
  // print menu item number in the upper right corner
90
  if(MenuItem < 10)
90
  if(MenuItem < 10)
91
  {
91
  {
92
          LCD_printfxy(17,0,"[%i]",MenuItem);
92
          LCD_printfxy(17,0,"[%i]",MenuItem);
93
  }
93
  }
94
  else
94
  else
95
  {
95
  {
96
          LCD_printfxy(16,0,"[%i]",MenuItem);
96
          LCD_printfxy(16,0,"[%i]",MenuItem);
97
  }
97
  }
98
 
98
 
99
  switch(MenuItem)
99
  switch(MenuItem)
100
  {
100
  {
101
    case 0:// Version Info Menu Item
101
    case 0:// Version Info Menu Item
102
           LCD_printfxy(0,0,"+ MikroKopter +");
102
           LCD_printfxy(0,0,"+ MikroKopter +");
103
           LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a');
103
           LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a');
104
           LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
104
           LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
105
           LCD_printfxy(0,3,"(c) Holger Buss");
105
           LCD_printfxy(0,3,"(c) Holger Buss");
106
           break;
106
           break;
107
    case 1:// Height Control Menu Item
107
    case 1:// Height Control Menu Item
108
          if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
108
          if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
109
           {
109
           {
110
           LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
110
           LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
111
           LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
111
           LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
112
           LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure);
112
           LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure);
113
           LCD_printfxy(0,3,"Offset    :%5i",PressureSensorOffset);
113
           LCD_printfxy(0,3,"Offset    :%5i",PressureSensorOffset);
114
           }
114
           }
115
           else
115
           else
116
           {
116
           {
117
           LCD_printfxy(0,1,"No ");
117
           LCD_printfxy(0,1,"No ");
118
           LCD_printfxy(0,2,"Height Control");
118
           LCD_printfxy(0,2,"Height Control");
119
           }
119
           }
120
 
120
 
121
           break;
121
           break;
122
    case 2:// Attitude Menu Item
122
    case 2:// Attitude Menu Item
123
           LCD_printfxy(0,0,"Attitude");
123
           LCD_printfxy(0,0,"Attitude");
124
           LCD_printfxy(0,1,"Pitch:     %5i",IntegralPitch/1024);
124
           LCD_printfxy(0,1,"Nick:     %5i",IntegralNick/1024);
125
           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
125
           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
126
           LCD_printfxy(0,3,"Heading:   %5i",CompassHeading);
126
           LCD_printfxy(0,3,"Heading:   %5i",CompassHeading);
127
           break;
127
           break;
128
    case 3:// Remote Control Channel Menu Item
128
    case 3:// Remote Control Channel Menu Item
129
           LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
129
           LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
130
           LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
130
           LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
131
           LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
131
           LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
132
           LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
132
           LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
133
           break;
133
           break;
134
    case 4:// Remote Control Mapping Menu Item
134
    case 4:// Remote Control Mapping Menu Item
135
           LCD_printfxy(0,0,"Pi:%4i  Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
135
           LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
136
           LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
136
           LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
137
           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
137
           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
138
           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
138
           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
139
           break;
139
           break;
140
    case 5:// Gyro Sensor Menu Item
140
    case 5:// Gyro Sensor Menu Item
141
           LCD_printfxy(0,0,"Gyro - Sensor");
141
           LCD_printfxy(0,0,"Gyro - Sensor");
142
          if(BoardRelease == 10)
142
          if(BoardRelease == 10)
143
          {
143
          {
144
           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch);
144
           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick);
145
           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
145
           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
146
           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw);
146
           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw);
147
          }
147
          }
148
          else
148
          else
149
          {
149
          {
150
           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2);
150
           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2);
151
           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
151
           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
152
           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2);
152
           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2);
153
          }
153
          }
154
           break;
154
           break;
155
    case 6:// Acceleration Sensor Menu Item
155
    case 6:// Acceleration Sensor Menu Item
156
           LCD_printfxy(0,0,"ACC - Sensor");
156
           LCD_printfxy(0,0,"ACC - Sensor");
157
           LCD_printfxy(0,1,"Pitch  %4i (%3i)",AdValueAccPitch, NeutralAccX);
157
           LCD_printfxy(0,1,"Nick  %4i (%3i)",AdValueAccNick, NeutralAccX);
158
           LCD_printfxy(0,2,"Roll   %4i (%3i)",AdValueAccRoll, NeutralAccY);
158
           LCD_printfxy(0,2,"Roll   %4i (%3i)",AdValueAccRoll, NeutralAccY);
159
           LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ);
159
           LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ);
160
           break;
160
           break;
161
    case 7:// Accumulator Voltage / Remote Control Level
161
    case 7:// Accumulator Voltage / Remote Control Level
162
           LCD_printfxy(0,1,"Voltage:  %5i",UBat);
162
           LCD_printfxy(0,1,"Voltage:  %5i",UBat);
163
           LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);
163
           LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);
164
           break;
164
           break;
165
    case 8:// Compass Menu Item
165
    case 8:// Compass Menu Item
166
           LCD_printfxy(0,0,"Compass       ");
166
           LCD_printfxy(0,0,"Compass       ");
167
           LCD_printfxy(0,1,"Course:    %5i",CompassCourse);
167
           LCD_printfxy(0,1,"Course:    %5i",CompassCourse);
168
           LCD_printfxy(0,2,"Heading:   %5i",CompassHeading);
168
           LCD_printfxy(0,2,"Heading:   %5i",CompassHeading);
169
           LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse);
169
           LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse);
170
           break;
170
           break;
171
    case 9:// Poti Menu Item
171
    case 9:// Poti Menu Item
172
                   LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion
172
                   LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion
173
                   LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion
173
                   LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion
174
                   LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion
174
                   LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion
175
                   LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion
175
                   LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion
176
           break;
176
           break;
177
    case 10:// Servo Menu Item
177
    case 10:// Servo Menu Item
178
           LCD_printfxy(0,0,"Servo  " );
178
           LCD_printfxy(0,0,"Servo  " );
179
           LCD_printfxy(0,1,"Setpoint  %3i",FCParam.ServoPitchControl);
179
           LCD_printfxy(0,1,"Setpoint  %3i",FCParam.ServoNickControl);
180
           LCD_printfxy(0,2,"Position: %3i",ServoValue);
180
           LCD_printfxy(0,2,"Position: %3i",ServoValue);
181
           LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax);
181
           LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax);
182
           break;
182
           break;
183
    case 11://Extern Control
183
    case 11://Extern Control
184
           LCD_printfxy(0,0,"ExternControl  " );
184
           LCD_printfxy(0,0,"ExternControl  " );
185
           LCD_printfxy(0,1,"Pi:%4i  Ro:%4i ",ExternControl.Pitch, ExternControl.Roll);
185
           LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick, ExternControl.Roll);
186
           LCD_printfxy(0,2,"Th:%4i  Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw);
186
           LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",ExternControl.Gas, ExternControl.Yaw);
187
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Height, ExternControl.Config);
187
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Height, ExternControl.Config);
188
           break;
188
           break;
189
 
189
 
190
    #if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
190
    #if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
191
        case 12://GPS Lat/Lon coords
191
        case 12://GPS Lat/Lon coords
192
                        if (GPSInfo.status == INVALID)
192
                        if (GPSInfo.status == INVALID)
193
                        {
193
                        {
194
                                LCD_printfxy(0,0,"No GPS data!");
194
                                LCD_printfxy(0,0,"No GPS data!");
195
                        }
195
                        }
196
                        else
196
                        else
197
                        {
197
                        {
198
                                switch (GPSInfo.satfix)
198
                                switch (GPSInfo.satfix)
199
                                {
199
                                {
200
                                case SATFIX_NONE:
200
                                case SATFIX_NONE:
201
                                        LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
201
                                        LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
202
                                        break;
202
                                        break;
203
                                case SATFIX_2D:
203
                                case SATFIX_2D:
204
                                        LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
204
                                        LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
205
                                        break;
205
                                        break;
206
                                case SATFIX_3D:
206
                                case SATFIX_3D:
207
                                        LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
207
                                        LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
208
                                        break;
208
                                        break;
209
                                default:
209
                                default:
210
                                        LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
210
                                        LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
211
                                        break;
211
                                        break;
212
                                }
212
                                }
213
                                int16_t i1,i2,i3;
213
                                int16_t i1,i2,i3;
214
                                i1 = (int16_t)(GPSInfo.longitude/10000000L);
214
                                i1 = (int16_t)(GPSInfo.longitude/10000000L);
215
                                i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
215
                                i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
216
                                i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
216
                                i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
217
                                LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3);
217
                                LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3);
218
                                i1 = (int16_t)(GPSInfo.latitude/10000000L);
218
                                i1 = (int16_t)(GPSInfo.latitude/10000000L);
219
                                i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
219
                                i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
220
                                i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
220
                                i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
221
                                LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3);
221
                                LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3);
222
                                i1 = (int16_t)(GPSInfo.altitude/1000L);
222
                                i1 = (int16_t)(GPSInfo.altitude/1000L);
223
                                i2 = abs((int16_t)(GPSInfo.altitude%1000L));
223
                                i2 = abs((int16_t)(GPSInfo.altitude%1000L));
224
                                LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2);
224
                                LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2);
225
                        }
225
                        }
226
                        break;
226
                        break;
227
        #endif
227
        #endif
228
        #ifdef USE_KILLAGREG
228
        #ifdef USE_KILLAGREG
229
        case 13:// MM3 Kompass
229
        case 13:// MM3 Kompass
230
                        LCD_printfxy(0,0,"MM3 Offset");
230
                        LCD_printfxy(0,0,"MM3 Offset");
231
                        LCD_printfxy(0,1,"X_Offset:  %3i",MM3_calib.X_off);
231
                        LCD_printfxy(0,1,"X_Offset:  %3i",MM3_calib.X_off);
232
                        LCD_printfxy(0,2,"Y_Offset:  %3i",MM3_calib.Y_off);
232
                        LCD_printfxy(0,2,"Y_Offset:  %3i",MM3_calib.Y_off);
233
                        LCD_printfxy(0,3,"Z_Offset:  %3i",MM3_calib.Z_off);
233
                        LCD_printfxy(0,3,"Z_Offset:  %3i",MM3_calib.Z_off);
234
                        break;
234
                        break;
235
        case 14://MM3 Range
235
        case 14://MM3 Range
236
                        LCD_printfxy(0,0,"MM3 Range");
236
                        LCD_printfxy(0,0,"MM3 Range");
237
                        LCD_printfxy(0,1,"X_Range:  %4i",MM3_calib.X_range);
237
                        LCD_printfxy(0,1,"X_Range:  %4i",MM3_calib.X_range);
238
                        LCD_printfxy(0,2,"Y_Range:  %4i",MM3_calib.Y_range);
238
                        LCD_printfxy(0,2,"Y_Range:  %4i",MM3_calib.Y_range);
239
                        LCD_printfxy(0,3,"Z_Range:  %4i",MM3_calib.Z_range);
239
                        LCD_printfxy(0,3,"Z_Range:  %4i",MM3_calib.Z_range);
240
                        break;
240
                        break;
241
        #endif
241
        #endif
242
 
242
 
243
    default: MaxMenuItem = MenuItem - 1;
243
    default: MaxMenuItem = MenuItem - 1;
244
             MenuItem = 0;
244
             MenuItem = 0;
245
           break;
245
           break;
246
    }
246
    }
247
        RemoteButtons = 0;
247
        RemoteButtons = 0;
248
}
248
}
249
 
249