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| Rev 294 | Rev 295 | ||
|---|---|---|---|
| 1 | #include "91x_lib.h" |
1 | #include "91x_lib.h" |
| 2 | #include "params.h" |
2 | #include "params.h" |
| 3 | #include "spi_slave.h" |
3 | #include "spi_slave.h" |
| 4 | #include "waypoints.h" |
4 | #include "waypoints.h" |
| 5 | 5 | ||
| 6 | s16 NCParams[255]; |
6 | s16 NCParams[255]; |
| - | 7 | u8 NCParamState[255]; |
|
| 7 | 8 | ||
| 8 | void NCParams_Init(void) |
9 | void NCParams_Init(void) |
| 9 | { |
10 | { |
| - | 11 | u16 i; |
|
| - | 12 | for(i=0; i<256; i++) |
|
| - | 13 | { |
|
| - | 14 | NCParamState[i] = NCPARAM_STATE_UNDEFINED; |
|
| - | 15 | } |
|
| 10 | NCParams[NCPARAMS_GPS_TARGETSPEED] = 50; // 5.0 m/s |
16 | NCParams[NCPARAMS_GPS_TARGETSPEED] = 50; // 5.0 m/s |
| 11 | NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT] = -1; |
17 | NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT] = -1; |
| 12 | NCParams[NCPARAMS_NEW_CAMERA_ELEVATION] = -30000; // invalid |
- | |
| 13 | NCParams[NCPARAMS_ALTITUDE_RATE] = -1; |
18 | NCParams[NCPARAMS_ALTITUDE_RATE] = -1; |
| 14 | NCParams[NCPARAMS_ALTITUDE_SETPOINT] = -30000; // in 0,1m -3000 -> invalid |
- | |
| 15 | } |
19 | } |
| 16 | 20 | ||
| 17 | u8 NCParams_SetValue(u8 id, s16* pvalue) |
21 | u8 NCParams_SetValue(u8 id, s16* pvalue) |
| 18 | { |
22 | { |
| 19 | NCParams[id] = *pvalue; |
23 | NCParams[id] = *pvalue; |
| - | 24 | NCParamState[id] = NCRARAM_STATE_VALID; |
|
| 20 | 25 | ||
| 21 | switch(id) |
26 | switch(id) |
| 22 | { |
27 | { |
| 23 | case NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT: |
28 | case NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT: |
| 24 | if(NULL == PointList_GetPOI()) |
29 | if(NULL == PointList_GetPOI()) |
| 25 | { |
30 | { |
| 26 | CAM_Orientation.Azimuth = *pvalue; |
31 | CAM_Orientation.Azimuth = *pvalue; |
| 27 | CAM_Orientation.Elevation = 0; |
32 | CAM_Orientation.Elevation = 0; |
| 28 | CAM_Orientation.UpdateMask = CAM_UPDATE_AZIMUTH; |
33 | CAM_Orientation.UpdateMask = CAM_UPDATE_AZIMUTH; |
| 29 | } |
34 | } |
| 30 | break; |
35 | break; |
| 31 | 36 | ||
| 32 | default: |
37 | default: |
| 33 | break; |
38 | break; |
| 34 | } |
39 | } |
| 35 | return 1; |
40 | return NCParamState[id]; |
| 36 | } |
41 | } |
| 37 | 42 | ||
| 38 | u8 NCParams_GetValue(u8 id, s16* pvalue) |
43 | u8 NCParams_GetValue(u8 id, s16* pvalue) |
| 39 | { |
44 | { |
| 40 | if(pvalue == 0) return 0; |
45 | if(pvalue == 0) return 0; |
| - | 46 | if(NCParamState[id] == NCRARAM_STATE_VALID) |
|
| - | 47 | { |
|
| 41 | *pvalue = NCParams[id]; |
48 | *pvalue = NCParams[id]; |
| - | 49 | } |
|
| 42 | return 1; |
50 | return NCParamState[id]; |
| 43 | } |
51 | } |
| 44 | 52 | ||