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83 | #define SIMULATION 0x03 |
83 | #define SIMULATION 0x03 |
Line 84... | Line 84... | ||
84 | 84 | ||
85 | /* |
85 | /* |
86 | * NaviCtrl OSD Structs |
86 | * NaviCtrl OSD Structs |
87 | * portions taken and adapted from |
87 | * portions taken and adapted from |
88 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/uart1.h |
88 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.16a/uart1.h |
89 | */ |
89 | */ |
90 | typedef struct { |
90 | typedef struct { |
91 | u16 Distance; // distance to target in dm |
91 | u16 Distance; // distance to target in dm |
92 | s16 Bearing; // course to target in deg |
92 | s16 Bearing; // course to target in deg |
Line 93... | Line 93... | ||
93 | } __attribute__((packed)) GPS_PosDev_t; |
93 | } __attribute__((packed)) GPS_PosDev_t; |
Line 94... | Line 94... | ||
94 | 94 | ||
- | 95 | #define NAVIDATA_VERSION 5 |
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95 | #define NAVIDATA_VERSION 5 |
96 | |
96 | 97 | typedef struct // 84 Bytes (note: this is the old protocol) |
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97 | typedef struct { |
98 | { |
98 | u8 Version; // version of the data structure |
99 | u8 Version; // version of the data structure = 5 |
99 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
100 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
100 | GPS_Pos_t TargetPosition; |
101 | GPS_Pos_t TargetPosition; |
Line 112... | Line 113... | ||
112 | s16 Heading; // current flight direction in ° as angle to north |
113 | s16 Heading; // current flight direction in ° as angle to north |
113 | s16 CompassHeading; // current compass value in ° |
114 | s16 CompassHeading; // current compass value in ° |
114 | s8 AngleNick; // current Nick angle in 1° |
115 | s8 AngleNick; // current Nick angle in 1° |
115 | s8 AngleRoll; // current Rick angle in 1° |
116 | s8 AngleRoll; // current Rick angle in 1° |
116 | u8 RC_Quality; // RC_Quality |
117 | u8 RC_Quality; // RC_Quality |
117 | u8 FCStatusFlags; // Flags from FC |
118 | u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
118 | u8 NCFlags; // Flags from NC |
119 | u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
119 | u8 Errorcode; // 0 --> okay |
120 | u8 Errorcode; // 0 --> okay |
120 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
121 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
121 | s16 TopSpeed; // velocity in vertical direction in cm/s |
122 | s16 TopSpeed; // velocity in vertical direction in cm/s |
122 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
123 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
123 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
124 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
124 | s16 SetpointAltitude; // setpoint for altitude |
125 | s16 SetpointAltitude; // setpoint for altitude |
125 | u8 Gas; // for future use |
126 | u8 Gas; // current gas (thrust) |
126 | u16 Current; // actual current in 0.1A steps |
127 | u16 Current; // actual current in 0.1A steps |
127 | u16 UsedCapacity; // used capacity in mAh |
128 | u16 UsedCapacity; // used capacity in mAh |
- | 129 | u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
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- | 130 | u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
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128 | } __attribute__((packed)) NaviData_t; |
131 | } __attribute__((packed)) NaviData_t; |
- | 132 | extern NaviData_t NaviData; |
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Line 129... | Line 133... | ||
129 | 133 | ||
130 | /* |
134 | /* |
131 | * NaviCtrl & FCFlags Flags |
135 | * NaviCtrl & FCFlags Flags |
132 | * portions taken and adapted from |
136 | * portions taken and adapted from |
Line 190... | Line 194... | ||
190 | #define FC_ERROR1_RES3 0x80 |
194 | #define FC_ERROR1_RES3 0x80 |
Line 191... | Line 195... | ||
191 | 195 | ||
192 | /* |
196 | /* |
193 | * MikroKopter config struct |
197 | * MikroKopter config struct |
194 | * portions taken and adapted from |
198 | * portions taken and adapted from |
195 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h |
199 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.16a/eeprom.h |
Line 196... | Line 200... | ||
196 | */ |
200 | */ |
197 | 201 | ||
- | 202 | #define EEPARAM_REVISION 109 // !!!Update NC also!!! is count up, if paramater stucture has changed (compatibility) |
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- | 203 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
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- | 204 | #define EE_BACKWARD_COMP 1 // change if the eepropm parameters are not backwards compatible |
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Line 198... | Line 205... | ||
198 | #define EEPARAM_REVISION 108 // is count up, if paramater stucture has changed (compatibility) |
205 | |
199 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
206 | |
200 | 207 | ||
201 | typedef struct |
208 | typedef struct |
Line 329... | Line 336... | ||
329 | unsigned char ExtraConfig; // bitcodiert |
336 | unsigned char ExtraConfig; // bitcodiert |
330 | unsigned char GlobalConfig3; // bitcodiert |
337 | unsigned char GlobalConfig3; // bitcodiert |
331 | char Name[12]; |
338 | char Name[12]; |
332 | unsigned char crc; // must be the last byte! |
339 | unsigned char crc; // must be the last byte! |
333 | } paramset_t; // since 2.14 -> size is always 179 Bytes |
340 | } paramset_t; // since 2.14 -> size is always 179 Bytes |
- | 341 | // -> if changed: update NC-Data structure also <- |
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Line 334... | Line 342... | ||
334 | 342 | ||
335 | 343 | ||
336 | typedef struct { |
344 | typedef struct { |