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Rev 118 | Rev 119 | ||
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Line 60... | Line 60... | ||
60 | #include "led.h" |
60 | #include "led.h" |
61 | #include "GPS.h" |
61 | #include "GPS.h" |
62 | #include "uart1.h" |
62 | #include "uart1.h" |
63 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
64 | #include "i2c.h" |
64 | #include "i2c.h" |
- | 65 | #include "timer1.h" |
|
65 | #include "timer.h" |
66 | #include "timer2.h" |
66 | #include "main.h" |
67 | #include "main.h" |
67 | #include "fifo.h" |
68 | #include "fifo.h" |
Line 68... | Line 69... | ||
68 | 69 | ||
Line 392... | Line 393... | ||
392 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
393 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
393 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
394 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
394 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
395 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
395 | break; |
396 | break; |
Line -... | Line 397... | ||
- | 397 | ||
- | 398 | case SPI_CMD_SERVO: |
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- | 399 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
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- | 400 | ServoParams.NickOffset = FromFlightCtrl.Param.Byte[1]; |
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- | 401 | ServoParams.NickComp = FromFlightCtrl.Param.sByte[2]; |
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- | 402 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[3]; |
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- | 403 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[4]; |
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- | 404 | ServoParams.RollOffset = FromFlightCtrl.Param.Byte[5]; |
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- | 405 | ServoParams.RollComp = FromFlightCtrl.Param.sByte[6]; |
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- | 406 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[7]; |
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- | 407 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[8]; |
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- | 408 | break; |
|
396 | 409 | ||
397 | case SPI_CMD_VERSION: |
410 | case SPI_CMD_VERSION: |
398 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
411 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
399 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
412 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
400 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
413 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |