Rev 457 | Rev 461 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 457 | Rev 460 | ||
|---|---|---|---|
| Line 120... | Line 120... | ||
| 120 | u8 NC_To_FC_Flags = 0; |
120 | u8 NC_To_FC_Flags = 0; |
| 121 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
121 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| 122 | u32 FC_I2C_ErrorConter; |
122 | u32 FC_I2C_ErrorConter; |
| 123 | SPI_Version_t FC_Version; |
123 | SPI_Version_t FC_Version; |
| 124 | s16 POI_KameraNick = 0; |
124 | s16 POI_KameraNick = 0; |
| - | 125 | u8 NC_Wait_for_LED = 0; |
|
| Line 125... | Line 126... | ||
| 125 | 126 | ||
| 126 | //-------------------------------------------------------------- |
127 | //-------------------------------------------------------------- |
| 127 | void SSP0_IRQHandler(void) |
128 | void SSP0_IRQHandler(void) |
| 128 | { |
129 | { |
| Line 458... | Line 459... | ||
| 458 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
459 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
| 459 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
460 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
| 460 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
461 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
| 461 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
462 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 462 | i1 *= 100; |
463 | i1 *= 100; |
| - | 464 | // Minuten |
|
| - | 465 | i2 *= 6; |
|
| - | 466 | i2 /= 10; |
|
| 463 | i1 += i2 / 100000; |
467 | i1 += i2 / 100000; |
| 464 | i2 = i2 % 100000; |
468 | i2 = i2 % 100000; |
| 465 | i2 /= 10; |
469 | i2 /= 10; |
| 466 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
470 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
| 467 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
471 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
| Line 477... | Line 481... | ||
| 477 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
481 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
| 478 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
482 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
| 479 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
483 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
| 480 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
484 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 481 | i1 *= 100; |
485 | i1 *= 100; |
| - | 486 | // Minuten |
|
| - | 487 | i2 *= 6; |
|
| - | 488 | i2 /= 10; |
|
| 482 | i1 += i2 / 100000; |
489 | i1 += i2 / 100000; |
| 483 | i2 = i2 % 100000; |
490 | i2 = i2 % 100000; |
| 484 | i2 /= 10; |
491 | i2 /= 10; |
| 485 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
492 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
| 486 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
493 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
| Line 652... | Line 659... | ||
| 652 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
659 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 653 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
660 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
| 654 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
661 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
| 655 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
662 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 656 | NaviData.RC_Quality = FC.RC_Quality; |
663 | NaviData.RC_Quality = FC.RC_Quality; |
| 657 | //FromFlightCtrl.Param.Byte[10]; |
664 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
| 658 | - | ||
| - | 665 | DebugOut.Analog[16] = NC_Wait_for_LED; |
|
| 659 | // FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
666 | // FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| 660 | // if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
667 | // if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| 661 | // NaviData.RC_RSSI = FC.RC_RSSI; |
668 | // NaviData.RC_RSSI = FC.RC_RSSI; |
| 662 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
669 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 663 | break; |
670 | break; |