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#define u16 uint16_t
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#define u16 uint16_t
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#define s16 int16_t
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#define s16 int16_t
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#define u32 uint32_t
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#define u32 uint32_t
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#define s32 int32_t
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#define s32 int32_t
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/**
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 * MikroKopter Slave-Addresses
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h
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 */
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#define ANY_ADDRESS 0
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#define FC_ADDRESS 1
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#define NC_ADDRESS 2
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#define MK3MAG_ADDRESS 3
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#define MKOSD_ADDRESS 4
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#define BL_ADDRESS 5
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/*
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/*
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 * FC Debug Struct
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 * FC Debug Struct
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 * portions taken and adapted from
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h
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 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h
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/*
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/*
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 * NaviCtrl OSD Structs
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 * NaviCtrl OSD Structs
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 * portions taken and adapted from
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/uart1.h
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 * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/uart1.h
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 */
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 */
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typedef struct {
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typedef struct {
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        u16 Distance;                                   // distance to target in dm
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        u16 Distance;                                   // distance to target in dm
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#define NC_FLAG_CH                              0x04
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#define NC_FLAG_CH                              0x04
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#define NC_FLAG_RANGE_LIMIT             0x08
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#define NC_FLAG_RANGE_LIMIT             0x08
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#define NC_FLAG_NOSERIALLINK    0x10
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#define NC_FLAG_NOSERIALLINK    0x10
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#define NC_FLAG_TARGET_REACHED  0x20
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#define NC_FLAG_TARGET_REACHED  0x20
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#define NC_FLAG_MANUAL_CONTROL  0x40
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#define NC_FLAG_MANUAL_CONTROL  0x40
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#define NC_FLAG_8                               0x80
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#define NC_FLAG_GPS_OK                  0x80
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/*
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/*
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 * MikroKopter Flags
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 * MikroKopter Flags
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 * portions taken and adapted from
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 * portions taken and adapted from
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#define FCFLAG_FLY              0x02
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#define FCFLAG_FLY              0x02
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#define FCFLAG_CALIBRATE        0x04
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#define FCFLAG_CALIBRATE        0x04
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#define FCFLAG_START            0x08
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#define FCFLAG_START            0x08
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#define FCFLAG_NOTLANDUNG       0x10
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#define FCFLAG_NOTLANDUNG       0x10
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#define FCFLAG_LOWBAT           0x20
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#define FCFLAG_LOWBAT           0x20
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#define FCFLAG_SPI_RX_ERR       0x40
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#define FCFLAG_VARIO_TRIM_UP    0x40
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#define FCFLAG_I2CERR           0x80
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#define FCFLAG_VARIO_TRIM_DOWN  0x80
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#define DEFEKT_G_NICK           0x01
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#define DEFEKT_G_NICK           0x01
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#define DEFEKT_G_ROLL           0x02
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#define DEFEKT_G_ROLL           0x02
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#define DEFEKT_G_GIER           0x04
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#define DEFEKT_G_GIER           0x04
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        unsigned char ServoRollComp;          // Wert : 0-250
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        unsigned char ServoRollComp;          // Wert : 0-250
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        unsigned char ServoRollMin;           // Wert : 0-250
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        unsigned char ServoRollMin;           // Wert : 0-250
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        unsigned char ServoRollMax;           // Wert : 0-250
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        unsigned char ServoRollMax;           // Wert : 0-250
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        //---
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        //---
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        unsigned char ServoNickRefresh;       // Speed of the Servo
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        unsigned char ServoNickRefresh;       // Speed of the Servo
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        unsigned char ServoManualControlSpeed;//
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        unsigned char CamOrientation;         //
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        unsigned char Servo3;                 // Value or mapping of the Servo Output
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        unsigned char Servo3;                 // Value or mapping of the Servo Output
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        unsigned char Servo4;                 // Value or mapping of the Servo Output
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        unsigned char Servo4;                 // Value or mapping of the Servo Output
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        unsigned char Servo5;                 // Value or mapping of the Servo Output
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        unsigned char Servo5;                 // Value or mapping of the Servo Output
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        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
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        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag