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| Line 83... | Line 83... | ||
| 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 |
|
| 95 | #define NAVIDATA_VERSION 5 |
96 | |
| 96 | 97 | typedef struct // 84 Bytes (note: this is the old protocol) |
|
| 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; |
| 101 | GPS_PosDev_t TargetPositionDeviation; |
102 | GPS_PosDev_t TargetPositionDeviation; |
| 102 | GPS_Pos_t HomePosition; |
103 | GPS_Pos_t HomePosition; |
| 103 | GPS_PosDev_t HomePositionDeviation; |
104 | GPS_PosDev_t HomePositionDeviation; |
| 104 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
105 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| 105 | u8 WaypointNumber; // number of stored waypoints |
106 | u8 WaypointNumber; // number of stored waypoints |
| 106 | u8 SatsInUse; // number of satellites used for position solution |
107 | u8 SatsInUse; // number of satellites used for position solution |
| 107 | s16 Altimeter_5cm; // hight according to air pressure |
108 | s16 Altimeter_5cm; // hight according to air pressure |
| 108 | s16 Variometer; // climb(+) and sink(-) rate |
109 | s16 Variometer; // climb(+) and sink(-) rate |
| 109 | u16 FlyingTime; // in seconds |
110 | u16 FlyingTime; // in seconds |
| 110 | u8 UBat; // Battery Voltage in 0.1 Volts |
111 | u8 UBat; // Battery Voltage in 0.1 Volts |
| 111 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
112 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
| 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 |
| - | 126 | u8 Gas; // current gas (thrust) |
|
| - | 127 | u16 Current; // actual current in 0.1A steps |
|
| 125 | u8 Gas; // for future use |
128 | u16 UsedCapacity; // used capacity in mAh |
| - | 129 | u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
|
| Line 126... | Line 130... | ||
| 126 | u16 Current; // actual current in 0.1A steps |
130 | u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
| 127 | u16 UsedCapacity; // used capacity in mAh |
131 | } __attribute__((packed)) NaviData_t; |
| 128 | } __attribute__((packed)) NaviData_t; |
132 | extern NaviData_t NaviData; |
| 129 | 133 | ||
| 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) |
|
| - | 203 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
|
| - | 204 | #define EE_BACKWARD_COMP 1 // change if the eepropm parameters are not backwards compatible |
|
| 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 |
| 202 | { |
209 | { |
| 203 | unsigned char Revision; |
210 | unsigned char Revision; |
| 204 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
211 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| 205 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
212 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| 206 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
213 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
| 207 | unsigned char Luftdruck_D; // Wert : 0-250 |
214 | unsigned char Luftdruck_D; // Wert : 0-250 |
| 208 | unsigned char HoeheChannel; // Wert : 0-32 |
215 | unsigned char HoeheChannel; // Wert : 0-32 |
| 209 | unsigned char Hoehe_P; // Wert : 0-32 |
216 | unsigned char Hoehe_P; // Wert : 0-32 |
| 210 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
217 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| 211 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
218 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| 212 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
219 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
| 213 | unsigned char Hoehe_TiltCompensation; // Wert : 0-250 |
220 | unsigned char Hoehe_TiltCompensation; // Wert : 0-250 |
| 214 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
221 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
| 215 | unsigned char Stick_P; // Wert : 1-6 |
222 | unsigned char Stick_P; // Wert : 1-6 |
| 216 | unsigned char Stick_D; // Wert : 0-64 |
223 | unsigned char Stick_D; // Wert : 0-64 |
| 217 | unsigned char StickGier_P; // Wert : 1-20 |
224 | unsigned char StickGier_P; // Wert : 1-20 |
| 218 | unsigned char Gas_Min; // Wert : 0-32 |
225 | unsigned char Gas_Min; // Wert : 0-32 |
| 219 | unsigned char Gas_Max; // Wert : 33-250 |
226 | unsigned char Gas_Max; // Wert : 33-250 |
| 220 | unsigned char GyroAccFaktor; // Wert : 1-64 |
227 | unsigned char GyroAccFaktor; // Wert : 1-64 |
| 221 | unsigned char KompassWirkung; // Wert : 0-32 |
228 | unsigned char KompassWirkung; // Wert : 0-32 |
| 222 | unsigned char Gyro_P; // Wert : 10-250 |
229 | unsigned char Gyro_P; // Wert : 10-250 |
| 223 | unsigned char Gyro_I; // Wert : 0-250 |
230 | unsigned char Gyro_I; // Wert : 0-250 |
| 224 | unsigned char Gyro_D; // Wert : 0-250 |
231 | unsigned char Gyro_D; // Wert : 0-250 |
| 225 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
232 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
| 226 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
233 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
| 227 | unsigned char Gyro_Stability; // Wert : 0-16 |
234 | unsigned char Gyro_Stability; // Wert : 0-16 |
| 228 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
235 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| 229 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
236 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| 230 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
237 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| 231 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
238 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
| 232 | unsigned char I_Faktor; // Wert : 0-250 |
239 | unsigned char I_Faktor; // Wert : 0-250 |
| 233 | unsigned char UserParam1; // Wert : 0-250 |
240 | unsigned char UserParam1; // Wert : 0-250 |
| 234 | unsigned char UserParam2; // Wert : 0-250 |
241 | unsigned char UserParam2; // Wert : 0-250 |
| 235 | unsigned char UserParam3; // Wert : 0-250 |
242 | unsigned char UserParam3; // Wert : 0-250 |
| 236 | unsigned char UserParam4; // Wert : 0-250 |
243 | unsigned char UserParam4; // Wert : 0-250 |
| 237 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
244 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| 238 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
245 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| 239 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
246 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| 240 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
247 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| 241 | //--- Seit V0.75 |
248 | //--- Seit V0.75 |
| 242 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
249 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
| 243 | unsigned char ServoRollComp; // Wert : 0-250 |
250 | unsigned char ServoRollComp; // Wert : 0-250 |
| 244 | unsigned char ServoRollMin; // Wert : 0-250 |
251 | unsigned char ServoRollMin; // Wert : 0-250 |
| 245 | unsigned char ServoRollMax; // Wert : 0-250 |
252 | unsigned char ServoRollMax; // Wert : 0-250 |
| 246 | //--- |
253 | //--- |
| 247 | unsigned char ServoNickRefresh; // Speed of the Servo |
254 | unsigned char ServoNickRefresh; // Speed of the Servo |
| 248 | unsigned char ServoManualControlSpeed;// |
255 | unsigned char ServoManualControlSpeed;// |
| 249 | unsigned char CamOrientation; // |
256 | unsigned char CamOrientation; // |
| 250 | unsigned char Servo3; // Value or mapping of the Servo Output |
257 | unsigned char Servo3; // Value or mapping of the Servo Output |
| 251 | unsigned char Servo4; // Value or mapping of the Servo Output |
258 | unsigned char Servo4; // Value or mapping of the Servo Output |
| 252 | unsigned char Servo5; // Value or mapping of the Servo Output |
259 | unsigned char Servo5; // Value or mapping of the Servo Output |
| 253 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
260 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| 254 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
261 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| 255 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
262 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| 256 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
263 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| 257 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
264 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| 258 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
265 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| 259 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
266 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| 260 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
267 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| 261 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
268 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| 262 | unsigned char Driftkomp; |
269 | unsigned char Driftkomp; |
| 263 | unsigned char DynamicStability; |
270 | unsigned char DynamicStability; |
| 264 | unsigned char UserParam5; // Wert : 0-250 |
271 | unsigned char UserParam5; // Wert : 0-250 |
| 265 | unsigned char UserParam6; // Wert : 0-250 |
272 | unsigned char UserParam6; // Wert : 0-250 |
| 266 | unsigned char UserParam7; // Wert : 0-250 |
273 | unsigned char UserParam7; // Wert : 0-250 |
| 267 | unsigned char UserParam8; // Wert : 0-250 |
274 | unsigned char UserParam8; // Wert : 0-250 |
| 268 | //---Output --------------------------------------------- |
275 | //---Output --------------------------------------------- |
| 269 | unsigned char J16Bitmask; // for the J16 Output |
276 | unsigned char J16Bitmask; // for the J16 Output |
| 270 | unsigned char J16Timing; // for the J16 Output |
277 | unsigned char J16Timing; // for the J16 Output |
| 271 | unsigned char J17Bitmask; // for the J17 Output |
278 | unsigned char J17Bitmask; // for the J17 Output |
| 272 | unsigned char J17Timing; // for the J17 Output |
279 | unsigned char J17Timing; // for the J17 Output |
| 273 | // seit version V0.75c |
280 | // seit version V0.75c |
| 274 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
281 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
| 275 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
282 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
| 276 | //---NaviCtrl--------------------------------------------- |
283 | //---NaviCtrl--------------------------------------------- |
| 277 | unsigned char AutoPhotoDistance; // Auto Photo |
284 | unsigned char AutoPhotoDistance; // Auto Photo |
| 278 | unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
285 | unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
| 279 | unsigned char NaviGpsGain; |
286 | unsigned char NaviGpsGain; |
| 280 | unsigned char NaviGpsP; |
287 | unsigned char NaviGpsP; |
| 281 | unsigned char NaviGpsI; |
288 | unsigned char NaviGpsI; |
| 282 | unsigned char NaviGpsD; |
289 | unsigned char NaviGpsD; |
| 283 | unsigned char NaviGpsPLimit; |
290 | unsigned char NaviGpsPLimit; |
| 284 | unsigned char NaviGpsILimit; |
291 | unsigned char NaviGpsILimit; |
| 285 | unsigned char NaviGpsDLimit; |
292 | unsigned char NaviGpsDLimit; |
| 286 | unsigned char NaviGpsA; |
293 | unsigned char NaviGpsA; |
| 287 | unsigned char NaviGpsMinSat; |
294 | unsigned char NaviGpsMinSat; |
| 288 | unsigned char NaviStickThreshold; |
295 | unsigned char NaviStickThreshold; |
| 289 | unsigned char NaviWindCorrection; |
296 | unsigned char NaviWindCorrection; |
| 290 | unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
297 | unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
| 291 | unsigned char NaviMaxFlyingRange; // in 10m |
298 | unsigned char NaviMaxFlyingRange; // in 10m |
| 292 | unsigned char NaviAngleLimitation; |
299 | unsigned char NaviAngleLimitation; |
| 293 | unsigned char NaviPH_LoginTime; |
300 | unsigned char NaviPH_LoginTime; |
| 294 | unsigned char NaviDescendRange; |
301 | unsigned char NaviDescendRange; |
| 295 | //---Ext.Ctrl--------------------------------------------- |
302 | //---Ext.Ctrl--------------------------------------------- |
| 296 | unsigned char ExternalControl; // for serial Control |
303 | unsigned char ExternalControl; // for serial Control |
| 297 | //---CareFree--------------------------------------------- |
304 | //---CareFree--------------------------------------------- |
| 298 | unsigned char OrientationAngle; // Where is the front-direction? |
305 | unsigned char OrientationAngle; // Where is the front-direction? |
| 299 | unsigned char CareFreeChannel; // switch for CareFree |
306 | unsigned char CareFreeChannel; // switch for CareFree |
| 300 | unsigned char MotorSafetySwitch; |
307 | unsigned char MotorSafetySwitch; |
| 301 | unsigned char MotorSmooth; |
308 | unsigned char MotorSmooth; |
| 302 | unsigned char ComingHomeAltitude; |
309 | unsigned char ComingHomeAltitude; |
| 303 | unsigned char FailSafeTime; |
310 | unsigned char FailSafeTime; |
| 304 | unsigned char MaxAltitude; |
311 | unsigned char MaxAltitude; |
| 305 | unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
312 | unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
| 306 | unsigned char ServoFilterNick; |
313 | unsigned char ServoFilterNick; |
| 307 | unsigned char ServoFilterRoll; |
314 | unsigned char ServoFilterRoll; |
| 308 | unsigned char Servo3OnValue; |
315 | unsigned char Servo3OnValue; |
| 309 | unsigned char Servo3OffValue; |
316 | unsigned char Servo3OffValue; |
| 310 | unsigned char Servo4OnValue; |
317 | unsigned char Servo4OnValue; |
| 311 | unsigned char Servo4OffValue; |
318 | unsigned char Servo4OffValue; |
| 312 | unsigned char ServoFS_Pos[5]; |
319 | unsigned char ServoFS_Pos[5]; |
| 313 | unsigned char StartLandChannel; |
320 | unsigned char StartLandChannel; |
| 314 | unsigned char LandingSpeed; |
321 | unsigned char LandingSpeed; |
| 315 | unsigned char CompassOffset; |
322 | unsigned char CompassOffset; |
| 316 | unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
323 | unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
| 317 | unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
324 | unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
| 318 | unsigned char AutoPhotoAtitudes; |
325 | unsigned char AutoPhotoAtitudes; |
| 319 | unsigned char SingleWpSpeed; |
326 | unsigned char SingleWpSpeed; |
| 320 | unsigned char LandingPulse; |
327 | unsigned char LandingPulse; |
| 321 | unsigned char SingleWpControlChannel; |
328 | unsigned char SingleWpControlChannel; |
| 322 | unsigned char MenuKeyChannel; |
329 | unsigned char MenuKeyChannel; |
| 323 | unsigned char CamCtrlModeChannel; |
330 | unsigned char CamCtrlModeChannel; |
| 324 | unsigned char CamCtrlZoomChannel; |
331 | unsigned char CamCtrlZoomChannel; |
| 325 | unsigned char reserved[32]; // for later use |
332 | unsigned char reserved[32]; // for later use |
| 326 | //------------------------------------------------ |
333 | //------------------------------------------------ |
| 327 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
334 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| 328 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
335 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
| 329 | unsigned char ExtraConfig; // bitcodiert |
336 | unsigned char ExtraConfig; // bitcodiert |
| 330 | unsigned char GlobalConfig3; // bitcodiert |
337 | unsigned char GlobalConfig3; // bitcodiert |
| - | 338 | char Name[12]; |
|
| Line 331... | Line 339... | ||
| 331 | char Name[12]; |
339 | unsigned char crc; // must be the last byte! |
| 332 | unsigned char crc; // must be the last byte! |
340 | } paramset_t; // since 2.14 -> size is always 179 Bytes |
| 333 | } paramset_t; // since 2.14 -> size is always 179 Bytes |
341 | // -> if changed: update NC-Data structure also <- |