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| 39 | } __attribute__((packed)) DebugOut_t; |
39 | } __attribute__((packed)) DebugOut_t; |
| Line 40... | Line 40... | ||
| 40 | 40 | ||
| 41 | /* |
41 | /* |
| 42 | * NaviCtrl OSD Structs |
42 | * NaviCtrl OSD Structs |
| 43 | * portions taken and adapted from |
43 | * portions taken and adapted from |
| 44 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.14e%2Fuart1.h |
44 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h |
| 45 | */ |
45 | */ |
| 46 | typedef struct { |
46 | typedef struct { |
| 47 | s32 Longitude; // in 1E-7 deg |
47 | s32 Longitude; // in 1E-7 deg |
| 48 | s32 Latitude; // in 1E-7 deg |
48 | s32 Latitude; // in 1E-7 deg |
| Line 54... | Line 54... | ||
| 54 | s16 Distance; // distance to target in cm |
54 | s16 Distance; // distance to target in cm |
| 55 | s16 Bearing; // course to target in deg |
55 | s16 Bearing; // course to target in deg |
| 56 | } __attribute__((packed)) GPS_PosDev_t; |
56 | } __attribute__((packed)) GPS_PosDev_t; |
| Line 57... | Line 57... | ||
| 57 | 57 | ||
| - | 58 | typedef struct { |
|
| 58 | typedef struct { |
59 | u8 Version; // version of the data structure |
| 59 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
60 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
| 60 | GPS_Pos_t TargetPosition; |
61 | GPS_Pos_t TargetPosition; |
| 61 | GPS_PosDev_t TargetPositionDeviation; |
62 | GPS_PosDev_t TargetPositionDeviation; |
| 62 | GPS_Pos_t HomePosition; |
63 | GPS_Pos_t HomePosition; |
| 63 | GPS_PosDev_t HomePositionDeviation; |
64 | GPS_PosDev_t HomePositionDeviation; |
| 64 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
65 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| 65 | u8 WaypointNumber; // number of stored waypoints |
66 | u8 WaypointNumber; // number of stored waypoints |
| 66 | u8 SatsInUse; // no of satellites used for position solution |
67 | u8 SatsInUse; // number of satellites used for position solution |
| 67 | s16 Altimeter; // hight according to air pressure |
68 | s16 Altimeter; // hight according to air pressure |
| 68 | s16 Variometer; // climb(+) and sink(-) rate |
69 | s16 Variometer; // climb(+) and sink(-) rate |
| 69 | u16 FlyingTime; // in seconds |
70 | u16 FlyingTime; // in seconds |
| 70 | u8 UBat; // Battery Voltage in 0.1 Volts |
71 | u8 UBat; // Battery Voltage in 0.1 Volts |
| 71 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
72 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
| 72 | s16 Heading; // current flight direction in deg as angle to north |
73 | s16 Heading; // current flight direction in ° as angle to north |
| 73 | s16 CompassHeading; // current compass value |
74 | s16 CompassHeading; // current compass value in ° |
| 74 | s8 AngleNick; // current Nick angle in 1° |
75 | s8 AngleNick; // current Nick angle in 1° |
| 75 | s8 AngleRoll; // current Rick angle in 1° |
76 | s8 AngleRoll; // current Rick angle in 1° |
| 76 | u8 RC_Quality; // RC_Quality |
77 | u8 RC_Quality; // RC_Quality |
| 77 | u8 MKFlags; // Flags from FC |
78 | u8 MKFlags; // Flags from FC |
| 78 | u8 NCFlags; // Flags from NC |
79 | u8 NCFlags; // Flags from NC |
| 79 | u8 Errorcode; // 0 --> okay |
80 | u8 Errorcode; // 0 --> okay |
| - | 81 | u8 OperatingRadius; // current operation radius around the Home Position in m |
|
| - | 82 | s16 TopSpeed; // velocity in vertical direction in cm/s |
|
| 80 | u8 OperatingRadius; // current operation radius around the Home Position in m |
83 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| 81 | u8 Reserve[7]; // for future use |
84 | u8 Reserve[4]; // for future use |
| Line 82... | Line 85... | ||
| 82 | } __attribute__((packed)) NaviData_t; |
85 | } __attribute__((packed)) NaviData_t; |
| 83 | 86 | ||
| 84 | /* |
87 | /* |