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| 1 | /**************************************************************************** |
1 | /**************************************************************************** |
| 2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
| 3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
| 4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
| 5 | * * |
5 | * * |
| 6 | * This program is free software; you can redistribute it and/or modify * |
6 | * This program is free software; you can redistribute it and/or modify * |
| 7 | * it under the terms of the GNU General Public License as published by * |
7 | * it under the terms of the GNU General Public License as published by * |
| Line 50... | Line 50... | ||
| 50 | 50 | ||
| 51 | 51 | ||
| 52 | /* |
52 | /* |
| 53 | * NaviCtrl OSD Structs |
53 | * NaviCtrl OSD Structs |
| 54 | * portions taken and adapted from |
54 | * portions taken and adapted from |
| 55 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h |
55 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h |
| 56 | */ |
56 | */ |
| 57 | typedef struct { |
57 | typedef struct { |
| 58 | s32 Longitude; // in 1E-7 deg |
58 | s32 Longitude; // in 1E-7 deg |
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| 68 | typedef struct { |
68 | typedef struct { |
| 69 | u16 Distance; // distance to target in cm |
69 | u16 Distance; // distance to target in cm |
| 70 | s16 Bearing; // course to target in deg |
70 | s16 Bearing; // course to target in deg |
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| 71 | } __attribute__((packed)) GPS_PosDev_t; |
71 | } __attribute__((packed)) GPS_PosDev_t; |
| 72 | 72 | ||
| 73 | typedef struct { |
73 | typedef struct { |
| 74 | u8 Version; // version of the data structure |
74 | u8 Version; // version of the data structure |
| 75 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
75 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
| 76 | GPS_Pos_t TargetPosition; |
76 | GPS_Pos_t TargetPosition; |
| 77 | GPS_PosDev_t TargetPositionDeviation; |
77 | GPS_PosDev_t TargetPositionDeviation; |
| 78 | GPS_Pos_t HomePosition; |
78 | GPS_Pos_t HomePosition; |
| 79 | GPS_PosDev_t HomePositionDeviation; |
79 | GPS_PosDev_t HomePositionDeviation; |
| 80 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
80 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| 81 | u8 WaypointNumber; // number of stored waypoints |
81 | u8 WaypointNumber; // number of stored waypoints |
| 82 | u8 SatsInUse; // number of satellites used for position solution |
82 | u8 SatsInUse; // number of satellites used for position solution |
| 83 | s16 Altimeter; // hight according to air pressure |
83 | s16 Altimeter; // hight according to air pressure |
| 84 | s16 Variometer; // climb(+) and sink(-) rate |
84 | s16 Variometer; // climb(+) and sink(-) rate |
| 85 | u16 FlyingTime; // in seconds |
85 | u16 FlyingTime; // in seconds |
| 86 | u8 UBat; // Battery Voltage in 0.1 Volts |
86 | u8 UBat; // Battery Voltage in 0.1 Volts |
| 87 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
87 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
| 88 | s16 Heading; // current flight direction in ° as angle to north |
88 | s16 Heading; // current flight direction in � as angle to north |
| 89 | s16 CompassHeading; // current compass value in ° |
89 | s16 CompassHeading; // current compass value in � |
| 90 | s8 AngleNick; // current Nick angle in 1° |
90 | s8 AngleNick; // current Nick angle in 1� |
| 91 | s8 AngleRoll; // current Rick angle in 1° |
91 | s8 AngleRoll; // current Rick angle in 1� |
| 92 | u8 RC_Quality; // RC_Quality |
92 | u8 RC_Quality; // RC_Quality |
| 93 | u8 MKFlags; // Flags from FC |
93 | u8 FCFlags; // Flags from FC |
| 94 | u8 NCFlags; // Flags from NC |
94 | u8 NCFlags; // Flags from NC |
| 95 | u8 Errorcode; // 0 --> okay |
95 | u8 Errorcode; // 0 --> okay |
| 96 | u8 OperatingRadius; // current operation radius around the Home Position in m |
96 | u8 OperatingRadius; // current operation radius around the Home Position in m |
| 97 | s16 TopSpeed; // velocity in vertical direction in cm/s |
97 | s16 TopSpeed; // velocity in vertical direction in cm/s |
| 98 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
98 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| 99 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
99 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
| - | 100 | s16 SetpointAltitude; // setpoint for altitude |
|
| - | 101 | u8 Gas; // for future use |
|
| 100 | s16 SetpointAltitude; // setpoint for altitude |
102 | u16 Current; // actual current in 0.1A steps |
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| - | 103 | u16 UsedCapacity; // used capacity in mAh |
|
| 101 | u8 Gas; // for future use |
104 | } __attribute__((packed)) NaviData_t; |
| 102 | } __attribute__((packed)) NaviData_t; |
105 | |
| 103 | 106 | ||
| 104 | /* |
107 | /* |
| 105 | * MikroKopter Flags |
108 | * MikroKopter Flags |