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| 82 | 82 | ||
| 83 | /* |
83 | /* |
| 84 | * NaviCtrl OSD Structs |
84 | * NaviCtrl OSD Structs |
| 85 | * portions taken and adapted from |
85 | * portions taken and adapted from |
| 86 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/uart1.h |
86 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.24b/uart1.h |
| 87 | */ |
87 | */ |
| 88 | typedef struct { |
88 | typedef struct { |
| 89 | u16 Distance; // distance to target in dm |
89 | u16 Distance; // distance to target in dm |
| Line 104... | Line 104... | ||
| 104 | s16 Variometer; // climb(+) and sink(-) rate |
104 | s16 Variometer; // climb(+) and sink(-) rate |
| 105 | u16 FlyingTime; // in seconds |
105 | u16 FlyingTime; // in seconds |
| 106 | u8 UBat; // Battery Voltage in 0.1 Volts |
106 | u8 UBat; // Battery Voltage in 0.1 Volts |
| 107 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
107 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
| 108 | s16 Heading; // current flight direction in ° as angle to north |
108 | s16 Heading; // current flight direction in ° as angle to north |
| 109 | s16 CompassHeading; // current compass value in ° |
109 | s16 CompassHeading; // current compass value in ° |
| 110 | s8 AngleNick; // current Nick angle in 1° |
110 | s8 AngleNick; // current Nick angle in 1° |
| 111 | s8 AngleRoll; // current Rick angle in 1° |
111 | s8 AngleRoll; // current Rick angle in 1° |
| 112 | u8 RC_Quality; // RC_Quality |
112 | u8 RC_Quality; // RC_Quality |
| 113 | u8 FCFlags; // Flags from FC |
113 | u8 FCFlags; // Flags from FC |
| 114 | u8 NCFlags; // Flags from NC |
114 | u8 NCFlags; // Flags from NC |
| 115 | u8 Errorcode; // 0 --> okay |
115 | u8 Errorcode; // 0 --> okay |
| 116 | u8 OperatingRadius; // current operation radius around the Home Position in m |
116 | u8 OperatingRadius; // current operation radius around the Home Position in m |
| 117 | s16 TopSpeed; // velocity in vertical direction in cm/s |
117 | s16 TopSpeed; // velocity in vertical direction in cm/s |
| 118 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
118 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| 119 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
119 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
| 120 | s16 SetpointAltitude; // setpoint for altitude |
120 | s16 SetpointAltitude; // setpoint for altitude |
| 121 | u8 Gas; // for future use |
121 | u8 Gas; // for future use |
| 122 | u16 Current; // actual current in 0.1A steps |
122 | u16 Current; // actual current in 0.1A steps |
| 123 | u16 UsedCapacity; // used capacity in mAh |
123 | u16 UsedCapacity; // used capacity in mAh |
| 124 | } __attribute__((packed)) NaviData_t; |
124 | } __attribute__((packed)) NaviData_t; |
| Line 144... | Line 144... | ||
| 144 | #define FCFLAG_NOTLANDUNG 0x10 |
144 | #define FCFLAG_NOTLANDUNG 0x10 |
| 145 | #define FCFLAG_LOWBAT 0x20 |
145 | #define FCFLAG_LOWBAT 0x20 |
| 146 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
146 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
| 147 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
147 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
| Line -... | Line 148... | ||
| - | 148 | ||
| - | 149 | // FC STATUS FLAGS2 |
|
| - | 150 | #define FC_STATUS2_CAREFREE 0x01 |
|
| - | 151 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
|
| 148 | 152 | ||
| 149 | #define DEFEKT_G_NICK 0x01 |
153 | #define DEFEKT_G_NICK 0x01 |
| 150 | #define DEFEKT_G_ROLL 0x02 |
154 | #define DEFEKT_G_ROLL 0x02 |
| 151 | #define DEFEKT_G_GIER 0x04 |
155 | #define DEFEKT_G_GIER 0x04 |
| 152 | #define DEFEKT_A_NICK 0x08 |
156 | #define DEFEKT_A_NICK 0x08 |