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Rev 694 Rev 701
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88 
           LCD_printfxy(0,3,"(c) Holger Buss");
 88 
           LCD_printfxy(0,3,"(c) Holger Buss");
89 
           break;
 89 
           break;
90 
    case 1:// Hight Control Menu Item
 90 
    case 1:// Hight Control Menu Item
91 
          if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
 91 
          if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
92 
           {
 92 
           {
93 
           LCD_printfxy(0,0,"Hight:      %5i",HoehenWert);
 93 
           LCD_printfxy(0,0,"Hight:      %5i",ReadingHight);
94 
           LCD_printfxy(0,1,"Set Point:  %5i",SollHoehe);
 94 
           LCD_printfxy(0,1,"Set Point:  %5i",SetPointHight);
95 
           LCD_printfxy(0,2,"Air Press.: %5i",MessLuftdruck);
 95 
           LCD_printfxy(0,2,"Air Press.: %5i",ReadingAirPressure);
96 
           LCD_printfxy(0,3,"Offset    : %5i",DruckOffsetSetting);
 96 
           LCD_printfxy(0,3,"Offset    : %5i",DruckOffsetSetting);
97 
           }
 97 
           }
98 
           else
 98 
           else
99 
           {
 99 
           {
100 
           LCD_printfxy(0,1,"No ");
 100 
           LCD_printfxy(0,1,"No ");
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102 
           }
 102 
           }
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 103 
 
104 
           break;
 104 
           break;
105 
    case 2:// Attitude Menu Item
 105 
    case 2:// Attitude Menu Item
106 
           LCD_printfxy(0,0,"Attitude");
 106 
           LCD_printfxy(0,0,"Attitude");
107 
           LCD_printfxy(0,1,"Nick:      %5i",IntegralNick/1024);
 107 
           LCD_printfxy(0,1,"Pitch:     %5i",IntegralPitch/1024);
108 
           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
 108 
           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
109 
           LCD_printfxy(0,3,"Compass:   %5i",KompassValue);
 109 
           LCD_printfxy(0,3,"Compass:   %5i",CompassHeading);
110 
           break;
 110 
           break;
111 
    case 3:// Remote Control Channel Menu Item
 111 
    case 3:// Remote Control Channel Menu Item
112 
           LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
 112 
           LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
113 
           LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
 113 
           LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
114 
           LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
 114 
           LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
115 
           LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
 115 
           LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
116 
           break;
 116 
           break;
117 
    case 4:// Remote Control Mapping Menu Item
 117 
    case 4:// Remote Control Mapping Menu Item
118 
           LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
 118 
           LCD_printfxy(0,0,"Pi:%4i  Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
119 
           LCD_printfxy(0,1,"Gs:%4i  Gi:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_GIER]]);
 119 
           LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
120 
           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
 120 
           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
121 
           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
 121 
           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
122 
           break;
 122 
           break;
123 
    case 5:// Gyro Sensor Menu Item
 123 
    case 5:// Gyro Sensor Menu Item
124 
           LCD_printfxy(0,0,"Gyro - Sensor");
 124 
           LCD_printfxy(0,0,"Gyro - Sensor");
125 
          if(BoardRelease == 10)
 125 
          if(BoardRelease == 10)
126 
          {
 126 
          {
127 
           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick);
 127 
           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch);
128 
           LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
 128 
           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
129 
           LCD_printfxy(0,3,"Yaw  %4i (%3i)",MesswertGier, AdNeutralGier);
 129 
           LCD_printfxy(0,3,"Yaw   %4i (%3i)",ReadingYaw, AdNeutralYaw);
130 
          }
 130 
          }
131 
          else
 131 
          else
132 
          {
 132 
          {
133 
           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2);
 133 
           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2);
134 
           LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
 134 
           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
135 
           LCD_printfxy(0,3,"Yaw  %4i (%3i)",MesswertGier, AdNeutralGier/2);
 135 
           LCD_printfxy(0,3,"Yaw   %4i (%3i)",ReadingYaw, AdNeutralYaw/2);
136 
          }
 136 
          }
137 
           break;
 137 
           break;
138 
    case 6:// Acceleration Sensor Menu Item
 138 
    case 6:// Acceleration Sensor Menu Item
139 
           LCD_printfxy(0,0,"ACC - Sensor");
 139 
           LCD_printfxy(0,0,"ACC - Sensor");
140 
           LCD_printfxy(0,1,"Nick  %4i (%3i)",AdValueAccNick,NeutralAccX);
 140 
           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch,NeutralAccX);
141 
           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueAccRoll,NeutralAccY);
 141 
           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueAccRoll,NeutralAccY);
142 
           LCD_printfxy(0,3,"Hight %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ);
 142 
           LCD_printfxy(0,3,"Hight %4i (%3i)",Mean_AccTop/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ);
143 
           break;
 143 
           break;
144 
    case 7:// Accumulator Voltage / Remote Control Level
 144 
    case 7:// Accumulator Voltage / Remote Control Level
145 
           LCD_printfxy(0,1,"Voltage:  %5i",UBat);
 145 
           LCD_printfxy(0,1,"Voltage:  %5i",UBat);
146 
           LCD_printfxy(0,2,"RC-Level: %5i",SenderOkay);
 146 
           LCD_printfxy(0,2,"RC-Level: %5i",SenderOkay);
147 
           break;
 147 
           break;
148 
    case 8:// Compass Menu Item
 148 
    case 8:// Compass Menu Item
149 
           LCD_printfxy(0,0,"Compass       ");
 149 
           LCD_printfxy(0,0,"Compass       ");
150 
           LCD_printfxy(0,1,"Direction: %5i",KompassRichtung);
 150 
           LCD_printfxy(0,1,"Course:    %5i",CompassCourse);
151 
           LCD_printfxy(0,2,"Reading:   %5i",KompassValue);
 151 
           LCD_printfxy(0,2,"Heading:   %5i",CompassHeading);
152 
           LCD_printfxy(0,3,"Start:     %5i",KompassStartwert);
 152 
           LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse);
153 
           break;
 153 
           break;
154 
    case 9:// Poti Menu Item
 154 
    case 9:// Poti Menu Item
155 
           LCD_printfxy(0,0,"Poti1:  %3i",Poti1);
 155 
           LCD_printfxy(0,0,"Poti1:  %3i",Poti1);
156 
           LCD_printfxy(0,1,"Poti2:  %3i",Poti2);
 156 
           LCD_printfxy(0,1,"Poti2:  %3i",Poti2);
157 
           LCD_printfxy(0,2,"Poti3:  %3i",Poti3);
 157 
           LCD_printfxy(0,2,"Poti3:  %3i",Poti3);
158 
           LCD_printfxy(0,3,"Poti4:  %3i",Poti4);
 158 
           LCD_printfxy(0,3,"Poti4:  %3i",Poti4);
159 
           break;
 159 
           break;
160 
    case 10:// Servo Menu Item
 160 
    case 10:// Servo Menu Item
161 
           LCD_printfxy(0,0,"Servo  " );
 161 
           LCD_printfxy(0,0,"Servo  " );
162 
           LCD_printfxy(0,1,"Setpoint  %3i",Parameter_ServoNickControl);
 162 
           LCD_printfxy(0,1,"Setpoint  %3i",Parameter_ServoPitchControl);
163 
           LCD_printfxy(0,2,"Position: %3i",ServoValue);
 163 
           LCD_printfxy(0,2,"Position: %3i",ServoValue);
164 
           LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin,ParamSet.ServoNickMax);
 164 
           LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin,ParamSet.ServoPitchMax);
165 
           break;
 165 
           break;
166 
    case 11://Extern Control
 166 
    case 11://Extern Control
167 
           LCD_printfxy(0,0,"ExternControl  " );
 167 
           LCD_printfxy(0,0,"ExternControl  " );
168 
           LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick,ExternControl.Roll);
 168 
           LCD_printfxy(0,1,"Pi:%4i  Ro:%4i ",ExternControl.Pitch,ExternControl.Roll);
169 
           LCD_printfxy(0,2,"Gs:%4i  Gi:%4i ",ExternControl.Gas,ExternControl.Gier);
 169 
           LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",ExternControl.Gas,ExternControl.Yaw);
170 
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Hight,ExternControl.Config);
 170 
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Hight,ExternControl.Config);
171 
           break;
 171 
           break;
172 
   case 12:// MM3 Kompass
 172 
   case 12:// MM3 Kompass
173 
                        LCD_printfxy(0,0,"MM3 Offset");
 173 
                        LCD_printfxy(0,0,"MM3 Offset");