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| Rev 1221 | Rev 1222 | ||
|---|---|---|---|
| Line 56... | Line 56... | ||
| 56 | #include "fc.h" |
56 | #include "fc.h" |
| 57 | #include "rc.h" |
57 | #include "rc.h" |
| 58 | #include "uart0.h" |
58 | #include "uart0.h" |
| 59 | #include "printf_P.h" |
59 | #include "printf_P.h" |
| 60 | #include "analog.h" |
60 | #include "analog.h" |
| - | 61 | #include "twimaster.h" |
|
| Line 61... | Line 62... | ||
| 61 | 62 | ||
| 62 | #ifdef USE_KILLAGREG |
63 | #ifdef USE_KILLAGREG |
| 63 | #include "mm3.h" |
64 | #include "mm3.h" |
| Line 64... | Line 65... | ||
| 64 | #endif |
65 | #endif |
| 65 | 66 | ||
| 66 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
67 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| Line 67... | Line 68... | ||
| 67 | #include "ubx.h" |
68 | #include "ubx.h" |
| 68 | #endif |
69 | #endif |
| 69 | 70 | ||
| 70 | #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG)) |
71 | #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG)) |
| 71 | uint8_t MaxMenuItem = 11; |
72 | uint8_t MaxMenuItem = 13; |
| 72 | #else |
73 | #else |
| Line 73... | Line 74... | ||
| 73 | #ifdef USE_MK3MAG |
74 | #ifdef USE_MK3MAG |
| 74 | uint8_t MaxMenuItem = 12; |
75 | uint8_t MaxMenuItem = 14; |
| 75 | #endif |
76 | #endif |
| 76 | 77 | ||
| 77 | #ifdef USE_KILLAGREG |
78 | #ifdef USE_KILLAGREG |
| 78 | uint8_t MaxMenuItem = 14; |
79 | uint8_t MaxMenuItem = 16; |
| Line 126... | Line 127... | ||
| 126 | 127 | ||
| 127 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
128 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| 128 | // print menu item number in the upper right corner |
129 | // print menu item number in the upper right corner |
| 129 | if(MenuItem < 10) |
130 | if(MenuItem < 10) |
| 130 | { |
131 | { |
| 131 | LCD_printfxy(17,0,"[%i]",MenuItem); |
132 | LCD_printfxy(17,0,"[%i]",MenuItem); |
| 132 | } |
133 | } |
| 133 | else |
134 | else |
| 134 | { |
135 | { |
| 135 | LCD_printfxy(16,0,"[%i]",MenuItem); |
136 | LCD_printfxy(16,0,"[%i]",MenuItem); |
| Line 136... | Line 137... | ||
| 136 | } |
137 | } |
| 137 | 138 | ||
| 138 | switch(MenuItem) |
139 | switch(MenuItem) |
| 139 | { |
140 | { |
| 140 | case 0:// Version Info Menu Item |
141 | case 0:// Version Info Menu Item |
| 141 | LCD_printfxy(0,0,"+ MikroKopter +"); |
- | |
| 142 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
142 | LCD_printfxy(0,0,"+ MikroKopter +"); |
| 143 | #ifndef USE_QUADRO |
143 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
| - | 144 | LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name); |
|
| 144 | LCD_printfxy(0,2,"OCTO Setting: %d ", GetActiveParamSet()); |
145 | if(I2CTimeout < 6) |
| - | 146 | { |
|
| 145 | #else |
147 | LCD_printfxy(0,3,"I2C Error!!!"); |
| - | 148 | } |
|
| - | 149 | else if (MissingMotor) |
|
| - | 150 | { |
|
| 146 | LCD_printfxy(0,2,"QUADRO Setting: %d ", GetActiveParamSet()); |
151 | LCD_printfxy(0,3,"Missing BL-Ctrl:%d", MissingMotor); |
| 147 | #endif |
152 | } |
| 148 | LCD_printfxy(0,3,"(c) Holger Buss"); |
153 | else LCD_printfxy(0,3,"(c) Holger Buss"); |
| 149 | break; |
154 | break; |
| 150 | case 1:// Height Control Menu Item |
155 | case 1:// Height Control Menu Item |
| 151 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
156 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| 152 | { |
157 | { |
| 153 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
158 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
| 154 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
159 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
| 155 | LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
160 | LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
| 156 | LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
161 | LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
| 157 | } |
162 | } |
| 158 | else |
163 | else |
| 159 | { |
164 | { |
| - | 165 | LCD_printfxy(0,1,"No "); |
|
| 160 | LCD_printfxy(0,1,"No "); |
166 | LCD_printfxy(0,2,"Height Control"); |
| 161 | LCD_printfxy(0,2,"Height Control"); |
167 | } |
| 162 | } |
- | |
| 163 | 168 | break; |
|
| 164 | break; |
169 | |
| 165 | case 2:// Attitude Menu Item |
170 | case 2:// Attitude Menu Item |
| 166 | LCD_printfxy(0,0,"Attitude"); |
171 | LCD_printfxy(0,0,"Attitude"); |
| 167 | LCD_printfxy(0,1,"Nick: %5i",IntegralGyroNick/1024); |
172 | LCD_printfxy(0,1,"Nick: %5i",IntegralGyroNick/1024); |
| 168 | LCD_printfxy(0,2,"Roll: %5i",IntegralGyroRoll/1024); |
173 | LCD_printfxy(0,2,"Roll: %5i",IntegralGyroRoll/1024); |
| 169 | LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
174 | LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
| 170 | break; |
175 | break; |
| 171 | case 3:// Remote Control Channel Menu Item |
176 | case 3:// Remote Control Channel Menu Item |
| 172 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
177 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| 173 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
178 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
| 174 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
179 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
| 175 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
180 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
| 176 | break; |
181 | break; |
| 177 | case 4:// Remote Control Mapping Menu Item |
182 | case 4:// Remote Control Mapping Menu Item |
| 178 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
183 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| 179 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
184 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| 180 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
185 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
| 181 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
186 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
| 182 | break; |
187 | break; |
| 183 | case 5:// Gyro Sensor Menu Item |
188 | case 5:// Gyro Sensor Menu Item |
| 184 | LCD_printfxy(0,0,"Gyro - Sensor"); |
189 | LCD_printfxy(0,0,"Gyro - Sensor"); |
| 185 | switch(BoardRelease) |
190 | switch(BoardRelease) |
| 186 | { |
191 | { |
| 187 | case 10: |
192 | case 10: |
| 188 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY); |
193 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY); |
| 189 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY); |
194 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY); |
| 190 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw); |
195 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw); |
| 191 | break; |
196 | break; |
| 192 | 197 | ||
| 193 | case 11: |
198 | case 11: |
| 194 | case 12: |
199 | case 12: |
| 195 | case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
200 | case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
| 196 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
201 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| 197 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
- | |
| 198 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2); |
- | |
| 199 | break; |
- | |
| 200 | - | ||
| 201 | case 13: |
- | |
| 202 | default: // divice Offests by 2 becuse 2 samples are added in adc isr |
202 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| 203 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroNick); // division by 2 to push the reminder below 10 (15/2 = 7) |
- | |
| 204 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroRoll); // division by 2 to push the reminder below 10 (15/2 = 7) |
- | |
| 205 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw ); |
- | |
| 206 | break; |
- | |
| 207 | } |
- | |
| 208 | break; |
- | |
| 209 | case 6:// Acceleration Sensor Menu Item |
- | |
| 210 | LCD_printfxy(0,0,"ACC - Sensor"); |
- | |
| 211 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR |
- | |
| 212 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR |
- | |
| 213 | LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop); |
- | |
| 214 | break; |
- | |
| 215 | case 7:// Accumulator Voltage / Remote Control Level |
- | |
| 216 | LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
- | |
| 217 | LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
- | |
| 218 | break; |
- | |
| 219 | case 8:// Compass Menu Item |
- | |
| 220 | LCD_printfxy(0,0,"Compass "); |
- | |
| 221 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
- | |
| 222 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
- | |
| 223 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
- | |
| 224 | break; |
- | |
| 225 | case 9:// Poti Menu Item |
- | |
| 226 | LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
- | |
| 227 | LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
- | |
| 228 | LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
- | |
| 229 | LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
- | |
| 230 | break; |
- | |
| 231 | case 10:// Servo Menu Item |
- | |
| 232 | LCD_printfxy(0,0,"Servo " ); |
- | |
| 233 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
- | |
| 234 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
- | |
| 235 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
- | |
| 236 | break; |
- | |
| 237 | case 11://Extern Control |
- | |
| 238 | LCD_printfxy(0,0,"ExternControl " ); |
- | |
| 239 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
- | |
| 240 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
- | |
| Line -... | Line 203... | ||
| - | 203 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2); |
|
| - | 204 | break; |
|
| - | 205 | ||
| - | 206 | case 13: |
|
| - | 207 | default: // divice Offests by 2 becuse 2 samples are added in adc isr |
|
| - | 208 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroNick); // division by 2 to push the reminder below 10 (15/2 = 7) |
|
| - | 209 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroRoll); // division by 2 to push the reminder below 10 (15/2 = 7) |
|
| - | 210 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw ); |
|
| - | 211 | break; |
|
| - | 212 | } |
|
| - | 213 | break; |
|
| - | 214 | case 6:// Acceleration Sensor Menu Item |
|
| - | 215 | LCD_printfxy(0,0,"ACC - Sensor"); |
|
| - | 216 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR |
|
| - | 217 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR |
|
| - | 218 | LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop); |
|
| - | 219 | break; |
|
| - | 220 | case 7:// Accumulator Voltage / Remote Control Level |
|
| - | 221 | LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
|
| - | 222 | LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
|
| - | 223 | break; |
|
| - | 224 | case 8:// Compass Menu Item |
|
| - | 225 | LCD_printfxy(0,0,"Compass "); |
|
| - | 226 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
|
| - | 227 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
|
| - | 228 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
|
| - | 229 | break; |
|
| - | 230 | case 9:// Poti Menu Item |
|
| - | 231 | LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
|
| - | 232 | LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
|
| - | 233 | LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
|
| - | 234 | LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
|
| - | 235 | break; |
|
| - | 236 | case 10:// Servo Menu Item |
|
| - | 237 | LCD_printfxy(0,0,"Servo " ); |
|
| - | 238 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
|
| - | 239 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
|
| - | 240 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
|
| - | 241 | break; |
|
| - | 242 | case 11://Extern Control |
|
| - | 243 | LCD_printfxy(0,0,"ExternControl " ); |
|
| - | 244 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
|
| - | 245 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
|
| - | 246 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
|
| - | 247 | break; |
|
| - | 248 | ||
| - | 249 | case 12://BL Communication errors |
|
| - | 250 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
|
| - | 251 | LCD_printfxy(0,1," %3d %3d %3d %3d ",Motor[0].Error,Motor[1].Error,Motor[2].Error,Motor[3].Error); |
|
| - | 252 | LCD_printfxy(0,2," %3d %3d %3d %3d ",Motor[4].Error,Motor[5].Error,Motor[6].Error,Motor[7].Error); |
|
| - | 253 | LCD_printfxy(0,3," %3d %3d %3d %3d ",Motor[8].Error,Motor[9].Error,Motor[10].Error,Motor[11].Error); |
|
| - | 254 | break; |
|
| - | 255 | ||
| - | 256 | case 13://BL Overview |
|
| - | 257 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
|
| - | 258 | LCD_printfxy(0,1," %c %c %c %c ",Motor[0].Present + '-',Motor[1].Present + '-',Motor[2].Present + '-',Motor[3].Present + '-'); |
|
| - | 259 | LCD_printfxy(0,2," %c %c %c %c ",Motor[4].Present + '-',Motor[5].Present + '-',Motor[6].Present + '-',Motor[7].Present + '-'); |
|
| - | 260 | LCD_printfxy(0,3," %c - - - ",Motor[8].Present + '-'); |
|
| - | 261 | if(Motor[9].Present) LCD_printfxy(4,3,"10"); |
|
| - | 262 | if(Motor[10].Present) LCD_printfxy(8,3,"11"); |
|
| 241 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
263 | if(Motor[11].Present) LCD_printfxy(12,3,"12"); |
| 242 | break; |
264 | break; |
| 243 | 265 | ||
| 244 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
266 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| 245 | case 12://GPS Lat/Lon coords |
267 | case 14://GPS Lat/Lon coords |
| 246 | if (GPSInfo.status == INVALID) |
268 | if (GPSInfo.status == INVALID) |
| 247 | { |
269 | { |
| Line 266... | Line 288... | ||
| 266 | } |
288 | } |
| 267 | int16_t i1,i2,i3; |
289 | int16_t i1,i2,i3; |
| 268 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
290 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
| 269 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
291 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
| 270 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
292 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
| 271 | LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3); |
293 | LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3); |
| 272 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
294 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
| 273 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
295 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
| 274 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
296 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
| 275 | LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3); |
297 | LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3); |
| 276 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
298 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
| 277 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
299 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
| 278 | LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2); |
300 | LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2); |
| 279 | } |
301 | } |
| 280 | break; |
302 | break; |
| 281 | #endif |
303 | #endif |
| 282 | #ifdef USE_KILLAGREG |
304 | #ifdef USE_KILLAGREG |
| 283 | case 13:// MM3 Kompass |
305 | case 15:// MM3 Kompass |
| 284 | LCD_printfxy(0,0,"MM3 Offset"); |
306 | LCD_printfxy(0,0,"MM3 Offset"); |
| 285 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
307 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
| 286 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
308 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
| 287 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
309 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
| 288 | break; |
310 | break; |
| 289 | case 14://MM3 Range |
311 | case 16://MM3 Range |
| 290 | LCD_printfxy(0,0,"MM3 Range"); |
312 | LCD_printfxy(0,0,"MM3 Range"); |
| 291 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
313 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
| 292 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
314 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
| 293 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
315 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
| 294 | break; |
316 | break; |
| 295 | #endif |
317 | #endif |
| Line -... | Line 318... | ||
| - | 318 | ||
| 296 | 319 | default: |
|
| 297 | default: MaxMenuItem = MenuItem - 1; |
320 | MaxMenuItem = MenuItem - 1; |
| 298 | MenuItem = 0; |
321 | MenuItem = 0; |
| 299 | break; |
322 | break; |
| 300 | } |
323 | } |
| 301 | RemoteKeys = 0; |
324 | RemoteKeys = 0; |