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| Rev 1857 | Rev 1861 | ||
|---|---|---|---|
| Line 185... | Line 185... | ||
| 185 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
185 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| 186 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
186 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
| 187 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
187 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| 188 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
188 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
| 189 | ToNaviCtrl.Param.Byte[10] = ControlHeading; |
189 | ToNaviCtrl.Param.Byte[10] = ControlHeading; |
| - | 190 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
|
| 190 | break; |
191 | break; |
| Line 191... | Line 192... | ||
| 191 | 192 | ||
| 192 | case SPI_FCCMD_ACCU: |
193 | case SPI_FCCMD_ACCU: |
| 193 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
194 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| Line 306... | Line 307... | ||
| 306 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
307 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
| 307 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
308 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
| 308 | { |
309 | { |
| 309 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
310 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
| 310 | } |
311 | } |
| 311 | if(CareFree) POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel |
312 | // if(CareFree) POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel |
| 312 | else POI_KameraNick = 0; |
313 | // else POI_KameraNick = 0; |
| 313 | - | ||
| - | 314 | POI_KameraNick = POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
|
| 314 | break; |
315 | break; |
| 315 | case SPI_NCCMD_VERSION: |
316 | case SPI_NCCMD_VERSION: |
| 316 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
317 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
| 317 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
318 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
| 318 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
319 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
| Line 331... | Line 332... | ||
| 331 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
332 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| 332 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
333 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| 333 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
334 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
| 334 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
335 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| 335 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
336 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| 336 | DebugOut.Analog[16] = FromNC_AltitudeSpeed; |
- | |
| 337 | DebugOut.Analog[17] = FromNC_AltitudeSetpoint; |
- | |
| 338 | DebugOut.Analog[24] = SollHoehe/5; |
337 | DebugOut.Analog[24] = SollHoehe/5; |
| 339 | break; |
338 | break; |
| 340 | // 0 = 0,1 |
339 | // 0 = 0,1 |
| 341 | // 1 = 2,3 |
340 | // 1 = 2,3 |
| 342 | // 2 = 4,5 |
341 | // 2 = 4,5 |