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Rev 1941 | Rev 1944 | ||
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Line 304... | Line 304... | ||
304 | { |
304 | { |
305 | case SPI_NCCMD_KALMAN: |
305 | case SPI_NCCMD_KALMAN: |
306 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
306 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
307 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
307 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
308 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
308 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
309 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
309 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
310 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
310 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
311 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
311 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
312 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
312 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
313 | if(FromNaviCtrl.Param.Byte[7] & FLAG_GPS_AID) GPS_AidMode = 1; else GPS_AidMode = 0; |
313 | if(FromNaviCtrl.Param.Byte[7] & FLAG_GPS_AID) GPS_AidMode = 1; else GPS_AidMode = 0; |
314 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
314 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
Line 330... | Line 330... | ||
330 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
330 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
331 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
331 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
332 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
332 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
333 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
333 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
334 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
334 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
- | 335 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
|
335 | break; |
336 | break; |
336 | case SPI_NCCMD_GPSINFO: |
337 | case SPI_NCCMD_GPSINFO: |
337 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
338 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
338 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
339 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
339 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
340 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |