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Rev 1857 | Rev 1861 | ||
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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 |