Subversion Repositories FlightCtrl

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Rev 1941 Rev 1944
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          {
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          {
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            case SPI_NCCMD_KALMAN:
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            case SPI_NCCMD_KALMAN:
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                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
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                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
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                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
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                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
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                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
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                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
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                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
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                        KompassFusion = FromNaviCtrl.Param.sByte[3];
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                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
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                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
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                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
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                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
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                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
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                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
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            if(FromNaviCtrl.Param.Byte[7] & FLAG_GPS_AID) GPS_AidMode = 1; else GPS_AidMode = 0;
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            if(FromNaviCtrl.Param.Byte[7] & FLAG_GPS_AID) GPS_AidMode = 1; else GPS_AidMode = 0;
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                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
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                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
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                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
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                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
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                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
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                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
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                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
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                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
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                        NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
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                        NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
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                        NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
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                        NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
- 
 
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                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
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                        break;
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                        break;
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                case SPI_NCCMD_GPSINFO:
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                case SPI_NCCMD_GPSINFO:
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                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
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                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
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                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
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                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
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                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
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                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];