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Line 64... | Line 64... | ||
64 | #include "attitude.h" |
64 | #include "attitude.h" |
65 | #include "rc.h" |
65 | #include "rc.h" |
66 | #include "externalControl.h" |
66 | #include "externalControl.h" |
67 | #include "output.h" |
67 | #include "output.h" |
Line 68... | Line -... | ||
68 | - | ||
69 | #if defined (USE_MK3MAG) |
- | |
70 | #include "ubx.h" |
- | |
71 | #endif |
68 | |
72 | #ifdef USE_MK3MAG |
69 | #ifdef USE_MK3MAG |
73 | #include "mk3mag.h" |
70 | #include "mk3mag.h" |
Line 74... | Line 71... | ||
74 | #endif |
71 | #endif |
Line 150... | Line 147... | ||
150 | "M1 ", |
147 | "M1 ", |
151 | "M2 ", |
148 | "M2 ", |
152 | "M3 ", |
149 | "M3 ", |
153 | "M4 ", //25 |
150 | "M4 ", //25 |
154 | "ControlYaw ", |
151 | "ControlYaw ", |
155 | "Acc Z ", |
152 | "Airpress. Range ", |
156 | "DriftCompPitch ", |
153 | "DriftCompPitch ", |
157 | "DriftCompRoll ", |
154 | "DriftCompRoll ", |
158 | "Pitch Noise ", //30 |
155 | "AirpressFiltered", //30 |
159 | "Roll Noise " |
156 | "AirpressADC " |
160 | }; |
157 | }; |
Line 161... | Line 158... | ||
161 | 158 | ||
162 | /****************************************************************/ |
159 | /****************************************************************/ |
163 | /* Initialization of the USART0 */ |
160 | /* Initialization of the USART0 */ |
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269 | uint8_t crc1, crc2; |
266 | uint8_t crc1, crc2; |
270 | uint8_t c; |
267 | uint8_t c; |
Line 271... | Line 268... | ||
271 | 268 | ||
Line 272... | Line -... | ||
272 | c = UDR0; // catch the received byte |
- | |
273 | - | ||
274 | #if (defined (USE_MK3MAG)) |
- | |
275 | // If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart. |
- | |
276 | if(CPUType != ATMEGA644P) ubx_parser(c); |
- | |
277 | #endif |
269 | c = UDR0; // catch the received byte |
Line 278... | Line 270... | ||
278 | 270 | ||
279 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
271 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
280 | 272 |