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Line 85... | Line 85... | ||
85 | "Pitch Term ", |
85 | "Pitch Term ", |
86 | "Roll Term ", |
86 | "Roll Term ", |
87 | "Yaw Term ", //15 |
87 | "Yaw Term ", //15 |
88 | "Throttle Term ", |
88 | "Throttle Term ", |
89 | "ControlAct/10 ", |
89 | "ControlAct/10 ", |
90 | "Acc. Vector ", |
90 | "RC Qual ", |
91 | "heightTrottleIn ", |
91 | "heightTrottleIn ", |
92 | "HeightdThrottle ", //20 |
92 | "HeightdThrottle ", //20 |
93 | "Height ", |
93 | "Height ", |
94 | "TargetHeight ", |
94 | "TargetHeight ", |
95 | "heightError ", |
95 | "heightError ", |
96 | "HeightPdThrottle", |
96 | "HeightPdThrottle", |
97 | "HeightIdThrottle", //25 |
97 | "HeightIdThrottle", //25 |
98 | "HeightDdThrottle", |
98 | "HeightDdThrottle", |
99 | "HeightPFactor ", |
99 | "NaviStickPitch ", |
100 | "HeightIFactor ", |
100 | "NaviStickRoll ", |
101 | "HeightDFactor ", |
101 | "StickPitch ", |
102 | "Altitude ", //30 |
102 | "StickRoll ", //30 |
103 | "AirpressADC " }; |
103 | "navi mode " |
- | 104 | }; |
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Line 104... | Line 105... | ||
104 | 105 | ||
105 | /****************************************************************/ |
106 | /****************************************************************/ |
106 | /* Initialization of the USART0 */ |
107 | /* Initialization of the USART0 */ |
107 | /****************************************************************/ |
108 | /****************************************************************/ |
Line 651... | Line 652... | ||
651 | } |
652 | } |
Line 652... | Line 653... | ||
652 | 653 | ||
653 | if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) |
654 | if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) |
654 | && txd_complete) { |
655 | && txd_complete) { |
655 | sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D)); |
- | |
656 | data3D.anglePitch = (int16_t) ((10 * angle[PITCH]) |
656 | sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D)); |
657 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
- | |
658 | data3D.angleRoll = (int16_t) ((10 * angle[ROLL]) |
657 | data3D.anglePitch = (int16_t) (angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1° |
659 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
658 | data3D.angleRoll = (int16_t) (angle[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1° |
660 | data3D.heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
659 | data3D.heading = (int16_t) (yawGyroHeading / (GYRO_DEG_FACTOR_YAW/10)); // convert to multiple of 0.1° |
661 | data3D_timer = setDelay(data3D_interval); |
660 | data3D_timer = setDelay(data3D_interval); |
662 | request_data3D = FALSE; |
661 | request_data3D = FALSE; |
Line 663... | Line 662... | ||
663 | } |
662 | } |