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| Rev 1955 | Rev 1960 | ||
|---|---|---|---|
| Line 127... | Line 127... | ||
| 127 | "AngleRoll ", |
127 | "AngleRoll ", |
| 128 | "AngleYaw ", |
128 | "AngleYaw ", |
| 129 | "GyroPitch(PID) ", |
129 | "GyroPitch(PID) ", |
| 130 | "GyroRoll(PID) ", |
130 | "GyroRoll(PID) ", |
| 131 | "GyroYaw ", //5 |
131 | "GyroYaw ", //5 |
| 132 | "AccPitch (raw) ", |
132 | "OffsPitch ", |
| 133 | "AccRoll (raw) ", |
133 | "OffsRoll ", |
| 134 | "AttitudeControl ", |
134 | "AttitudeControl ", |
| 135 | "AccPitch (angle)", |
135 | "AccPitch (angle)", |
| 136 | "AccRoll (angle) ", //10 |
136 | "AccRoll (angle) ", //10 |
| 137 | "UBat ", |
137 | "UBat ", |
| 138 | "Pitch Term ", |
138 | "Pitch Term ", |
| Line 519... | Line 519... | ||
| 519 | break; |
519 | break; |
| Line 520... | Line 520... | ||
| 520 | 520 | ||
| 521 | case 'n':// "Get Mixer Table |
521 | case 'n':// "Get Mixer Table |
| 522 | while (!txd_complete) |
522 | while (!txd_complete) |
| 523 | ; // wait for previous frame to be sent |
523 | ; // wait for previous frame to be sent |
| 524 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
524 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix)); |
| Line 525... | Line 525... | ||
| 525 | break; |
525 | break; |
| 526 | 526 | ||
| 527 | case 'm':// "Set Mixer Table |
527 | case 'm':// "Set Mixer Table |
| 528 | if (pRxData[0] == EEMIXER_REVISION) { |
528 | if (pRxData[0] == EEMIXER_REVISION) { |
| 529 | memcpy(&Mixer, (uint8_t*) pRxData, sizeof(Mixer)); |
529 | memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix)); |
| 530 | MixerTable_WriteToEEProm(); |
530 | mixerMatrix_writeToEEProm(); |
| 531 | while (!txd_complete) |
531 | while (!txd_complete) |
| 532 | ; // wait for previous frame to be sent |
532 | ; // wait for previous frame to be sent |
| 533 | tempchar1 = 1; |
533 | tempchar1 = 1; |
| Line 541... | Line 541... | ||
| 541 | request_PPMChannels = TRUE; |
541 | request_PPMChannels = TRUE; |
| 542 | break; |
542 | break; |
| Line 543... | Line 543... | ||
| 543 | 543 | ||
| 544 | case 'q':// request settings |
544 | case 'q':// request settings |
| 545 | if (pRxData[0] == 0xFF) { |
545 | if (pRxData[0] == 0xFF) { |
| 546 | pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
546 | pRxData[0] = getParamByte(PID_ACTIVE_SET); |
| 547 | } |
547 | } |
| 548 | // limit settings range |
548 | // limit settings range |
| 549 | if (pRxData[0] < 1) |
549 | if (pRxData[0] < 1) |
| 550 | pRxData[0] = 1; // limit to 1 |
550 | pRxData[0] = 1; // limit to 1 |
| 551 | else if (pRxData[0] > 5) |
551 | else if (pRxData[0] > 5) |
| 552 | pRxData[0] = 5; // limit to 5 |
552 | pRxData[0] = 5; // limit to 5 |
| 553 | // load requested parameter set |
553 | // load requested parameter set |
| 554 | ParamSet_ReadFromEEProm(pRxData[0]); |
554 | paramSet_readFromEEProm(pRxData[0]); |
| 555 | tempchar1 = pRxData[0]; |
555 | tempchar1 = pRxData[0]; |
| 556 | tempchar2 = EEPARAM_REVISION; |
556 | tempchar2 = EEPARAM_REVISION; |
| 557 | while (!txd_complete) |
557 | while (!txd_complete) |
| 558 | ; // wait for previous frame to be sent |
558 | ; // wait for previous frame to be sent |
| Line 566... | Line 566... | ||
| 566 | { |
566 | { |
| 567 | if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] |
567 | if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] |
| 568 | == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
568 | == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
| 569 | { |
569 | { |
| 570 | memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
570 | memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
| 571 | ParamSet_WriteToEEProm(pRxData[0]); |
571 | paramSet_writeToEEProm(pRxData[0]); |
| 572 | tempchar1 = getActiveParamSet(); |
572 | tempchar1 = getActiveParamSet(); |
| 573 | beepNumber(tempchar1); |
573 | beepNumber(tempchar1); |
| 574 | } else { |
574 | } else { |
| 575 | tempchar1 = 0; //indicate bad data |
575 | tempchar1 = 0; //indicate bad data |
| 576 | } |
576 | } |
| Line 732... | Line 732... | ||
| 732 | 732 | ||
| 733 | #ifdef USE_MK3MAG |
733 | #ifdef USE_MK3MAG |
| 734 | if((checkDelay(Compass_Timer)) && txd_complete) { |
734 | if((checkDelay(Compass_Timer)) && txd_complete) { |
| 735 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
735 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| 736 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
736 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| 737 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
737 | ToMk3Mag.UserParam[0] = dynamicParams.userParams[0]; |
| 738 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
738 | ToMk3Mag.UserParam[1] = dynamicParams.userParams[1]; |
| 739 | ToMk3Mag.CalState = compassCalState; |
739 | ToMk3Mag.CalState = compassCalState; |
| 740 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
740 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| 741 | // the last state is 5 and should be send only once to avoid multiple flash writing |
741 | // the last state is 5 and should be send only once to avoid multiple flash writing |
| 742 | if(compassCalState > 4) compassCalState = 0; |
742 | if(compassCalState > 4) compassCalState = 0; |