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Line 105... | Line 105... | ||
105 | 105 | ||
106 | typedef struct { |
106 | typedef struct { |
107 | int16_t Heading; |
107 | int16_t Heading; |
Line 108... | Line 108... | ||
108 | }__attribute__((packed)) Heading_t; |
108 | }__attribute__((packed)) Heading_t; |
109 | 109 | ||
110 | DebugOut_t DebugOut; |
110 | DebugOut_t debugOut; |
Line 111... | Line 111... | ||
111 | Data3D_t Data3D; |
111 | Data3D_t Data3D; |
112 | UART_VersionInfo_t UART_VersionInfo; |
112 | UART_VersionInfo_t UART_VersionInfo; |
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 | "GYRO_RATE_FACTOR", |
132 | "AccPitch (raw) ", |
133 | "GYRO_RATE_FACTOR", |
133 | "AccRoll (raw) ", |
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 ", |
139 | "Roll Term ", |
139 | "Roll Term ", |
140 | "controlActivity ", |
140 | "Yaw Term ", |
141 | "ca debug ", //15 |
141 | "ca debug ", //15 |
142 | "0th O Corr pitch", |
142 | "gyroP ", |
143 | "0th O Corr roll ", |
143 | "gyroI ", |
144 | "unused ", |
144 | "gyroD ", |
145 | "unused ", |
145 | "unused ", |
146 | "dHeightThrottle ", //20 |
146 | "dHeightThrottle ", //20 |
147 | "hoverThrottle ", |
147 | "hoverThrottle ", |
148 | "M1 ", |
148 | "M1 ", |
149 | "M2 ", |
149 | "M2 ", |
Line 705... | Line 705... | ||
705 | ConfirmFrame = 0; |
705 | ConfirmFrame = 0; |
706 | } |
706 | } |
Line 707... | Line 707... | ||
707 | 707 | ||
708 | if (((DebugData_Interval && checkDelay(DebugData_Timer)) || request_DebugData) |
708 | if (((DebugData_Interval && checkDelay(DebugData_Timer)) || request_DebugData) |
709 | && txd_complete) { |
709 | && txd_complete) { |
710 | SendOutData('D', FC_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
710 | SendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut)); |
711 | DebugData_Timer = setDelay(DebugData_Interval); |
711 | DebugData_Timer = setDelay(DebugData_Interval); |
712 | request_DebugData = FALSE; |
712 | request_DebugData = FALSE; |
Line 713... | Line 713... | ||
713 | } |
713 | } |