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| Rev 96 | Rev 97 | ||
|---|---|---|---|
| Line 136... | Line 136... | ||
| 136 | { |
136 | { |
| 137 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
137 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
| 138 | // in case of bad receiving conditions |
138 | // in case of bad receiving conditions |
| 139 | if(FC.RC_Quality < 100) |
139 | if(FC.RC_Quality < 100) |
| 140 | { // set fixed parameter |
140 | { // set fixed parameter |
| 141 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
141 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
| 142 | GPS_Parameter.Gain = (float) 100; |
142 | GPS_Parameter.Gain = (float) 100; |
| 143 | GPS_Parameter.P = (float) 90; |
143 | GPS_Parameter.P = (float) 90; |
| 144 | GPS_Parameter.I = (float) 90; |
144 | GPS_Parameter.I = (float) 90; |
| 145 | GPS_Parameter.D = (float) 90; |
145 | GPS_Parameter.D = (float) 90; |
| 146 | GPS_Parameter.A = (float) 90; |
146 | GPS_Parameter.A = (float) 90; |
| Line 256... | Line 256... | ||
| 256 | return (retval); |
256 | return (retval); |
| 257 | } |
257 | } |
| Line 258... | Line 258... | ||
| 258 | 258 | ||
| 259 | 259 | ||
| 260 | //------------------------------------------------------------ |
260 | //------------------------------------------------------------ |
| 261 | void GPS_Neutral() |
261 | void GPS_Neutral(void) |
| 262 | { |
262 | { |
| 263 | GPS_Stick.Nick = 0; |
263 | GPS_Stick.Nick = 0; |
| 264 | GPS_Stick.Roll = 0; |
264 | GPS_Stick.Roll = 0; |
| Line 669... | Line 669... | ||
| 669 | NaviData.RC_Quality = (u8)FC.RC_Quality; |
669 | NaviData.RC_Quality = (u8)FC.RC_Quality; |
| 670 | NaviData.MKFlags = (u8)FC.MKFlags; |
670 | NaviData.MKFlags = (u8)FC.MKFlags; |
| 671 | NaviData.NCFlags = NCFlags; |
671 | NaviData.NCFlags = NCFlags; |
| 672 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
672 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
| 673 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
673 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
| 674 | NaviData.TargetHoldTime = (u16)GetDelay(WPTime); |
674 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
| 675 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
675 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 676 | return; |
676 | return; |
| 677 | } |
677 | } |