Rev 279 | Rev 284 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 279 | Rev 280 | ||
|---|---|---|---|
| Line 294... | Line 294... | ||
| 294 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
294 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| 295 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
295 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| 296 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
296 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 297 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
297 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 298 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
298 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 299 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
- | |
| 300 | if(CAM_Orientation.State == NEWDATA) |
299 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 301 | { |
300 | { |
| 302 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
301 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
| 303 | CAM_Orientation.State = PROCESSED; |
302 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 304 | } |
303 | } |
| 305 | else |
304 | else |
| 306 | { // set invalid values |
305 | { |
| 307 | ToFlightCtrl.Param.sInt[4] = -1; |
306 | ToFlightCtrl.Param.sInt[4] = -1; |
| 308 | } |
307 | } |
| 309 | DebugOut.Analog[24] = ToFlightCtrl.Param.sInt[5]; |
308 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
| 310 | break; |
309 | break; |
| Line 311... | Line 310... | ||
| 311 | 310 | ||
| 312 | case SPI_NCCMD_VERSION: |
311 | case SPI_NCCMD_VERSION: |
| 313 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
312 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |