Rev 268 | Rev 277 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 268 | Rev 276 | ||
---|---|---|---|
Line 100... | Line 100... | ||
100 | 100 | ||
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
102 | u8 SPI_CommandCounter = 0; |
102 | u8 SPI_CommandCounter = 0; |
103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
- | 104 | s32 HeadFreeStartAngle = 0; |
|
104 | s32 HeadFreeStartAngle = 0; |
105 | s32 NewCompassDirectionSetpoint = -1; |
Line 105... | Line 106... | ||
105 | s32 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
106 | s32 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
Line 106... | Line 107... | ||
106 | 107 | ||
Line 294... | Line 295... | ||
294 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
295 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
295 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
296 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
296 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
297 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
297 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
298 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
298 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
299 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
- | 300 | // ToFlightCtrl.Param.Byte[7] ist frei |
|
- | 301 | ToFlightCtrl.Param.sInt[4] = (s16) NewCompassDirectionSetpoint; |
|
- | 302 | NewCompassDirectionSetpoint = -1; // delete the Value |
|
299 | break; |
303 | break; |
Line 300... | Line 304... | ||
300 | 304 | ||
301 | case SPI_NCCMD_VERSION: |
305 | case SPI_NCCMD_VERSION: |
302 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
306 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |