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| Rev 287 | Rev 294 | ||
|---|---|---|---|
| Line 65... | Line 65... | ||
| 65 | #include "timer1.h" |
65 | #include "timer1.h" |
| 66 | #include "timer2.h" |
66 | #include "timer2.h" |
| 67 | #include "config.h" |
67 | #include "config.h" |
| 68 | #include "main.h" |
68 | #include "main.h" |
| 69 | #include "compass.h" |
69 | #include "compass.h" |
| 70 | - | ||
| - | 70 | #include "params.h" |
|
| Line 71... | Line 71... | ||
| 71 | 71 | ||
| 72 | #define SPI_RXSYNCBYTE1 0xAA |
72 | #define SPI_RXSYNCBYTE1 0xAA |
| 73 | #define SPI_RXSYNCBYTE2 0x83 |
73 | #define SPI_RXSYNCBYTE2 0x83 |
| 74 | #define SPI_TXSYNCBYTE1 0x81 |
74 | #define SPI_TXSYNCBYTE1 0x81 |
| Line 310... | Line 310... | ||
| 310 | } |
310 | } |
| 311 | else |
311 | else |
| 312 | { |
312 | { |
| 313 | ToFlightCtrl.Param.sInt[4] = -1; |
313 | ToFlightCtrl.Param.sInt[4] = -1; |
| 314 | } |
314 | } |
| - | 315 | ||
| - | 316 | if(NCParams[NCPARAMS_NEW_CAMERA_ELEVATION] != -30000) // Elevation set via 'j' command |
|
| - | 317 | { |
|
| 315 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
318 | ToFlightCtrl.Param.sInt[5] = NCParams[NCPARAMS_NEW_CAMERA_ELEVATION]; |
| - | 319 | } |
|
| - | 320 | else |
|
| - | 321 | { |
|
| - | 322 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
|
| - | 323 | else ToFlightCtrl.Param.sInt[5] = 0; |
|
| - | 324 | } |
|
| 316 | break; |
325 | break; |
| Line 317... | Line 326... | ||
| 317 | 326 | ||
| 318 | case SPI_NCCMD_VERSION: |
327 | case SPI_NCCMD_VERSION: |
| 319 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
328 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| Line 332... | Line 341... | ||
| 332 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
341 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
| 333 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
342 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 334 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
343 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 335 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
344 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
| 336 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
345 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
| - | 346 | if(NCParams[NCPARAMS_ALTITUDE_RATE] != -1) ToFlightCtrl.Param.Byte[9] = (u8) NCParams[NCPARAMS_ALTITUDE_RATE]; |
|
| 337 | ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeRate; |
347 | else ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeRate; |
| - | 348 | if(NCParams[NCPARAMS_ALTITUDE_SETPOINT] != -30000) ToFlightCtrl.Param.sInt[5] = (s16) NCParams[NCPARAMS_ALTITUDE_SETPOINT]; |
|
| 338 | ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
349 | else ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
| 339 | break; |
350 | break; |
| 340 | default: |
351 | default: |
| 341 | break; |
352 | break; |
| 342 | // 0 = 0,1 |
353 | // 0 = 0,1 |
| 343 | // 1 = 2,3 |
354 | // 1 = 2,3 |
| Line 375... | Line 386... | ||
| 375 | { |
386 | { |
| 376 | FCCalibActive = 0; |
387 | FCCalibActive = 0; |
| 377 | } |
388 | } |
| 378 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
389 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 379 | DebugOut.Analog[5] = FC.StatusFlags; |
390 | DebugOut.Analog[5] = FC.StatusFlags; |
| - | 391 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
|
| 380 | NaviData.FCStatusFlags = FC.StatusFlags; |
392 | NaviData.FCStatusFlags = FC.StatusFlags; |
| - | 393 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
|
| 381 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
394 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
| 382 | break; |
395 | break; |
| Line 383... | Line 396... | ||
| 383 | 396 | ||
| 384 | case SPI_FCCMD_ACCU: |
397 | case SPI_FCCMD_ACCU: |
| Line 437... | Line 450... | ||
| 437 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
450 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 438 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
451 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
| 439 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
452 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
| 440 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
453 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 441 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
454 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| 442 | NaviData.RC_Quality = FC.RC_Quality; |
455 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| 443 | NaviData.RC_RSSI = FC.RC_RSSI; |
456 | // NaviData.RC_RSSI = FC.RC_RSSI; |
| 444 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
457 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 445 | break; |
458 | break; |
| Line 446... | Line 459... | ||
| 446 | 459 | ||
| 447 | case SPI_FCCMD_SERVOS: |
460 | case SPI_FCCMD_SERVOS: |