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Rev 297 | Rev 298 | ||
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Line 103... | Line 103... | ||
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 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
106 | u32 ToFC_AltitudeRate = 0; |
106 | u32 ToFC_AltitudeRate = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
- | 108 | u8 FromFC_VarioCharacter = ' '; |
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Line 108... | Line 109... | ||
108 | 109 | ||
Line 109... | Line 110... | ||
109 | SPI_Version_t FC_Version; |
110 | SPI_Version_t FC_Version; |
110 | 111 | ||
Line 339... | Line 340... | ||
339 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
340 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
340 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
341 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
341 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
342 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
342 | { |
343 | { |
343 | s16 tmp; |
344 | s16 tmp; |
344 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
345 | // if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
- | 346 | if(NCRARAM_STATE_VALID == NCParams_GetValue(3, &tmp)) |
|
345 | { |
347 | { |
346 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
348 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
347 | } |
349 | } |
348 | else |
350 | else |
349 | { |
351 | { |
350 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
352 | ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeRate; |
351 | } |
353 | } |
352 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
354 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
353 | { |
355 | { |
354 | ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
356 | ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
355 | } |
357 | } |
- | 358 | DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
|
- | 359 | DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
|
356 | } |
360 | } |
357 | break; |
361 | break; |
358 | default: |
362 | default: |
359 | break; |
363 | break; |
360 | // 0 = 0,1 |
364 | // 0 = 0,1 |
Line 404... | Line 408... | ||
404 | case SPI_FCCMD_ACCU: |
408 | case SPI_FCCMD_ACCU: |
405 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
409 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
406 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
410 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
407 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
411 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
408 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
412 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
- | 413 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
|
- | 414 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
|
- | 415 | { |
|
- | 416 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
|
- | 417 | } |
|
- | 418 | ||
409 | NaviData.UBat = FC.BAT_Voltage; |
419 | NaviData.UBat = FC.BAT_Voltage; |
410 | NaviData.Current = FC.BAT_Current; |
420 | NaviData.Current = FC.BAT_Current; |
411 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
421 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
412 | break; |
422 | break; |