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Line 238... | Line 238... | ||
238 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
238 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
239 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
239 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
240 | break; |
240 | break; |
241 | case 5: // Navi Params 2 from FC |
241 | case 5: // Navi Params 2 from FC |
242 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
242 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
243 | LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius); |
243 | LCD_printfxy(0,1,"MaxRadius: %3im", DebugOut.Analog[4]); |
244 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
244 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
245 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
245 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
246 | break; |
246 | break; |
247 | case 6: // Navi Params 3 from FC |
247 | case 6: // Navi Params 3 from FC |
248 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
248 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
249 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
249 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
250 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
250 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
251 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
251 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
252 | break; |
252 | break; |
- | 253 | case 7: // Max Ranges |
|
- | 254 | LCD_printfxy(0,0,"Maximum flying "); |
|
- | 255 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange); |
|
- | 256 | LCD_printfxy(0,2,"Descend:%4im ", AutoDescendRange); |
|
- | 257 | if(!AbsoluteFlyingRange) LCD_printfxy(8,1,"disabled"); |
|
- | 258 | if(!AutoDescendRange) LCD_printfxy(8,2,"disabled"); |
|
- | 259 | break; |
|
253 | case 7: |
260 | case 8: |
254 | LCD_printfxy(0,0,"Home Position"); |
261 | LCD_printfxy(0,0,"Home Position"); |
255 | if(NaviData.HomePosition.Status == INVALID) |
262 | if(NaviData.HomePosition.Status == INVALID) |
256 | { |
263 | { |
257 | LCD_printfxy(0,1," "); |
264 | LCD_printfxy(0,1," "); |
258 | LCD_printfxy(0,2," Is not set. "); |
265 | LCD_printfxy(0,2," Is not set. "); |
Line 275... | Line 282... | ||
275 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
282 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
276 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
283 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
277 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
284 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
278 | } |
285 | } |
279 | break; |
286 | break; |
280 | case 8: |
287 | case 9: |
281 | LCD_printfxy(0,0,"Target Position"); |
288 | LCD_printfxy(0,0,"Target Position"); |
282 | if(NaviData.TargetPosition.Status == INVALID) |
289 | if(NaviData.TargetPosition.Status == INVALID) |
283 | { |
290 | { |
284 | LCD_printfxy(0,1," "); |
291 | LCD_printfxy(0,1," "); |
285 | LCD_printfxy(0,2," Is not set. "); |
292 | LCD_printfxy(0,2," Is not set. "); |
Line 302... | Line 309... | ||
302 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
309 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
303 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
310 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
304 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
311 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
305 | } |
312 | } |
306 | break; |
313 | break; |
307 | case 9: // RC stick controls from FC |
314 | case 10: // RC stick controls from FC |
308 | LCD_printfxy(0,0,"RC-Sticks" ); |
315 | LCD_printfxy(0,0,"RC-Sticks" ); |
309 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
316 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
310 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
317 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
311 | break; |
318 | break; |
312 | case 10: // RC poti controls from FC |
319 | case 11: // RC poti controls from FC |
313 | LCD_printfxy(0,0,"RC-Potis 1" ); |
320 | LCD_printfxy(0,0,"RC-Potis 1" ); |
314 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
321 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
315 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
322 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
316 | break; |
323 | break; |
317 | case 11: // RC poti controls from FC |
324 | case 12: // RC poti controls from FC |
318 | LCD_printfxy(0,0,"RC-Potis 2" ); |
325 | LCD_printfxy(0,0,"RC-Potis 2" ); |
319 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
326 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
320 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
327 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
321 | break; |
328 | break; |
322 | case 12: // attitude from FC |
329 | case 13: // attitude from FC |
323 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
330 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
324 | else sign = '+'; |
331 | else sign = '+'; |
325 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
332 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
326 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
333 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
327 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
334 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
Line 339... | Line 346... | ||
339 | else sign = '+'; |
346 | else sign = '+'; |
340 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
347 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
341 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
348 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
342 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
349 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
343 | break; |
350 | break; |
344 | case 13: // gyros from FC |
351 | case 14: // gyros from FC |
345 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
352 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
346 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
353 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
347 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
354 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
348 | break; |
355 | break; |
349 | case 14: // Remote Control Level from FC |
356 | case 15: // Remote Control Level from FC |
350 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
357 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
351 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
358 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
352 | LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading); |
359 | LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading); |
353 | if(GeoMagDec < 0) sign = '-'; |
360 | if(GeoMagDec < 0) sign = '-'; |
354 | else sign = '+'; |
361 | else sign = '+'; |
355 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
362 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
356 | break; |
363 | break; |
357 | case 15: // User Parameter |
364 | case 16: // User Parameter |
358 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
365 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
359 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
366 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
360 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
367 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
361 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
368 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
362 | break; |
369 | break; |
363 | case 16: // magnetic field |
370 | case 17: // magnetic field |
364 | if(Compass_CalState) |
371 | if(Compass_CalState) |
365 | { |
372 | { |
366 | LCD_printfxy(0,0,"Calibration:"); |
373 | LCD_printfxy(0,0,"Calibration:"); |
367 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
374 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
368 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
375 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
Line 409... | Line 416... | ||
409 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
416 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
410 | else Compass_SetCalState(0); |
417 | else Compass_SetCalState(0); |
411 | } |
418 | } |
412 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
419 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
413 | break; |
420 | break; |
414 | case 17: |
421 | case 18: |
415 | if(GeoMagDec < 0) sign = '-'; |
422 | if(GeoMagDec < 0) sign = '-'; |
416 | else sign = '+'; |
423 | else sign = '+'; |
417 | LCD_printfxy(0,0,"Magnetic Field"); |
424 | LCD_printfxy(0,0,"Magnetic Field"); |
418 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
425 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
419 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
426 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |