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| Rev 509 | Rev 513 | ||
|---|---|---|---|
| Line 91... | Line 91... | ||
| 91 | u8 ErrorCode = 0; |
91 | u8 ErrorCode = 0; |
| 92 | u16 BeepTime; |
92 | u16 BeepTime; |
| 93 | u8 NCFlags = 0; |
93 | u8 NCFlags = 0; |
| 94 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
94 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
| 95 | u8 ErrorGpsFixLost = 0; |
95 | u8 ErrorGpsFixLost = 0; |
| 96 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SingePoint = 0, FromFC_Store_SingePoint = 0; |
96 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
| 97 | u8 ToFC_MaxWpListIndex = 3; |
97 | u8 ToFC_MaxWpListIndex = 3; |
| 98 | u8 ClearFCStatusFlags = 0; |
98 | u8 ClearFCStatusFlags = 0; |
| 99 | u8 StopNavigation = 0; |
99 | u8 StopNavigation = 0; |
| 100 | volatile u32 PollingTimeout = 10000; |
100 | volatile u32 PollingTimeout = 10000; |
| 101 | Param_t Parameter; |
101 | Param_t Parameter; |
| Line 596... | Line 596... | ||
| 596 | if(FromFC_LoadWP_List) |
596 | if(FromFC_LoadWP_List) |
| 597 | { |
597 | { |
| 598 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
598 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
| 599 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
599 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
| 600 | { |
600 | { |
| 601 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
601 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
| 602 | { |
602 | { |
| 603 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
603 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
| 604 | { |
604 | { |
| 605 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
605 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
| 606 | { // take actual position |
606 | { // take actual position |
| 607 | if(!PointList_Move(1,&(GPSData.Position),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
607 | if(!PointList_Move(1,&(GPSData.Position),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| 608 | } |
608 | } |
| 609 | else |
609 | else |
| 610 | { // take last target position |
610 | { // take last target position |
| 611 | if(!PointList_Move(1, &(NaviData.TargetPosition),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
611 | if(!PointList_Move(1, &(NaviData.TargetPosition),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| 612 | } |
612 | } |
| - | 613 | } |
|
| - | 614 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
|
| - | 615 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
|
| - | 616 | BeepTime = 150; |
|
| 613 | } |
617 | } |
| - | 618 | } |
|
| - | 619 | FromFC_LoadWP_List = 0; |
|
| - | 620 | } |
|
| - | 621 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 622 | if(FromFC_Save_SinglePoint) |
|
| - | 623 | { |
|
| - | 624 | WPL_Store.Index = FromFC_Save_SinglePoint; |
|
| - | 625 | if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
|
| - | 626 | FromFC_Save_SinglePoint = 0; |
|
| - | 627 | } |
|
| - | 628 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 629 | if(FromFC_Load_SinglePoint) |
|
| - | 630 | { |
|
| - | 631 | WPL_Store.Index = FromFC_Load_SinglePoint; |
|
| - | 632 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
|
| - | 633 | { |
|
| 614 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
634 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| 615 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
635 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| 616 | BeepTime = 150; |
636 | BeepTime = 150; |
| 617 | } |
637 | } |
| 618 | } |
- | |
| 619 | FromFC_LoadWP_List = 0; |
638 | FromFC_Load_SinglePoint = 0; |
| 620 | } |
639 | } |
| 621 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
640 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 622 | if(FromFC_Store_SingePoint) |
- | |
| 623 | { |
- | |
| 624 | FromFC_Store_SingePoint = 0; |
- | |
| 625 | } |
- | |
| 626 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 627 | if(FromFC_Load_SingePoint) |
- | |
| 628 | { |
- | |
| 629 | FromFC_Load_SingePoint = 0; |
- | |
| 630 | } |
- | |
| 631 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 632 | // ---------------- Logging --------------------------------------- |
641 | // ---------------- Logging --------------------------------------- |
| 633 | if(SD_WatchDog) |
642 | if(SD_WatchDog) |
| 634 | { |
643 | { |
| 635 | SD_WatchDog = 30000; |
644 | SD_WatchDog = 30000; |
| 636 | if(SDCardInfo.Valid == 1) Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
645 | if(SDCardInfo.Valid == 1) Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |