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Rev 277 | Rev 278 | ||
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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; |
- | |
105 | s16 NewCompassDirectionSetpoint = -1; |
104 | s32 HeadFreeStartAngle = 0; |
Line 106... | Line 105... | ||
106 | 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 |
Line 107... | Line 106... | ||
107 | 106 | ||
Line 295... | Line 294... | ||
295 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
294 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
296 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
295 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
297 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
296 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
298 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
297 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
299 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
298 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
- | 299 | if(CAM_Orientation.State == NEWDATA) |
|
- | 300 | { |
|
300 | // ToFlightCtrl.Param.Byte[7] ist frei |
301 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
301 | ToFlightCtrl.Param.sInt[4] = (s16) NewCompassDirectionSetpoint; |
302 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
302 | NewCompassDirectionSetpoint = -1; // delete the Value |
303 | CAM_Orientation.State = PROCESSED; |
- | 304 | } |
|
- | 305 | else |
|
- | 306 | { // set invalid values |
|
- | 307 | ToFlightCtrl.Param.sInt[4] = -1; |
|
- | 308 | ToFlightCtrl.Param.sInt[5] = -1; |
|
- | 309 | } |
|
303 | break; |
310 | break; |
Line 304... | Line 311... | ||
304 | 311 | ||
305 | case SPI_NCCMD_VERSION: |
312 | case SPI_NCCMD_VERSION: |
306 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
313 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |