Rev 530 | Rev 533 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 530 | Rev 532 | ||
|---|---|---|---|
| Line 127... | Line 127... | ||
| 127 | u8 NC_Wait_for_LED = 0; |
127 | u8 NC_Wait_for_LED = 0; |
| 128 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
128 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
| 129 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
129 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
| 130 | s16 CompassSetpoint = 0; // in 0,1° |
130 | s16 CompassSetpoint = 0; // in 0,1° |
| 131 | u8 AmountOfMotors = 0; |
131 | u8 AmountOfMotors = 0; |
| - | 132 | u16 FlugMinutenGesamt; |
|
| Line 132... | Line 133... | ||
| 132 | 133 | ||
| 133 | //-------------------------------------------------------------- |
134 | //-------------------------------------------------------------- |
| 134 | void SSP0_IRQHandler(void) |
135 | void SSP0_IRQHandler(void) |
| 135 | { |
136 | { |
| Line 389... | Line 390... | ||
| 389 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
390 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
| 390 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
391 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
| 391 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
392 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 392 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
393 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 393 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
394 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| - | 395 | //[11] |
|
| 394 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
396 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| 395 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
397 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
| 396 | break; |
398 | break; |
| 397 | case SPI_MISC: |
399 | case SPI_MISC: |
| 398 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
400 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
| 399 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
401 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
| 400 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
402 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
| Line 689... | Line 691... | ||
| 689 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
691 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
| 690 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
692 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
| 691 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
693 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
| 692 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
694 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
| 693 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
695 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
| 694 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
696 | // CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| - | 697 | Parameter.NaviMaxFlyingRange = FromFlightCtrl.Param.Byte[8]; |
|
| 695 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
698 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 696 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
699 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 697 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
700 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 698 | break; |
701 | break; |
| 699 | case SPI_FCCMD_PARAMETER2: |
702 | case SPI_FCCMD_PARAMETER2: |
| Line 755... | Line 758... | ||
| 755 | case SPI_FCCMD_SERVOS: |
758 | case SPI_FCCMD_SERVOS: |
| 756 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[0]; |
759 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[0]; |
| 757 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
760 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
| 758 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[3]; |
761 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[3]; |
| 759 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[4]; |
762 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[4]; |
| 760 | FC.RedundanceBlOperation = FromFlightCtrl.Param.Byte[5]; |
763 | FC.RedundanceBlOperation = FromFlightCtrl.Param.Byte[5]; |
| - | 764 | Parameter.DescendRange = FromFlightCtrl.Param.Byte[6]; |
|
| - | 765 | Parameter.MaximumAltitude = FromFlightCtrl.Param.Byte[7]; |
|
| - | 766 | FlugMinutenGesamt = FromFlightCtrl.Param.Int[4]; // 8 & 9 |
|
| 761 | break; |
767 | break; |
| Line 762... | Line 768... | ||
| 762 | 768 | ||
| 763 | case SPI_FCCMD_VERSION: |
769 | case SPI_FCCMD_VERSION: |
| 764 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
770 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |