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| Rev 148 | Rev 149 | ||
|---|---|---|---|
| Line 98... | Line 98... | ||
| 98 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
98 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| 99 | volatile u8 SPI_RxBufferIndex = 0; |
99 | volatile u8 SPI_RxBufferIndex = 0; |
| 100 | volatile u8 SPI_RxBuffer_Request = 0; |
100 | volatile u8 SPI_RxBuffer_Request = 0; |
| 101 | #define SPI_COMMAND_INDEX 0 |
101 | #define SPI_COMMAND_INDEX 0 |
| Line 102... | Line 102... | ||
| 102 | 102 | ||
| 103 | s32 FC_Kalman_K = 32; |
103 | s32 Kalman_K = 32; |
| 104 | s32 Kalman_MaxDrift = 5 * 16; |
104 | s32 Kalman_MaxDrift = 5 * 16; |
| 105 | s32 Kalman_MaxFusion = 64; |
105 | s32 Kalman_MaxFusion = 64; |
| Line 106... | Line 106... | ||
| 106 | s32 ToFcGpsZ = 0; |
106 | s32 ToFcGpsZ = 0; |
| Line 304... | Line 304... | ||
| 304 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
304 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| Line 305... | Line 305... | ||
| 305 | 305 | ||
| 306 | switch (ToFlightCtrl.Command) |
306 | switch (ToFlightCtrl.Command) |
| 307 | { |
307 | { |
| 308 | case SPI_KALMAN: |
308 | case SPI_KALMAN: |
| 309 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
309 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 310 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
310 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 311 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
311 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| 312 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
312 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| 313 | ToFlightCtrl.Param.Byte[4] = (s8) ToFcGpsZ; |
313 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| Line 314... | Line 314... | ||
| 314 | break; |
314 | break; |
| 315 | 315 | ||
| 316 | default: |
316 | default: |