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Line 273... | Line 273... | ||
273 | { |
273 | { |
274 | static u32 timeout = 0; |
274 | static u32 timeout = 0; |
275 | static u8 counter = 50; |
275 | static u8 counter = 50; |
276 | static u8 CompassCalState = 0; |
276 | static u8 CompassCalState = 0; |
277 | static u8 FCCalibActive = 0; |
277 | static u8 FCCalibActive = 0; |
- | 278 | s16 tmp; |
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Line 278... | Line 279... | ||
278 | 279 | ||
279 | if (SPI_RxBuffer_Request) |
280 | if (SPI_RxBuffer_Request) |
280 | { |
281 | { |
281 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
282 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
Line 312... | Line 313... | ||
312 | else |
313 | else |
313 | { |
314 | { |
314 | ToFlightCtrl.Param.sInt[4] = -1; |
315 | ToFlightCtrl.Param.sInt[4] = -1; |
315 | } |
316 | } |
Line 316... | Line 317... | ||
316 | 317 | ||
- | 318 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
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- | 319 | { |
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- | 320 | ToFlightCtrl.Param.sInt[5] = tmp; |
|
- | 321 | } |
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317 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &(ToFlightCtrl.Param.sInt[5]))) // Elevation set via 'j' command |
322 | else |
318 | { |
323 | { |
319 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
324 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
320 | else ToFlightCtrl.Param.sInt[5] = 0; |
325 | else ToFlightCtrl.Param.sInt[5] = 0; |
321 | } |
326 | } |
Line 338... | Line 343... | ||
338 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
343 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
339 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
344 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
340 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
345 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
341 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
346 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
342 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
347 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
343 | { |
348 | |
344 | s16 tmp; |
- | |
345 | // if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
349 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
346 | if(NCRARAM_STATE_VALID == NCParams_GetValue(3, &tmp)) |
- | |
347 | { |
350 | { |
348 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
351 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
349 | } |
352 | } |
350 | else |
353 | else |
351 | { |
354 | { |
352 | ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeRate; |
355 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
353 | } |
356 | } |
354 | if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
357 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
355 | { |
358 | { |
356 | ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
359 | ToFlightCtrl.Param.sInt[5] = tmp; |
357 | } |
- | |
358 | DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
- | |
359 | DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
- | |
360 | } |
360 | } |
- | 361 | else |
|
- | 362 | { |
|
- | 363 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
|
- | 364 | } |
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- | 365 | DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
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- | 366 | DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
|
361 | break; |
367 | break; |
- | 368 | ||
362 | default: |
369 | default: |
363 | break; |
370 | break; |
364 | // 0 = 0,1 |
371 | // 0 = 0,1 |
365 | // 1 = 2,3 |
372 | // 1 = 2,3 |
366 | // 2 = 4,5 |
373 | // 2 = 4,5 |