Rev 306 | Rev 320 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 306 | Rev 319 | ||
|---|---|---|---|
| Line 104... | Line 104... | ||
| 104 | s32 HeadFreeStartAngle = 0; |
104 | s32 HeadFreeStartAngle = 0; |
| 105 | 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 |
| 106 | u32 ToFC_AltitudeRate = 0; |
106 | u32 ToFC_AltitudeRate = 0; |
| 107 | s32 ToFC_AltitudeSetpoint = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
| 108 | u8 FromFC_VarioCharacter = ' '; |
108 | u8 FromFC_VarioCharacter = ' '; |
| - | 109 | u8 DisableFC_Sticks = 0; |
|
| Line 109... | Line 110... | ||
| 109 | 110 | ||
| Line 110... | Line 111... | ||
| 110 | SPI_Version_t FC_Version; |
111 | SPI_Version_t FC_Version; |
| 111 | 112 | ||
| Line 290... | Line 291... | ||
| 290 | ToFlightCtrl.NCStatus = 0; |
291 | ToFlightCtrl.NCStatus = 0; |
| 291 | // cycle spi commands |
292 | // cycle spi commands |
| 292 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
293 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 293 | // restart command cycle at the end |
294 | // restart command cycle at the end |
| 294 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
295 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 295 | - | ||
| - | 296 | #define FLAG_GPS_AID 0x01 |
|
| 296 | switch (ToFlightCtrl.Command) |
297 | switch (ToFlightCtrl.Command) |
| 297 | { |
298 | { |
| 298 | case SPI_NCCMD_KALMAN: |
299 | case SPI_NCCMD_KALMAN: |
| 299 | CalcHeadFree(); |
300 | CalcHeadFree(); |
| 300 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
301 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| Line 302... | Line 303... | ||
| 302 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
303 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| 303 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
304 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| 304 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
305 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 305 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
306 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 306 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
307 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 307 | //ToFlightCtrl.Param.Byte[7] = |
308 | if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00; |
| 308 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
309 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 309 | { |
310 | { |
| 310 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
311 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
| 311 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
312 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 312 | } |
313 | } |