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Rev 463 | Rev 471 | ||
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Line 115... | Line 115... | ||
115 | u8 GPS_Aid_StickMultiplikator = 0; |
115 | u8 GPS_Aid_StickMultiplikator = 0; |
116 | u8 NC_GPS_ModeCharacter = ' '; |
116 | u8 NC_GPS_ModeCharacter = ' '; |
117 | u8 FCCalibActive = 0; |
117 | u8 FCCalibActive = 0; |
118 | u8 FC_is_Calibrated = 0; |
118 | u8 FC_is_Calibrated = 0; |
119 | Motor_t Motor[12]; |
119 | Motor_t Motor[12]; |
- | 120 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
|
120 | u8 NC_To_FC_Flags = 0; |
121 | u8 NC_To_FC_Flags = 0; |
121 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
122 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
122 | u32 FC_I2C_ErrorConter; |
123 | u32 FC_I2C_ErrorConter; |
123 | SPI_Version_t FC_Version; |
124 | SPI_Version_t FC_Version; |
124 | s16 POI_KameraNick = 0; |
125 | s16 POI_KameraNick = 0; |
Line 602... | Line 603... | ||
602 | } |
603 | } |
603 | else // Ansonsten die aktuelle Richtung übernehmen |
604 | else // Ansonsten die aktuelle Richtung übernehmen |
604 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
605 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
605 | } |
606 | } |
606 | } |
607 | } |
607 | - | ||
608 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
608 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
- | 609 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10]; |
|
609 | DebugOut.Analog[5] = FC.StatusFlags; |
610 | DebugOut.Analog[5] = FC.StatusFlags; |
610 | NaviData.FCStatusFlags = FC.StatusFlags; |
611 | NaviData.FCStatusFlags = FC.StatusFlags; |
611 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
612 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
612 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
613 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
613 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
614 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
Line 620... | Line 621... | ||
620 | else |
621 | else |
621 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
622 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
Line 622... | Line 623... | ||
622 | 623 | ||
623 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
624 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
624 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
- | |
625 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
625 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
Line 626... | Line 626... | ||
626 | break; |
626 | break; |
627 | 627 | ||
628 | case SPI_FCCMD_BL_ACCU: |
628 | case SPI_FCCMD_BL_ACCU: |
629 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
629 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
630 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
630 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
631 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
631 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
632 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[5]; |
632 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
633 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
633 | Motor_Version[FromFlightCtrl.Param.Byte[6]] = FromFlightCtrl.Param.Byte[7]; |
634 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
634 | Motor[FromFlightCtrl.Param.Byte[6]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
635 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
635 | Motor[FromFlightCtrl.Param.Byte[6]].State = FromFlightCtrl.Param.Byte[9]; |
636 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
636 | Motor[FromFlightCtrl.Param.Byte[6]].Temperature = FromFlightCtrl.Param.Byte[10]; |
637 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
637 | Motor[FromFlightCtrl.Param.Byte[6]].Current = FromFlightCtrl.Param.Byte[11]; |
638 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
638 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
639 | { |
639 | { |
640 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
640 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
Line 659... | Line 659... | ||
659 | break; |
659 | break; |
660 | case SPI_FCCMD_PARAMETER2: |
660 | case SPI_FCCMD_PARAMETER2: |
661 | CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255); |
661 | CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255); |
662 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
662 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
663 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
663 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
- | 664 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3]; |
|
664 | break; |
665 | break; |
665 | case SPI_FCCMD_STICK: |
666 | case SPI_FCCMD_STICK: |
666 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
667 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
667 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
668 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
668 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
669 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |