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Rev 540 Rev 548
Line 276... Line 276...
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                newErrorCode = 19;
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                newErrorCode = 19;
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        }
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        }
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        else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
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        else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
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        {
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        {
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                LED_RED_ON;
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                LED_RED_ON;
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//      if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
 - 
 
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//              else
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                {
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                        sprintf(ErrorMSG,"no GPS communication");
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                sprintf(ErrorMSG,"no GPS communication");
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                        UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
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                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
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                        UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT;
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                UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT;
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                        newErrorCode = 5;
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                newErrorCode = 5;
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                }
 - 
 
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                StopNavigation = 1;
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                StopNavigation = 1;
- 
 
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//UBX_Setup();
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//              UBX_Timeout = SetDelay(500);
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//UBX_Timeout = SetDelay(500);
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        }
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        }
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        else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated)
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        else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated)
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        {
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        {
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                LED_RED_ON;
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                LED_RED_ON;
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                sprintf(ErrorMSG,"compass not calibr.");
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                sprintf(ErrorMSG,"compass not calibr.");
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        DebugOut.StatusRed = 0x00;
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        DebugOut.StatusRed = 0x00;
564 
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
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        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
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Line -... Line 563...
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        Compass_Init();
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        Compass_Init();
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Line 567... Line -...
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 - 
 
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        GPS_Init();
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        UBX_Setup(); // inits the GPS-Module via ubx
569 
 
 566 
        GPS_Init();
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#ifdef FOLLOW_ME
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#ifdef FOLLOW_ME
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        TransmitAlsoToFC = 1;
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        TransmitAlsoToFC = 1;