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Rev 513 | Rev 514 | ||
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Line 109... | Line 109... | ||
109 | s32 HeadFreeStartAngle = 0; |
109 | s32 HeadFreeStartAngle = 0; |
110 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
110 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
111 | u32 ToFC_AltitudeRate = 0; |
111 | u32 ToFC_AltitudeRate = 0; |
112 | s32 ToFC_AltitudeSetpoint = 0; |
112 | s32 ToFC_AltitudeSetpoint = 0; |
113 | u8 FromFC_VarioCharacter = ' '; |
113 | u8 FromFC_VarioCharacter = ' '; |
114 | u8 GPS_Aid_StickMultiplikator = 0; |
114 | s16 GPS_Aid_StickMultiplikator = 0; |
115 | u8 NC_GPS_ModeCharacter = ' '; |
115 | u8 NC_GPS_ModeCharacter = ' '; |
116 | u8 FCCalibActive = 0; |
116 | u8 FCCalibActive = 0; |
117 | u8 FC_is_Calibrated = 0; |
117 | u8 FC_is_Calibrated = 0; |
118 | Motor_t Motor[12]; |
118 | Motor_t Motor[12]; |
119 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
119 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
Line 349... | Line 349... | ||
349 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
349 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
350 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
350 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
351 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
351 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
352 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
352 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
353 | { |
353 | { |
- | 354 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + 720 - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10)) % 360; // the FC uses the uncorrected comnpass value |
|
354 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
355 | else CAM_Orientation.Azimuth = -1; |
355 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
356 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
356 | } |
357 | } |
357 | else |
358 | else |
358 | { |
359 | { |
359 | ToFlightCtrl.Param.sInt[4] = -1; |
360 | ToFlightCtrl.Param.sInt[4] = -1; |