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25 | #define SPI_FCCMD_MISC 12 |
25 | #define SPI_FCCMD_MISC 12 |
26 | #define SPI_FCCMD_PARAMETER1 13 |
26 | #define SPI_FCCMD_PARAMETER1 13 |
27 | #define SPI_FCCMD_VERSION 14 |
27 | #define SPI_FCCMD_VERSION 14 |
28 | #define SPI_FCCMD_SERVOS 15 |
28 | #define SPI_FCCMD_SERVOS 15 |
29 | #define SPI_FCCMD_ACCU 16 |
29 | #define SPI_FCCMD_ACCU 16 |
- | 30 | #define SPI_FCCMD_PARAMETER2 17 |
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Line 30... | Line 31... | ||
30 | 31 | ||
31 | extern s32 Kalman_K; |
32 | extern s32 Kalman_K; |
32 | extern s32 Kalman_Kompass ; |
33 | extern s32 Kalman_Kompass ; |
33 | extern s32 Kalman_MaxDrift; |
34 | extern s32 Kalman_MaxDrift; |
Line 98... | Line 99... | ||
98 | 99 | ||
99 | typedef struct |
100 | typedef struct |
100 | { |
101 | { |
101 | u8 Command; |
102 | u8 Command; |
- | 103 | GPS_Stick_t GPSStick; |
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102 | GPS_Stick_t GPSStick; |
104 | s16 MagVecX; |
103 | s16 CompassHeading; |
105 | s16 CompassHeading; |
104 | s16 AccErrorN; // s16 MagVecX; |
106 | s16 AccErrorN; |
105 | s16 AccErrorR; // s16 MagVecY; |
107 | s16 AccErrorR; |
106 | s16 MagVecZ; |
108 | s16 MagVecY; |
107 | s16 NCStatus; |
109 | s16 MagVecZ; |
108 | u16 BeepTime; |
110 | u16 BeepTime; |
109 | union |
111 | union |
110 | { |
112 | { |
111 | u8 Byte[12]; |
113 | u8 Byte[12]; |