WebSVN - NaviCtrl - Diff - Rev 183 and 185



//-------------------------------------------------------------
// Update GPSParamter
void GPS_UpdateParameter(void)
{
        #define SWITCH_DELAY 500
        static u8 wpclear = FALSE;
        static u32 SwitchDelay = 0;
        static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF;

 
        // in case of bad receiving conditions

                        {
                                if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY);
                                if(CheckDelay(SwitchDelay))
                                {
                                        GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE;
 
 
                                }
                        }
                        else if(Parameter.NaviGpsModeControl < 180)
                        {
                                if(FlightMode_Old == GPS_FLIGHT_MODE_AID) SetDelay(SWITCH_DELAY);
                                if(CheckDelay(SwitchDelay))
                                {
                                        GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID;
 
 
                                }
                        }
                        else
                        {
                                if(FlightMode_Old == GPS_FLIGHT_MODE_WAYPOINT) SetDelay(SWITCH_DELAY);
                                if(CheckDelay(SwitchDelay))
                                {
                                        GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT;
 
 
                                }
                        }
                }
                GPS_Parameter.Gain      = (float)Parameter.NaviGpsGain;
                GPS_Parameter.P         = (float)Parameter.NaviGpsP;

                GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat;
                GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold;
                GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection;
                GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm
        }
        // FlightMode transitions
        if(GPS_Parameter.FlightMode != FlightMode_Old)
        {
                BeepTime = 100; // beep to indicate that mode has been switched
                NCFlags &= ~NC_FLAG_TARGET_REACHED;
                switch(GPS_Parameter.FlightMode)
                {
                        case GPS_FLIGHT_MODE_FREE:
                                NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH);
                                NCFlags |= NC_FLAG_FREE;
                                if(!StopNavigation && wpclear)
                                {
                                        WPList_Clear(); // clear WPList if mode has changed to Free
                                        wpclear = FALSE;
                                }
                                break;
 
                        case GPS_FLIGHT_MODE_AID:
                                NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH);
                                NCFlags |= NC_FLAG_PH;
                                break;
 
                        case GPS_FLIGHT_MODE_WAYPOINT:
                                wpclear = TRUE; // clear WP's only if CH was once active
                                NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH);
                                NCFlags |= NC_FLAG_CH;
                                break;
 
                        default: // should never happen
                                NCFlags = 0;
                                break;
                }
                FlightMode_Old = GPS_Parameter.FlightMode;
        }
 
}

 
//-------------------------------------------------------------
// This function defines a good GPS signal condition

Rev 183	Rev 185
Line 133...	Line 133...
133	//-------------------------------------------------------------	133	//-------------------------------------------------------------
134	// Update GPSParamter	134	// Update GPSParamter
135	void GPS_UpdateParameter(void)	135	void GPS_UpdateParameter(void)
136	{	136	{
137	#define SWITCH_DELAY 500	137	#define SWITCH_DELAY 500
-		138	static u8 wpclear = FALSE;
138	static u32 SwitchDelay = 0;	139	static u32 SwitchDelay = 0;
139	static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF;	140	static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF;
Line 140...	Line 141...
140		141
141	// in case of bad receiving conditions	142	// in case of bad receiving conditions
Line 170...	Line 171...
170	{	171	{
171	if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY);	172	if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY);
172	if(CheckDelay(SwitchDelay))	173	if(CheckDelay(SwitchDelay))
173	{	174	{
174	GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE;	175	GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE;
175	NCFlags &= ~(NC_FLAG_PH \| NC_FLAG_CH);	-
176	NCFlags \|= NC_FLAG_FREE;	-
177	}	176	}
178	}	177	}
179	else if(Parameter.NaviGpsModeControl < 180)	178	else if(Parameter.NaviGpsModeControl < 180)
180	{	179	{
181	if(FlightMode_Old == GPS_FLIGHT_MODE_AID) SetDelay(SWITCH_DELAY);	180	if(FlightMode_Old == GPS_FLIGHT_MODE_AID) SetDelay(SWITCH_DELAY);
182	if(CheckDelay(SwitchDelay))	181	if(CheckDelay(SwitchDelay))
183	{	182	{
184	GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID;	183	GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID;
185	NCFlags &= ~(NC_FLAG_FREE \| NC_FLAG_CH);	-
186	NCFlags \|= NC_FLAG_PH;	-
187	}	184	}
188	}	185	}
189	else	186	else
190	{	187	{
191	if(FlightMode_Old == GPS_FLIGHT_MODE_WAYPOINT) SetDelay(SWITCH_DELAY);	188	if(FlightMode_Old == GPS_FLIGHT_MODE_WAYPOINT) SetDelay(SWITCH_DELAY);
192	if(CheckDelay(SwitchDelay))	189	if(CheckDelay(SwitchDelay))
193	{	190	{
194	GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT;	191	GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT;
195	NCFlags &= ~(NC_FLAG_FREE \| NC_FLAG_PH);	-
196	NCFlags \|= NC_FLAG_CH;	-
197	}	192	}
198	}	193	}
199	}	194	}
200	GPS_Parameter.Gain = (float)Parameter.NaviGpsGain;	195	GPS_Parameter.Gain = (float)Parameter.NaviGpsGain;
201	GPS_Parameter.P = (float)Parameter.NaviGpsP;	196	GPS_Parameter.P = (float)Parameter.NaviGpsP;
Line 212...	Line 207...
212	GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat;	207	GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat;
213	GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold;	208	GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold;
214	GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection;	209	GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection;
215	GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm	210	GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm
216	}	211	}
217	// FlightMode changed?	212	// FlightMode transitions
218	if(GPS_Parameter.FlightMode != FlightMode_Old)	213	if(GPS_Parameter.FlightMode != FlightMode_Old)
219	{	214	{
220	BeepTime = 200; // beep to indicate that mode has been switched	215	BeepTime = 100; // beep to indicate that mode has been switched
221	NCFlags &= ~NC_FLAG_TARGET_REACHED;	216	NCFlags &= ~NC_FLAG_TARGET_REACHED;
-		217	switch(GPS_Parameter.FlightMode)
-		218	{
-		219	case GPS_FLIGHT_MODE_FREE:
-		220	NCFlags &= ~(NC_FLAG_PH \| NC_FLAG_CH);
-		221	NCFlags \|= NC_FLAG_FREE;
222	// if the mode has changed to free (avoid clear of WP-List when StopNavigation is active)	222	if(!StopNavigation && wpclear)
-		223	{
223	if((!StopNavigation) && (GPS_Parameter.FlightMode == GPS_FLIGHT_MODE_FREE)) WPList_Clear(); // clear WPList if mode has changed to Free	224	WPList_Clear(); // clear WPList if mode has changed to Free
-		225	wpclear = FALSE;
-		226	}
-		227	break;
-		228
-		229	case GPS_FLIGHT_MODE_AID:
-		230	NCFlags &= ~(NC_FLAG_FREE \| NC_FLAG_CH);
-		231	NCFlags \|= NC_FLAG_PH;
-		232	break;
-		233
-		234	case GPS_FLIGHT_MODE_WAYPOINT:
-		235	wpclear = TRUE; // clear WP's only if CH was once active
-		236	NCFlags &= ~(NC_FLAG_FREE \| NC_FLAG_PH);
-		237	NCFlags \|= NC_FLAG_CH;
-		238	break;
-		239
-		240	default: // should never happen
-		241	NCFlags = 0;
-		242	break;
-		243	}
-		244	FlightMode_Old = GPS_Parameter.FlightMode;
224	}	245	}
225	FlightMode_Old = GPS_Parameter.FlightMode;	-
226	}	246	}
Line 227...	Line 247...
227		247
228	//-------------------------------------------------------------	248	//-------------------------------------------------------------
229	// This function defines a good GPS signal condition	249	// This function defines a good GPS signal condition

Subversion Repositories NaviCtrl

(root)/tags/V2.10e/GPS.c @ 935 - Rev 183 → 185