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Rev 189 | Rev 190 | ||
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Line 317... | Line 317... | ||
317 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
317 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
318 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
318 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
319 | DebugOut.Analog[5] = FC.MKFlags; |
319 | DebugOut.Analog[5] = FC.MKFlags; |
320 | break; |
320 | break; |
Line 321... | Line 321... | ||
321 | 321 | ||
- | 322 | #define CHK_POTI(b,a) { if(a < 247) b = a; else b = FC.Poti[255 - a]; } |
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- | 323 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
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322 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
324 | |
323 | case SPI_CMD_PARAMETER1: |
325 | case SPI_CMD_PARAMETER1: |
324 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
326 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
325 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
327 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
326 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
328 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
Line 338... | Line 340... | ||
338 | case SPI_CMD_STICK: |
340 | case SPI_CMD_STICK: |
339 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
341 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
340 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
342 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
341 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
343 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
342 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
344 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
343 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
345 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
344 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
346 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
345 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
347 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
346 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
348 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
347 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
349 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
348 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
350 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
349 | NaviData.Gas = (FC.UBat * (u32) FromFlightCtrl.Param.Byte[10]) / (u32) Parameter.LowVoltageWarning; |
351 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
- | 352 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
|
350 | break; |
353 | break; |
Line 351... | Line 354... | ||
351 | 354 | ||
352 | case SPI_CMD_MISC: |
355 | case SPI_CMD_MISC: |
353 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
356 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
Line 360... | Line 363... | ||
360 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
363 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
361 | NaviData.SetpointAltitude = (s16) FromFlightCtrl.Param.Int[2]; // is located at byte 4 and 5 |
364 | NaviData.SetpointAltitude = (s16) FromFlightCtrl.Param.Int[2]; // is located at byte 4 and 5 |
362 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
365 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
363 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
366 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
364 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
367 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
- | 368 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
|
- | 369 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
|
- | 370 | NaviData.Gas = (FC.UBat * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
|
365 | break; |
371 | break; |
Line 366... | Line 372... | ||
366 | 372 | ||
367 | case SPI_CMD_SERVOS: |
373 | case SPI_CMD_SERVOS: |
368 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
374 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |