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52 | s16 Compass; // angle between north and head of the MK |
52 | s16 Compass; // angle between north and head of the MK |
53 | } __attribute__((packed)) Attitude_t; |
53 | } __attribute__((packed)) Attitude_t; |
Line 54... | Line 54... | ||
54 | 54 | ||
55 | typedef struct |
55 | typedef struct |
56 | { |
56 | { |
57 | s16 Distance; // distance to target in cm |
57 | u16 Distance; // distance to target in dm |
58 | s16 Bearing; // course to target in deg |
58 | s16 Bearing; // course to target in deg |
Line -... | Line 59... | ||
- | 59 | } __attribute__((packed)) GPS_PosDev_t; |
|
- | 60 | ||
59 | } __attribute__((packed)) GPS_PosDev_t; |
61 | #define NAVIDATA_VERSION 1 |
60 | 62 | ||
- | 63 | typedef struct |
|
61 | typedef struct |
64 | { |
62 | { |
65 | u8 Version; // version of the data structure |
63 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
66 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
64 | GPS_Pos_t TargetPosition; |
67 | GPS_Pos_t TargetPosition; |
65 | GPS_PosDev_t TargetPositionDeviation; |
68 | GPS_PosDev_t TargetPositionDeviation; |
66 | GPS_Pos_t HomePosition; |
69 | GPS_Pos_t HomePosition; |
67 | GPS_PosDev_t HomePositionDeviation; |
70 | GPS_PosDev_t HomePositionDeviation; |
68 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
71 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
69 | u8 WaypointNumber; // number of stored waypoints |
72 | u8 WaypointNumber; // number of stored waypoints |
70 | u8 SatsInUse; // no of satellites used for position solution |
73 | u8 SatsInUse; // number of satellites used for position solution |
71 | s16 Altimeter; // hight according to air pressure |
74 | s16 Altimeter; // hight according to air pressure |
72 | s16 Variometer; // climb(+) and sink(-) rate |
75 | s16 Variometer; // climb(+) and sink(-) rate |
73 | u16 FlyingTime; // in seconds |
76 | u16 FlyingTime; // in seconds |
74 | u8 UBat; // Battery Voltage in 0.1 Volts |
77 | u8 UBat; // Battery Voltage in 0.1 Volts |
75 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
78 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
76 | s16 Heading; // current flight direction in deg as angle to north |
79 | s16 Heading; // current flight direction in ° as angle to north |
77 | s16 CompassHeading; // current compass value |
80 | s16 CompassHeading; // current compass value in ° |
78 | s8 AngleNick; // current Nick angle in 1° |
81 | s8 AngleNick; // current Nick angle in 1° |
79 | s8 AngleRoll; // current Rick angle in 1° |
82 | s8 AngleRoll; // current Rick angle in 1° |
80 | u8 RC_Quality; // RC_Quality |
83 | u8 RC_Quality; // RC_Quality |
81 | u8 MKFlags; // Flags from FC |
84 | u8 MKFlags; // Flags from FC |
82 | u8 NCFlags; // Flags from NC |
85 | u8 NCFlags; // Flags from NC |
- | 86 | u8 Errorcode; // 0 --> okay |
|
83 | u8 Errorcode; // 0 --> okay |
87 | u8 OperatingRadius; // current operation radius around the Home Position in m |
84 | u8 OperatingRadius; // current operation radius around the Home Position in m |
88 | s16 TopSpeed; // velocity in vertical direction in cm/s |
Line 85... | Line 89... | ||
85 | u8 Reserve[7]; // for future use |
89 | u8 Reserve[5]; // for future use |
86 | } __attribute__((packed)) NaviData_t; |
90 | } __attribute__((packed)) NaviData_t; |