Rev 383 | Rev 388 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 383 | Rev 386 | ||
|---|---|---|---|
| Line 713... | Line 713... | ||
| 713 | break; |
713 | break; |
| 714 | default: |
714 | default: |
| 715 | break; |
715 | break; |
| 716 | } |
716 | } |
| Line 717... | Line -... | ||
| 717 | - | ||
| 718 | /* |
- | |
| 719 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 720 | */ |
- | |
| 721 | /* |
- | |
| 722 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
- | |
| 723 | else |
- | |
| 724 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
- | |
| 725 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
- | |
| 726 | BL_MinOfMaxPWM = 255; |
- | |
| 727 | */ |
717 | |
| 728 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
718 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 729 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
719 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
| 730 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
720 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 731 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
721 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
| Line 734... | Line 724... | ||
| 734 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
724 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
| 735 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
725 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
| 736 | // every time we got new data from the FC via SPI call the navigation routine |
726 | // every time we got new data from the FC via SPI call the navigation routine |
| 737 | // and update GPSStick that are returned to FC |
727 | // and update GPSStick that are returned to FC |
| 738 | SPI_RxBuffer_Request = 0; |
728 | SPI_RxBuffer_Request = 0; |
| - | 729 | ||
| - | 730 | ||
| - | 731 | /* |
|
| - | 732 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 733 | */ |
|
| - | 734 | /* |
|
| - | 735 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
|
| - | 736 | else |
|
| - | 737 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
|
| - | 738 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
|
| - | 739 | BL_MinOfMaxPWM = 255; |
|
| - | 740 | */ |
|
| 739 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
741 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 740 | ClearFCStatusFlags = 1; |
742 | ClearFCStatusFlags = 1; |
| 741 | if(counter) |
743 | if(counter) |
| 742 | { |
744 | { |
| 743 | counter--; // count down to enable servo |
745 | counter--; // count down to enable servo |