Rev 279 | Rev 284 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 279 | Rev 280 | ||
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Line 294... | Line 294... | ||
294 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
294 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
295 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
295 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
296 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
296 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
297 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
297 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
298 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
298 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
299 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
- | |
300 | if(CAM_Orientation.State == NEWDATA) |
299 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
301 | { |
300 | { |
302 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
301 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
303 | CAM_Orientation.State = PROCESSED; |
302 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
304 | } |
303 | } |
305 | else |
304 | else |
306 | { // set invalid values |
305 | { |
307 | ToFlightCtrl.Param.sInt[4] = -1; |
306 | ToFlightCtrl.Param.sInt[4] = -1; |
308 | } |
307 | } |
309 | DebugOut.Analog[24] = ToFlightCtrl.Param.sInt[5]; |
308 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
310 | break; |
309 | break; |
Line 311... | Line 310... | ||
311 | 310 | ||
312 | case SPI_NCCMD_VERSION: |
311 | case SPI_NCCMD_VERSION: |
313 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
312 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |