WebSVN - NaviCtrl - Diff - Rev 693 and 697



#include "ncmag.h"
#include "logging.h"
#include "settings.h"
#include "sdc.h"
#include "analog.h"
#include "canbus.h"

 
u8 DispPtr = 0;

s8 DisplayBuff[DISPLAYBUFFSIZE];
 

 
u8 MenuItem = 0;
u8 MaxMenuItem = 29;
 

                        {
                                LCD_printfxy(0,2,"Error: %d",ErrorCode);
                LCD_printfxy(0,3,"%s",ErrorMSG);
                        }
                        else
            if(Partner.ErrorCode)
                        {
                                if(IamMaster == SLAVE)  LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode)
                                else                                    LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode);
                                LCD_printfxy(0,3,"%s",PartnerErrorMSG);
                        }
                        else
                        {
             LCD_printfxy(0,2,"Set:%d %s", Parameter.ActiveSetting,EE_Parameter.Name);
                         LCD_printfxy(0,3,"%s",ErrorMSG);
//                       LCD_printfxy(0,3,"(c) HiSystems GmbH");
                        }
                        if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT");
                        break;
                case 1:
                        if(IamMaster == SLAVE)  LCD_printfxy(0,0,"++ Master - NC ++")
                        else                                    LCD_printfxy(0,0,"++ Slave - NC  ++");
                       
                        if(CanRxMessage[CAN_ID_VERSION].D.Byte[3])
                        {
                                LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", CanRxMessage[CAN_ID_VERSION].D.Byte[3]/10, CanRxMessage[CAN_ID_VERSION].D.Byte[3]%10, CanRxMessage[CAN_ID_VERSION].D.Byte[7], CanRxMessage[CAN_ID_VERSION].D.Byte[6], 'a'+ CanRxMessage[CAN_ID_VERSION].D.Byte[5]);
                if(Partner.ErrorCode)
                                {
                                        if(IamMaster == SLAVE)  LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode)
                                        else                                    LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode);
                                }
                                else
                                 {
                  LCD_printfxy(0,2,"Set:%d", CanRxMessage[CAN_ID_VERSION].D.Byte[1]);
                                 }
                                LCD_printfxy(0,3,"%s",PartnerErrorMSG);
                                if(Partner.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT");
                        }
                        else
                  LCD_printfxy(0,2,"not connected", CanTxMessage[CAN_ID_VERSION].D.Byte[1]);
                        break;
                case 2:
                        if (GPSData.Status == INVALID)
                        {
                                LCD_printfxy(0,0,"No GPS data");
                                LCD_printfxy(0,1,"Lon:                ");
                                LCD_printfxy(0,2,"Lat:                ");

                                i1 = abs(GPSData.Position.Altitude)/1000L;
                                i2 = abs(GPSData.Position.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
                        }
                        break;
                case 3:
                        if (GPSData.Status == INVALID)
                        {
                                LCD_printfxy(0,0,"No GPS data");
                                LCD_printfxy(0,1,"Speed N:            ");
                                LCD_printfxy(0,2,"Speed E:            ");

                                LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
                                LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
                                LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
                        }
                        break;
                case 4:
                        LCD_printfxy(0,0,"GPS UTC Time");
                        if (!SystemTime.Valid)
                        {
                                LCD_printfxy(0,1,"                    ");
                                LCD_printfxy(0,2,"  No time data!     ");

                                LCD_printfxy(0,1,"                    ");
                                LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
                                LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
                        }
                        break;
                case 5: // Navi Params 1 from FC
                        LCD_printfxy(0,0,"NaviMode: %3i" ,  Parameter.NaviGpsModeControl);
            LCD_printfxy(0,1,"G  :%3i P  :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
            LCD_printfxy(0,2,"I  :%3i D  :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
                    LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
                        break;
                case 6: // Navi Params 2 from FC
                        LCD_printfxy(0,0,"Stick TS:  %3i", Parameter.NaviStickThreshold);
            LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m);
            LCD_printfxy(0,2,"WindCorr:  %3i", Parameter.NaviWindCorrection);
                    LCD_printfxy(0,3,"AccComp:   %3i", Parameter.NaviSpeedCompensation);
                        break;
                case 7: // Navi Params 3 from FC
                        LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
            LCD_printfxy(0,1,"    P-Limit: %3i", Parameter.NaviGpsPLimit);
            LCD_printfxy(0,2,"    I-Limit: %3i", Parameter.NaviGpsILimit);
                    LCD_printfxy(0,3,"    D-Limit: %3i", Parameter.NaviGpsDLimit);
                        break;
                case 8: // Max Ranges
                        LCD_printfxy(0,0,"Maximum flying  ");
            LCD_printfxy(0,1,"Range:   %4im ", AbsoluteFlyingRange_m);
            LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m);
            LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);
                        if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled");
                        if(!AutoDescendRange_m)    LCD_printfxy(9,2,"disabled");
                        if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");
                        break;
                case 9:
                        LCD_printfxy(0,0,"Home Position");
                        if(NaviData.HomePosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");

                                        case REAR_TO_HOME:      LCD_printfxy(17,3,"(R)"); break;
                                        case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break;
                                }
                        }
                        break;
                case 10:
                        LCD_printfxy(0,0,"Target Position");
                        if(NaviData.TargetPosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");

                                i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
                                i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2);
                        }
                        break;
                case 11: // RC stick controls from FC
                        LCD_printfxy(0,0,"RC-Sticks" );
            LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",FC.StickNick, FC.StickRoll);
            LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",FC.StickGas, FC.StickYaw);
            LCD_printfxy(0,3,"RC-Level:    %3i", FC.RC_Quality); // Remote Control Level from FC
                        break;
                case 12: // RC poti controls from FC
                        LCD_printfxy(0,0,"RC-Potis 1" );
            LCD_printfxy(0,1,"Po1:%3i  Po2:%3i ",FC.Poti[0], FC.Poti[1]);
            LCD_printfxy(0,2,"Po3:%3i  Po4:%3i ",FC.Poti[2], FC.Poti[3]);
                        break;
                case 13: // RC poti controls from FC
                        LCD_printfxy(0,0,"RC-Potis 2" );
            LCD_printfxy(0,1,"Po5:%3i  Po6:%3i ",FC.Poti[4], FC.Poti[5]);
            LCD_printfxy(0,2,"Po7:%3i  Po8:%3i ",FC.Poti[6], FC.Poti[7]);
                        break;
                case 14: // attitude from FC
                        if(FromFlightCtrl.AngleNick < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AngleNick)/10;
                        i2 = abs(FromFlightCtrl.AngleNick)%10;
                        LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);

                        else sign = '+';
                        i1 = abs(FromFlightCtrl_AccRoll)/10;
                        i2 = abs(FromFlightCtrl_AccRoll)%10;
            LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
                        break;
                case 15:
                        LCD_printfxy(0,0,"Analog inputs");
                        LCD_printfxy(0,1,"A5:%3i  ",AnalogData.Ch5);
                        LCD_printfxy(0,2,"A6:%3i  ",AnalogData.Ch6);
                        LCD_printfxy(0,3,"A7:%3i  ",AnalogData.Ch7);
                        break;
                case 16:
                        LCD_printfxy(0,0,"Compass:    %3i", FromFlightCtrl.GyroHeading / 10);
                        LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);
                        if(FC.FromFC_DisableDeclination)
                        {
                                LCD_printfxy(0,2,"Mag.Declinat.:disabl");

                                else sign = '+';
                                LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
                        }
                        LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);
            break;
                case 17: // User Parameter
                        LCD_printfxy(0,0,"UP1:%3i  UP2:%3i",Parameter.User1,Parameter.User2);
                        LCD_printfxy(0,1,"UP3:%3i  UP4:%3i",Parameter.User3,Parameter.User4);
                        LCD_printfxy(0,2,"UP5:%3i  UP6:%3i",Parameter.User5,Parameter.User6);
                        LCD_printfxy(0,3,"UP7:%3i  UP8:%3i",Parameter.User7,Parameter.User8);
                        break;
                case 18: // User Parameter
                        LCD_printfxy(0,0,"SD-Card Logs");
                        if(SDCardInfo.Valid == 1)
                         {
                          LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);
                          LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);
                         }
                         else
                          LCD_printfxy(0,1,"no card in slot ");
                        break;
                case 19: // magnetic field
                        if(Compass_CalState)
                        {
                                LCD_printfxy(0,0,"Calibration:");
                                LCD_printfxy(0,1,"Step %d/", Compass_CalState);
                                LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);

                                if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
                                else Compass_SetCalState(0);
                        }
                        if(Keys & KEY3)Compass_SetCalState(0);  // cancel
                        break;
                case 20:
                        if(GeoMagDec < 0) sign = '-';
                        else sign = '+';
                                LCD_printfxy(0,0,"Magnetic Field");
                                LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
                                LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
                                LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination,     EarthMagneticInclinationTheoretic);
                        break;
                case 21:
                        LCD_printfxy(0,0,"SD-Setting      ");
                        LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);
                        break;
                case 22:
                        LCD_printfxy(0,0,"CPU Processing  ");
                        LCD_printfxy(0,2,"GPS-Data:  %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10);
                        LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10);
                        if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");
                        if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");
                        break;
                case 23:
                        LCD_printfxy(0,0,"BL Current" );
                        LCD_printfxy(11,3,"(in 0.1A)" );
                        for(i1 = 0; i1 < 3; i1++)
                        {
                                LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i1*4),BL3_Current(i1*4+1),BL3_Current(i1*4+2),BL3_Current(i1*4+3));
                                if(Motor[4 + i1 * 4].State == 0) break;
                        }
                        break;

 
                case 24:
                        LCD_printfxy(0,0,"Ext. Compass" );
                        if(NCMAG_Compass_use_Orientation)
                        {
                             u8 tmp;

                        else
                        {
                                LCD_printfxy(0,1,"Not connected");
                        }
                        break;
                case 25:
                        {
                                static u8 index = 1;
                                if(Keys & KEY3) //  next step
                                {
                                        if(index < ToFC_MaxWpListIndex) index++;

                                //                12345678901234567890
                                LCD_printfxy(0,2,"Points    Index     ");
                                LCD_printfxy(0,3," %3d      %3d   LOAD", PointList_GetCount(), index);
                        }                                                
                        break;
                case 26:
                        {
                                static u8 index = 1;
                                if(Keys & KEY3)
                                {
                                        if(index < ToFC_MaxWpListIndex) index++;

                                 }
                                 else LCD_printfxy(0,3," No Satfix !       ", index);

 
                        }                                                
                        break;
                case 27:
                        {
                                static u8 index = 1;
                                if(Keys & KEY3)
                                {

                                //                12345678901234567890
//                              LCD_printfxy(0,2,"Points    Index     ");
                                LCD_printfxy(0,3,"Number:  %3d (LOAD)", index);
                        }                                                
                        break;
                case 28:
                        {
                                static u8 index = 1;
                                if(Keys & KEY3)
                                {
                                        if(index < ToFC_MaxWpListIndex) index++;

                        LCD_printfxy(0,2,"A4:%3i  A5:%3i",AnalogData.Ch4,AnalogData.Ch5);
                        LCD_printfxy(0,3,"A6:%3i  A7:%3i",AnalogData.Ch6,AnalogData.Ch7);
                        break;
*/

 
                case 29:
//                      LCD_printfxy(0,0,"PPM Input");
/*
                        LCD_printfxy(0,0,"%4i %4i %4i %4i",PPM_In[1],PPM_In[2],PPM_In[3],PPM_In[4]);
                        LCD_printfxy(0,1,"%4i %4i %4i %4i",PPM_In[5],PPM_In[6],PPM_In[7],PPM_In[8]);

Rev 693	Rev 697
Line 68...	Line 68...
68	#include "ncmag.h"	68	#include "ncmag.h"
69	#include "logging.h"	69	#include "logging.h"
70	#include "settings.h"	70	#include "settings.h"
71	#include "sdc.h"	71	#include "sdc.h"
72	#include "analog.h"	72	#include "analog.h"
-		73	#include "canbus.h"
Line 73...	Line 74...
73		74
74	u8 DispPtr = 0;	75	u8 DispPtr = 0;
Line 75...	Line 76...
75	s8 DisplayBuff[DISPLAYBUFFSIZE];	76	s8 DisplayBuff[DISPLAYBUFFSIZE];
76		77
Line 77...	Line 78...
77		78
78	u8 MenuItem = 0;	79	u8 MenuItem = 0;
79	u8 MaxMenuItem = 28;	80	u8 MaxMenuItem = 29;
80		81
Line 121...	Line 122...
121	{	122	{
122	LCD_printfxy(0,2,"Error: %d",ErrorCode);	123	LCD_printfxy(0,2,"Error: %d",ErrorCode);
123	LCD_printfxy(0,3,"%s",ErrorMSG);	124	LCD_printfxy(0,3,"%s",ErrorMSG);
124	}	125	}
125	else	126	else
-		127	if(Partner.ErrorCode)
-		128	{
-		129	if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode)
-		130	else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode);
-		131	LCD_printfxy(0,3,"%s",PartnerErrorMSG);
-		132	}
-		133	else
126	{	134	{
127	LCD_printfxy(0,2,"Set:%d %s", Parameter.ActiveSetting,EE_Parameter.Name);	135	LCD_printfxy(0,2,"Set:%d %s", Parameter.ActiveSetting,EE_Parameter.Name);
128	LCD_printfxy(0,3,"%s",ErrorMSG);	136	LCD_printfxy(0,3,"%s",ErrorMSG);
129	// LCD_printfxy(0,3,"(c) HiSystems GmbH");	137	// LCD_printfxy(0,3,"(c) HiSystems GmbH");
130	}	138	}
131	if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT");	139	if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT");
132	break;	140	break;
133	case 1:	141	case 1:
-		142	if(IamMaster == SLAVE) LCD_printfxy(0,0,"++ Master - NC ++")
-		143	else LCD_printfxy(0,0,"++ Slave - NC ++");
-		144
-		145	if(CanRxMessage[CAN_ID_VERSION].D.Byte[3])
-		146	{
-		147	LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", CanRxMessage[CAN_ID_VERSION].D.Byte[3]/10, CanRxMessage[CAN_ID_VERSION].D.Byte[3]%10, CanRxMessage[CAN_ID_VERSION].D.Byte[7], CanRxMessage[CAN_ID_VERSION].D.Byte[6], 'a'+ CanRxMessage[CAN_ID_VERSION].D.Byte[5]);
-		148	if(Partner.ErrorCode)
-		149	{
-		150	if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode)
-		151	else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode);
-		152	}
-		153	else
-		154	{
-		155	LCD_printfxy(0,2,"Set:%d", CanRxMessage[CAN_ID_VERSION].D.Byte[1]);
-		156	}
-		157	LCD_printfxy(0,3,"%s",PartnerErrorMSG);
-		158	if(Partner.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT");
-		159	}
-		160	else
-		161	LCD_printfxy(0,2,"not connected", CanTxMessage[CAN_ID_VERSION].D.Byte[1]);
-		162	break;
-		163	case 2:
134	if (GPSData.Status == INVALID)	164	if (GPSData.Status == INVALID)
135	{	165	{
136	LCD_printfxy(0,0,"No GPS data");	166	LCD_printfxy(0,0,"No GPS data");
137	LCD_printfxy(0,1,"Lon: ");	167	LCD_printfxy(0,1,"Lon: ");
138	LCD_printfxy(0,2,"Lat: ");	168	LCD_printfxy(0,2,"Lat: ");
Line 180...	Line 210...
180	i1 = abs(GPSData.Position.Altitude)/1000L;	210	i1 = abs(GPSData.Position.Altitude)/1000L;
181	i2 = abs(GPSData.Position.Altitude)%1000L;	211	i2 = abs(GPSData.Position.Altitude)%1000L;
182	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);	212	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
183	}	213	}
184	break;	214	break;
185	case 2:	215	case 3:
186	if (GPSData.Status == INVALID)	216	if (GPSData.Status == INVALID)
187	{	217	{
188	LCD_printfxy(0,0,"No GPS data");	218	LCD_printfxy(0,0,"No GPS data");
189	LCD_printfxy(0,1,"Speed N: ");	219	LCD_printfxy(0,1,"Speed N: ");
190	LCD_printfxy(0,2,"Speed E: ");	220	LCD_printfxy(0,2,"Speed E: ");
Line 220...	Line 250...
220	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);	250	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
221	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);	251	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
222	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);	252	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
223	}	253	}
224	break;	254	break;
225	case 3:	255	case 4:
226	LCD_printfxy(0,0,"GPS UTC Time");	256	LCD_printfxy(0,0,"GPS UTC Time");
227	if (!SystemTime.Valid)	257	if (!SystemTime.Valid)
228	{	258	{
229	LCD_printfxy(0,1," ");	259	LCD_printfxy(0,1," ");
230	LCD_printfxy(0,2," No time data! ");	260	LCD_printfxy(0,2," No time data! ");
Line 235...	Line 265...
235	LCD_printfxy(0,1," ");	265	LCD_printfxy(0,1," ");
236	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);	266	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
237	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);	267	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
238	}	268	}
239	break;	269	break;
240	case 4: // Navi Params 1 from FC	270	case 5: // Navi Params 1 from FC
241	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);	271	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
242	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);	272	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
243	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);	273	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
244	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);	274	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
245	break;	275	break;
246	case 5: // Navi Params 2 from FC	276	case 6: // Navi Params 2 from FC
247	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);	277	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
248	LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m);	278	LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m);
249	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);	279	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
250	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);	280	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);
251	break;	281	break;
252	case 6: // Navi Params 3 from FC	282	case 7: // Navi Params 3 from FC
253	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);	283	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
254	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);	284	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
255	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);	285	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
256	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);	286	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
257	break;	287	break;
258	case 7: // Max Ranges	288	case 8: // Max Ranges
259	LCD_printfxy(0,0,"Maximum flying ");	289	LCD_printfxy(0,0,"Maximum flying ");
260	LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m);	290	LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m);
261	LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m);	291	LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m);
262	LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);	292	LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);
263	if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled");	293	if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled");
264	if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled");	294	if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled");
265	if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");	295	if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");
266	break;	296	break;
267	case 8:	297	case 9:
268	LCD_printfxy(0,0,"Home Position");	298	LCD_printfxy(0,0,"Home Position");
269	if(NaviData.HomePosition.Status == INVALID)	299	if(NaviData.HomePosition.Status == INVALID)
270	{	300	{
271	LCD_printfxy(0,1," ");	301	LCD_printfxy(0,1," ");
272	LCD_printfxy(0,2," Is not set. ");	302	LCD_printfxy(0,2," Is not set. ");
Line 296...	Line 326...
296	case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break;	326	case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break;
297	case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break;	327	case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break;
298	}	328	}
299	}	329	}
300	break;	330	break;
301	case 9:	331	case 10:
302	LCD_printfxy(0,0,"Target Position");	332	LCD_printfxy(0,0,"Target Position");
303	if(NaviData.TargetPosition.Status == INVALID)	333	if(NaviData.TargetPosition.Status == INVALID)
304	{	334	{
305	LCD_printfxy(0,1," ");	335	LCD_printfxy(0,1," ");
306	LCD_printfxy(0,2," Is not set. ");	336	LCD_printfxy(0,2," Is not set. ");
Line 323...	Line 353...
323	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;	353	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
324	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;	354	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
325	LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2);	355	LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2);
326	}	356	}
327	break;	357	break;
328	case 10: // RC stick controls from FC	358	case 11: // RC stick controls from FC
329	LCD_printfxy(0,0,"RC-Sticks" );	359	LCD_printfxy(0,0,"RC-Sticks" );
330	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);	360	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
331	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);	361	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
332	LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC	362	LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC
333	break;	363	break;
334	case 11: // RC poti controls from FC	364	case 12: // RC poti controls from FC
335	LCD_printfxy(0,0,"RC-Potis 1" );	365	LCD_printfxy(0,0,"RC-Potis 1" );
336	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);	366	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
337	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);	367	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
338	break;	368	break;
339	case 12: // RC poti controls from FC	369	case 13: // RC poti controls from FC
340	LCD_printfxy(0,0,"RC-Potis 2" );	370	LCD_printfxy(0,0,"RC-Potis 2" );
341	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);	371	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
342	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);	372	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
343	break;	373	break;
344	case 13: // attitude from FC	374	case 14: // attitude from FC
345	if(FromFlightCtrl.AngleNick < 0) sign = '-';	375	if(FromFlightCtrl.AngleNick < 0) sign = '-';
346	else sign = '+';	376	else sign = '+';
347	i1 = abs(FromFlightCtrl.AngleNick)/10;	377	i1 = abs(FromFlightCtrl.AngleNick)/10;
348	i2 = abs(FromFlightCtrl.AngleNick)%10;	378	i2 = abs(FromFlightCtrl.AngleNick)%10;
349	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);	379	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
Line 361...	Line 391...
361	else sign = '+';	391	else sign = '+';
362	i1 = abs(FromFlightCtrl_AccRoll)/10;	392	i1 = abs(FromFlightCtrl_AccRoll)/10;
363	i2 = abs(FromFlightCtrl_AccRoll)%10;	393	i2 = abs(FromFlightCtrl_AccRoll)%10;
364	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);	394	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
365	break;	395	break;
366	case 14:	396	case 15:
367	LCD_printfxy(0,0,"Analog inputs");	397	LCD_printfxy(0,0,"Analog inputs");
368	LCD_printfxy(0,1,"A5:%3i ",AnalogData.Ch5);	398	LCD_printfxy(0,1,"A5:%3i ",AnalogData.Ch5);
369	LCD_printfxy(0,2,"A6:%3i ",AnalogData.Ch6);	399	LCD_printfxy(0,2,"A6:%3i ",AnalogData.Ch6);
370	LCD_printfxy(0,3,"A7:%3i ",AnalogData.Ch7);	400	LCD_printfxy(0,3,"A7:%3i ",AnalogData.Ch7);
371	break;	401	break;
372	case 15:	402	case 16:
373	LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10);	403	LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10);
374	LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);	404	LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);
375	if(FC.FromFC_DisableDeclination)	405	if(FC.FromFC_DisableDeclination)
376	{	406	{
377	LCD_printfxy(0,2,"Mag.Declinat.:disabl");	407	LCD_printfxy(0,2,"Mag.Declinat.:disabl");
Line 382...	Line 412...
382	else sign = '+';	412	else sign = '+';
383	LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	413	LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
384	}	414	}
385	LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);	415	LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);
386	break;	416	break;
387	case 16: // User Parameter	417	case 17: // User Parameter
388	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);	418	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
389	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);	419	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
390	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);	420	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
391	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);	421	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
392	break;	422	break;
393	case 17: // User Parameter	423	case 18: // User Parameter
394	LCD_printfxy(0,0,"SD-Card Logs");	424	LCD_printfxy(0,0,"SD-Card Logs");
395	if(SDCardInfo.Valid == 1)	425	if(SDCardInfo.Valid == 1)
396	{	426	{
397	LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);	427	LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);
398	LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);	428	LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);
399	}	429	}
400	else	430	else
401	LCD_printfxy(0,1,"no card in slot ");	431	LCD_printfxy(0,1,"no card in slot ");
402	break;	432	break;
403	case 18: // magnetic field	433	case 19: // magnetic field
404	if(Compass_CalState)	434	if(Compass_CalState)
405	{	435	{
406	LCD_printfxy(0,0,"Calibration:");	436	LCD_printfxy(0,0,"Calibration:");
407	LCD_printfxy(0,1,"Step %d/", Compass_CalState);	437	LCD_printfxy(0,1,"Step %d/", Compass_CalState);
408	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);	438	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
Line 451...	Line 481...
451	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);	481	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
452	else Compass_SetCalState(0);	482	else Compass_SetCalState(0);
453	}	483	}
454	if(Keys & KEY3)Compass_SetCalState(0); // cancel	484	if(Keys & KEY3)Compass_SetCalState(0); // cancel
455	break;	485	break;
456	case 19:	486	case 20:
457	if(GeoMagDec < 0) sign = '-';	487	if(GeoMagDec < 0) sign = '-';
458	else sign = '+';	488	else sign = '+';
459	LCD_printfxy(0,0,"Magnetic Field");	489	LCD_printfxy(0,0,"Magnetic Field");
460	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);	490	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
461	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	491	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
462	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);	492	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);
463	break;	493	break;
464	case 20:	494	case 21:
465	LCD_printfxy(0,0,"SD-Setting ");	495	LCD_printfxy(0,0,"SD-Setting ");
466	LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);	496	LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);
467	break;	497	break;
468	case 21:	498	case 22:
469	LCD_printfxy(0,0,"CPU Processing ");	499	LCD_printfxy(0,0,"CPU Processing ");
470	LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10);	500	LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10);
471	LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10);	501	LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10);
472	if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");	502	if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");
473	if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");	503	if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");
474	break;	504	break;
475	case 22:	505	case 23:
476	LCD_printfxy(0,0,"BL Current" );	506	LCD_printfxy(0,0,"BL Current" );
477	LCD_printfxy(11,3,"(in 0.1A)" );	507	LCD_printfxy(11,3,"(in 0.1A)" );
478	for(i1 = 0; i1 < 3; i1++)	508	for(i1 = 0; i1 < 3; i1++)
479	{	509	{
480	LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i14),BL3_Current(i14+1),BL3_Current(i14+2),BL3_Current(i14+3));	510	LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i14),BL3_Current(i14+1),BL3_Current(i14+2),BL3_Current(i14+3));
481	if(Motor[4 + i1 * 4].State == 0) break;	511	if(Motor[4 + i1 * 4].State == 0) break;
482	}	512	}
483	break;	513	break;
Line 484...	Line 514...
484		514
485	case 23:	515	case 24:
486	LCD_printfxy(0,0,"Ext. Compass" );	516	LCD_printfxy(0,0,"Ext. Compass" );
487	if(NCMAG_Compass_use_Orientation)	517	if(NCMAG_Compass_use_Orientation)
488	{	518	{
489	u8 tmp;	519	u8 tmp;
Line 497...	Line 527...
497	else	527	else
498	{	528	{
499	LCD_printfxy(0,1,"Not connected");	529	LCD_printfxy(0,1,"Not connected");
500	}	530	}
501	break;	531	break;
502	case 24:	532	case 25:
503	{	533	{
504	static u8 index = 1;	534	static u8 index = 1;
505	if(Keys & KEY3) // next step	535	if(Keys & KEY3) // next step
506	{	536	{
507	if(index < ToFC_MaxWpListIndex) index++;	537	if(index < ToFC_MaxWpListIndex) index++;
Line 513...	Line 543...
513	// 12345678901234567890	543	// 12345678901234567890
514	LCD_printfxy(0,2,"Points Index ");	544	LCD_printfxy(0,2,"Points Index ");
515	LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index);	545	LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index);
516	}	546	}
517	break;	547	break;
518	case 25:	548	case 26:
519	{	549	{
520	static u8 index = 1;	550	static u8 index = 1;
521	if(Keys & KEY3)	551	if(Keys & KEY3)
522	{	552	{
523	if(index < ToFC_MaxWpListIndex) index++;	553	if(index < ToFC_MaxWpListIndex) index++;
Line 534...	Line 564...
534	}	564	}
535	else LCD_printfxy(0,3," No Satfix ! ", index);	565	else LCD_printfxy(0,3," No Satfix ! ", index);
Line 536...	Line 566...
536		566
537	}	567	}
538	break;	568	break;
539	case 26:	569	case 27:
540	{	570	{
541	static u8 index = 1;	571	static u8 index = 1;
542	if(Keys & KEY3)	572	if(Keys & KEY3)
543	{	573	{
Line 550...	Line 580...
550	// 12345678901234567890	580	// 12345678901234567890
551	// LCD_printfxy(0,2,"Points Index ");	581	// LCD_printfxy(0,2,"Points Index ");
552	LCD_printfxy(0,3,"Number: %3d (LOAD)", index);	582	LCD_printfxy(0,3,"Number: %3d (LOAD)", index);
553	}	583	}
554	break;	584	break;
555	case 27:	585	case 28:
556	{	586	{
557	static u8 index = 1;	587	static u8 index = 1;
558	if(Keys & KEY3)	588	if(Keys & KEY3)
559	{	589	{
560	if(index < ToFC_MaxWpListIndex) index++;	590	if(index < ToFC_MaxWpListIndex) index++;
Line 579...	Line 609...
579	LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5);	609	LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5);
580	LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7);	610	LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7);
581	break;	611	break;
582	*/	612	*/
Line 583...	Line 613...
583		613
584	case 28:	614	case 29:
585	// LCD_printfxy(0,0,"PPM Input");	615	// LCD_printfxy(0,0,"PPM Input");
586	/*	616	/*
587	LCD_printfxy(0,0,"%4i %4i %4i %4i",PPM_In[1],PPM_In[2],PPM_In[3],PPM_In[4]);	617	LCD_printfxy(0,0,"%4i %4i %4i %4i",PPM_In[1],PPM_In[2],PPM_In[3],PPM_In[4]);
588	LCD_printfxy(0,1,"%4i %4i %4i %4i",PPM_In[5],PPM_In[6],PPM_In[7],PPM_In[8]);	618	LCD_printfxy(0,1,"%4i %4i %4i %4i",PPM_In[5],PPM_In[6],PPM_In[7],PPM_In[8]);

Subversion Repositories NaviCtrl

(root)/tags/V2.14e/menu.c @ 811 - Rev 693 → 697