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| Rev 2499 | Rev 2501 | ||
|---|---|---|---|
| Line 31... | Line 31... | ||
| 31 | unsigned char NC_ErrorCode = 0; |
31 | unsigned char NC_ErrorCode = 0; |
| 32 | unsigned char NC_GPS_ModeCharacter = ' '; |
32 | unsigned char NC_GPS_ModeCharacter = ' '; |
| 33 | unsigned char EarthMagneticField = 0; |
33 | unsigned char EarthMagneticField = 0; |
| 34 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
34 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
| 35 | unsigned char NC_To_FC_Flags = 0; |
35 | unsigned char NC_To_FC_Flags = 0; |
| - | 36 | unsigned char NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
|
| 36 | //unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
37 | //unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
| 37 | signed int POI_KameraNick = 0; // in 0,1° |
38 | signed int POI_KameraNick = 0; // in 0,1° |
| 38 | vector16_t MagVec = {0,0,0}; |
39 | vector16_t MagVec = {0,0,0}; |
| Line 39... | Line 40... | ||
| 39 | 40 | ||
| Line 246... | Line 247... | ||
| 246 | ToNaviCtrl.Command = SPI_FCCMD_SLOW3; |
247 | ToNaviCtrl.Command = SPI_FCCMD_SLOW3; |
| 247 | ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl; |
248 | ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl; |
| 248 | ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl; |
249 | ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl; |
| 249 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m |
250 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m |
| 250 | ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude; |
251 | ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude; |
| 251 | ToNaviCtrl.Param.Byte[4] = 0; |
252 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert; |
| 252 | ToNaviCtrl.Param.Byte[5] = 0; |
253 | ToNaviCtrl.Param.Byte[5] = 0; |
| 253 | ToNaviCtrl.Param.Byte[6] = 0; |
254 | ToNaviCtrl.Param.Byte[6] = 0; |
| 254 | ToNaviCtrl.Param.Byte[7] = 0; |
255 | ToNaviCtrl.Param.Byte[7] = 0; |
| 255 | ToNaviCtrl.Param.Byte[8] = 0; |
256 | ToNaviCtrl.Param.Byte[8] = 0; |
| 256 | ToNaviCtrl.Param.Byte[9] = 0; |
257 | ToNaviCtrl.Param.Byte[9] = 0; |
| Line 370... | Line 371... | ||
| 370 | case SPI_NCCMD_KALMAN: |
371 | case SPI_NCCMD_KALMAN: |
| 371 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
372 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| 372 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
373 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
| 373 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
374 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
| 374 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
375 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
| 375 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
376 | if(FromNaviCtrl.Param.Byte[4] & 0x01) NCForcesNewDirection = 1; |
| 376 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
377 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| 377 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
378 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
| 378 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
379 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
| 379 | if(FromNaviCtrl.Param.sInt[4] >= 0) |
380 | if(FromNaviCtrl.Param.sInt[4] >= 0) |
| 380 | { |
381 | { |