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140 | s16 Bearing; // course to target in deg |
140 | s16 Bearing; // course to target in deg |
141 | } __attribute__((packed)) GPS_PosDev_t; |
141 | } __attribute__((packed)) GPS_PosDev_t; |
Line 142... | Line 142... | ||
142 | 142 | ||
Line -... | Line 143... | ||
- | 143 | #define NAVIDATA_VERSION 5 |
|
- | 144 | ||
- | 145 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 146 | //+ old protocol |
|
143 | #define NAVIDATA_VERSION 5 |
147 | //+ start abbo communication with: 'O' + Interval [10ms] |
144 | 148 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
145 | typedef struct // 84 Bytes |
149 | typedef struct // 84 Bytes (note: this is the old protocol) |
146 | { |
150 | { |
147 | u8 Version; // version of the data structure = 5 |
151 | u8 Version; // version of the data structure = 5 |
148 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
152 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
Line 161... | Line 165... | ||
161 | s16 Heading; // current flight direction in ° as angle to north |
165 | s16 Heading; // current flight direction in ° as angle to north |
162 | s16 CompassHeading; // current compass value in ° |
166 | s16 CompassHeading; // current compass value in ° |
163 | s8 AngleNick; // current Nick angle in 1° |
167 | s8 AngleNick; // current Nick angle in 1° |
164 | s8 AngleRoll; // current Rick angle in 1° |
168 | s8 AngleRoll; // current Rick angle in 1° |
165 | u8 RC_Quality; // RC_Quality |
169 | u8 RC_Quality; // RC_Quality |
166 | u8 FCStatusFlags; // Flags from FC |
170 | u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
167 | u8 NCFlags; // Flags from NC |
171 | u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
168 | u8 Errorcode; // 0 --> okay |
172 | u8 Errorcode; // 0 --> okay |
169 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
173 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
170 | s16 TopSpeed; // velocity in vertical direction in cm/s |
174 | s16 TopSpeed; // velocity in vertical direction in cm/s |
171 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
175 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
172 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
176 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
173 | s16 SetpointAltitude; // setpoint for altitude |
177 | s16 SetpointAltitude; // setpoint for altitude |
174 | u8 Gas; // for future use |
178 | u8 Gas; // current gas (thrust) |
175 | u16 Current; // actual current in 0.1A steps |
179 | u16 Current; // actual current in 0.1A steps |
176 | u16 UsedCapacity; // used capacity in mAh |
180 | u16 UsedCapacity; // used capacity in mAh |
177 | u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
181 | u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
178 | u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
182 | u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
179 | } __attribute__((packed)) NaviData_t; |
183 | } __attribute__((packed)) NaviData_t; |
180 | extern NaviData_t NaviData; |
184 | extern NaviData_t NaviData; |
Line -... | Line 185... | ||
- | 185 | ||
- | 186 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 187 | //+ New protocol |
|
- | 188 | //+ start abbo communication with: 'O' + Interval 1byte [10ms] + MaxBytesPerSecond (2Bytes) |
|
- | 189 | //+ i.e. 'O'+10+1024 |
|
- | 190 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
181 | 191 | ||
182 | typedef struct // 10 (15 Bytes belegen 27 ASCII-Zeichen) |
192 | typedef struct // Index:10 (15 Bytes need 27 ASCII-characters) |
183 | { |
193 | { |
184 | u8 Index; // version of the data structure |
194 | u8 Index; // Index to identify this data set |
185 | s32 ActualLongitude; // |
195 | s32 ActualLongitude; // |
186 | s32 ActualLatitude; // |
196 | s32 ActualLatitude; // |
187 | s16 Altimeter_5cm; // hight according to air pressure -> devide by 20 to get meters & multiply with 5 to get cm |
197 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
188 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
198 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
189 | u8 OSDStatusFlags; |
199 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
190 | u8 CamCtrlChar; // Status from a connected CamCtrl unit: 'R' = REC 'c' = Ready '!' = Error ...etc |
200 | u8 CamCtrlChar; // Status from a connected CamCtrl unit: 'R' = REC 'c' = Ready '!' = Error ...etc |
191 | u8 reserve1; |
201 | u8 reserve1; |
192 | } __attribute__((packed)) NaviData_Tiny_t; |
202 | } __attribute__((packed)) NaviData_Tiny_t; |
Line 193... | Line 203... | ||
193 | extern NaviData_Tiny_t NaviData_Tiny; |
203 | extern NaviData_Tiny_t NaviData_Tiny; |
Line 194... | Line 204... | ||
194 | 204 | ||
195 | #define START_PAYLOAD_DATA 13 // |
205 | #define START_PAYLOAD_DATA 13 // |
196 | 206 | ||
197 | typedef struct // 11 (24 Bytes belegen 39 ASCII-Zeichen) |
207 | typedef struct // Index:11 (24 Bytes need 39 ASCII-characters) |
198 | { |
208 | { |
199 | u8 Index; // version of the data structure |
209 | u8 Index; // Index to identify this data set |
200 | s32 ActualLongitude; // |
210 | s32 ActualLongitude; // |
201 | s32 ActualLatitude; // |
211 | s32 ActualLatitude; // |
202 | s16 Altimeter_5cm; // hight according to air pressure -> devide by 20 to get meters & multiply with 5 to get cm -> devide by 20 to get meters & multiply with 5 to get cm |
212 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
203 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
213 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
204 | u8 OSDStatusFlags; |
214 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
205 | u8 OSDStatusFlags2; |
215 | u8 OSDStatusFlags2; // see main.h for definitions OSD_FLAG2_xxx |
206 | u8 NCFlags; // Flags from NC |
216 | u8 NCFlags; // Flags from NC |
207 | u8 ReserveFlags; |
217 | u8 ReserveFlags; |
208 | u8 Errorcode; // 0 --> okay |
218 | u8 Errorcode; // 0 --> okay see http://wiki.mikrokopter.de/ErrorCodes |
209 | u8 SpeakHoTT; |
219 | u8 SpeakHoTT; // voice output SPEAK_xxx (see spi_slave.h) |
210 | u8 VarioCharacter; |
220 | u8 VarioCharacter; // display as ascii character ('+' = 'climb' etc) |
211 | u8 GPS_ModeCharacter; |
221 | u8 GPS_ModeCharacter; // display as ascii character ('H' = 'Home' etc) |
Line 212... | Line 222... | ||
212 | u8 BL_MinOfMaxPWM; |
222 | u8 BL_MinOfMaxPWM; // status byte of the BL-Ctrls |
213 | } __attribute__((packed)) NaviData_Flags_t; |
223 | } __attribute__((packed)) NaviData_Flags_t; |
214 | extern NaviData_Flags_t NaviData_Flags; |
224 | extern NaviData_Flags_t NaviData_Flags; |
215 | 225 | ||
216 | typedef struct // 12 (27 Bytes belegen 43 ASCII-Zeichen) |
226 | typedef struct // Index:12 (27 Bytes need 43 ASCII-characters) |
217 | { |
227 | { |
218 | u8 Index; // version of the data structure |
228 | u8 Index; // Index to identify this data set |
219 | s32 ActualLongitude; // |
229 | s32 ActualLongitude; // |
220 | s32 ActualLatitude; // |
230 | s32 ActualLatitude; // |
221 | s16 Altimeter_5cm; // hight according to air pressure -> devide by 20 to get meters & multiply with 5 to get cm |
231 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
222 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
232 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
223 | u8 OSDStatusFlags; |
233 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
224 | s32 TargetLongitude; // |
234 | s32 TargetLongitude; // |
225 | s32 TargetLatitude; // |
235 | s32 TargetLatitude; // |
Line 226... | Line 236... | ||
226 | s16 TargetAltitude; // hight according to air pressure |
236 | s16 TargetAltitude; // hight according to air pressure |
227 | u8 RC_Quality; // RC_Quality |
237 | u8 RC_Quality; // RC_Quality |
228 | } __attribute__((packed)) NaviData_Target_t; |
238 | } __attribute__((packed)) NaviData_Target_t; |
229 | extern NaviData_Target_t NaviData_Target; |
239 | extern NaviData_Target_t NaviData_Target; |
230 | 240 | ||
231 | typedef struct // 13 (30 Bytes belegen 47 ASCII-Zeichen) |
241 | typedef struct // Index:13 (30 Bytes need 47 ASCII-characters) |
232 | { |
242 | { |
233 | u8 Index; // version of the data structure |
243 | u8 Index; // Index to identify this data set |
234 | s32 ActualLongitude; // |
244 | s32 ActualLongitude; // |
235 | s32 ActualLatitude; // |
245 | s32 ActualLatitude; // |
236 | s16 Altimeter_5cm; // hight according to air pressure -> devide by 20 to get meters & multiply with 5 to get cm |
246 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
237 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
247 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
238 | u8 OSDStatusFlags; |
248 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
239 | s32 HomeLongitude; // |
249 | s32 HomeLongitude; // |
240 | s32 HomeLatitude; // |
250 | s32 HomeLatitude; // |
241 | s16 HomeAltitude; // hight according to air pressure |
251 | s16 HomeAltitude; // hight according to air pressure |
242 | u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
252 | u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
243 | u8 LipoCellCount; |
253 | u8 LipoCellCount; |
244 | u8 DescendRange; // in [10m] |
254 | u8 DescendRange; // in [10m] |
Line 245... | Line 255... | ||
245 | u8 ManualFlyingRange; // in [10m] |
255 | u8 ManualFlyingRange; // in [10m] |
246 | u8 reserve1; |
256 | u8 reserve1; |
247 | u8 reserve2; |
257 | u8 reserve2; |
248 | } __attribute__((packed)) NaviData_Home_t; |
258 | } __attribute__((packed)) NaviData_Home_t; |
249 | extern NaviData_Home_t NaviData_Home; |
259 | extern NaviData_Home_t NaviData_Home; |
250 | 260 | ||
251 | typedef struct // 18 (21 Bytes belegen 35 ASCII-Zeichen) |
261 | typedef struct // Index:14 (24 Bytes need 39 ASCII-characters) |
252 | { |
262 | { |
253 | u8 Index; // version of the data structure |
263 | u8 Index; // Index to identify this data set |
254 | s32 ActualLongitude; // |
264 | s32 ActualLongitude; // |
255 | s32 ActualLatitude; // |
265 | s32 ActualLatitude; // |
256 | s16 Altimeter_5cm; // hight according to air pressure -> devide by 20 to get meters & multiply with 5 to get cm |
- | |
257 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
266 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
258 | u8 OSDStatusFlags; |
- | |
259 | s32 Longitude; // |
267 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
260 | s32 Latitude; // |
- | |
261 | } __attribute__((packed)) NaviData_Pos_t; |
268 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
262 | 269 | u16 FlyingTime; // in seconds |
|
263 | extern NaviData_Pos_t NaviData_Failsafe; |
270 | u16 DistanceToHome; // [10cm] (100 = 10m) |
264 | 271 | u8 HeadingToHome; // in 2° (100 = 200°) |
|
265 | typedef struct // 18 (9 Bytes belegen 19 ASCII-Zeichen) |
272 | u16 DistanceToTarget; // [10cm] (100 = 10m) |
Line 266... | Line 273... | ||
266 | { |
273 | u8 HeadingToTarget; // in 2° (100 = 200°) |
267 | u8 Index; // version of the data structure |
274 | s8 AngleNick; // current Nick angle in 1° |
268 | s32 Longitude; // |
275 | s8 AngleRoll; // current Rick angle in 1° |
269 | s32 Latitude; // |
276 | u8 SatsInUse; // number of satellites used for position solution |
270 | } __attribute__((packed)) NaviData_Out_t; |
277 | } __attribute__((packed)) NaviData_Deviation_t; |
271 | extern NaviData_Out_t NaviData_Out1Trigger; |
278 | extern NaviData_Deviation_t NaviData_Deviation; |
272 | 279 | ||
273 | typedef struct // 15 (18 Bytes belegen 31 ASCII-Zeichen) |
280 | typedef struct // Index:15 (18 Bytes need 31 ASCII-characters) |
274 | { |
281 | { |
275 | u8 Index; // version of the data structure |
282 | u8 Index; // Index to identify this data set |
276 | s32 ActualLongitude; // |
283 | s32 ActualLongitude; // |
277 | s32 ActualLatitude; // |
284 | s32 ActualLatitude; // |
278 | s16 Altimeter_5cm; // hight according to air pressure -> devide by 20 to get meters & multiply with 5 to get cm |
285 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
279 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
286 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
280 | u8 OSDStatusFlags; |
287 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
Line 281... | Line 288... | ||
281 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
288 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
282 | u8 WaypointNumber; // number of stored waypoints |
289 | u8 WaypointNumber; // number of stored waypoints |
283 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
290 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
284 | u8 WP_Eventchannel; |
291 | u8 WP_Eventchannel; // the current value of the event channel |
285 | u8 reserve; |
292 | u8 reserve; |
286 | } __attribute__((packed)) NaviData_WP_t; |
293 | } __attribute__((packed)) NaviData_WP_t; |
287 | extern NaviData_WP_t NaviData_WP; |
294 | extern NaviData_WP_t NaviData_WP; |
288 | - | ||
289 | typedef struct // 14 (24 Bytes belegen 39 ASCII-Zeichen) |
- | |
290 | { |
- | |
291 | u8 Index; // version of the data structure |
- | |
292 | s32 ActualLongitude; // |
- | |
293 | s32 ActualLatitude; // |
- | |
294 | s16 Altimeter_5cm; // hight according to air pressure -> devide by 20 to get meters & multiply with 5 to get cm |
- | |
295 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
- | |
296 | u8 OSDStatusFlags; |
295 | |
297 | u16 FlyingTime; // in seconds |
- | |
298 | u16 DistanceToHome; |
- | |
299 | u8 HeadingToHome; // in 2° (100 = 200°) |
- | |
300 | u16 DistanceToTarget; |
- | |
301 | u8 HeadingToTarget; // in 2° (100 = 200°) |
- | |
302 | s8 AngleNick; // current Nick angle in 1° |
- | |
303 | s8 AngleRoll; // current Rick angle in 1° |
- | |
304 | u8 SatsInUse; // number of satellites used for position solution |
- | |
305 | } __attribute__((packed)) NaviData_Deviation_t; |
- | |
306 | extern NaviData_Deviation_t NaviData_Deviation; |
- | |
307 | - | ||
308 | typedef struct // 16 (27 Bytes belegen 43 ASCII-Zeichen) |
296 | typedef struct // Index:16 (27 Bytes need 43 ASCII-characters) |
309 | { |
297 | { |
310 | u8 Index; // version of the data structure |
298 | u8 Index; // Index to identify this data set |
311 | s32 ActualLongitude; // |
299 | s32 ActualLongitude; // |
312 | s32 ActualLatitude; // |
300 | s32 ActualLatitude; // |
313 | s16 Altimeter_5cm; // hight according to air pressure -> devide by 20 to get meters & multiply with 5 to get cm |
301 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
314 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
302 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
315 | u8 OSDStatusFlags; |
303 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
316 | u16 UBat; // Battery Voltage in 0.1 Volts |
304 | u16 UBat; // Battery Voltage in 0.1 Volts |
317 | u16 Current; // actual current in 0.1A steps |
305 | u16 Current; // actual current in 0.1A steps |
318 | u16 UsedCapacity; // used capacity in mAh |
306 | u16 UsedCapacity; // used capacity in mAh |
Line 319... | Line -... | ||
319 | s8 Variometer; // climb(+) and sink(-) rate |
- | |
320 | u8 Heading; // Current moving direction in 2° (100 = 200°) |
- | |
Line 321... | Line -... | ||
321 | u8 CompassHeading; // current compass value in 2° |
- | |
322 | u8 Gas; // for future use |
307 | s8 Variometer; // climb(+) and sink(-) rate |
323 | u16 ShutterCounter; // counts every time a Out1 was activated |
- | |
324 | s16 SetpointAltitude; // setpoint for altitude |
308 | u8 Heading; // Current moving direction in 2° (100 = 200°) |
- | 309 | u8 CompassHeading; // current compass value in 2° |
|
- | 310 | u8 Gas; // current gas (thrust) |
|
325 | } __attribute__((packed)) NaviData_Volatile_t; |
311 | u16 ShutterCounter; // counts every time a Out1 was activated |
326 | extern NaviData_Volatile_t NaviData_Volatile; |
312 | s16 SetpointAltitude; // setpoint for altitude |
- | 313 | } __attribute__((packed)) NaviData_Volatile_t; |
|
327 | 314 | extern NaviData_Volatile_t NaviData_Volatile; |
|
- | 315 | ||
- | 316 | ||
- | 317 | typedef struct // Index:17 (21 Bytes need 35 ASCII-characters) |
|
- | 318 | { |
|
328 | #define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80) |
319 | u8 Index; // Index to identify this data set |
- | 320 | s32 ActualLongitude; // |
|
329 | #define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10) |
321 | s32 ActualLatitude; // |
330 | - | ||
331 | // NC calculates |
- | |
332 | //OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
322 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
333 | //OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
323 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
334 | 324 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
|
335 | //calculate Back: |
325 | s32 Longitude; // Failsafe-Position |
336 | //FC.StatusFlags = (OSDStatusFlags & OSD_FLAG_MASK1) | (OSDStatusFlags2 & ~OSD_FLAG_MASK1); |
326 | s32 Latitude; // Failsafe-Position |
337 | //FC.StatusFlags2 = (OSDStatusFlags & OSD_FLAG_MASK2) | (OSDStatusFlags2 & ~OSD_FLAG_MASK2); |
327 | } __attribute__((packed)) NaviData_FS_Pos_t; |
Line 338... | Line 328... | ||
338 | 328 | extern NaviData_FS_Pos_t NaviData_Failsafe; |
|
339 | 329 | ||
340 | /* |
330 | typedef struct // Index:18 (9 Bytes need 19 ASCII-characters) |
341 | OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
331 | { |