Rev 146 | Rev 149 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 146 | Rev 148 | ||
|---|---|---|---|
| Line 101... | Line 101... | ||
| 101 | #define SPI_COMMAND_INDEX 0 |
101 | #define SPI_COMMAND_INDEX 0 |
| Line 102... | Line 102... | ||
| 102 | 102 | ||
| 103 | s32 FC_Kalman_K = 32; |
103 | s32 FC_Kalman_K = 32; |
| 104 | s32 Kalman_MaxDrift = 5 * 16; |
104 | s32 Kalman_MaxDrift = 5 * 16; |
| - | 105 | s32 Kalman_MaxFusion = 64; |
|
| Line 105... | Line 106... | ||
| 105 | s32 Kalman_MaxFusion = 64; |
106 | s32 ToFcGpsZ = 0; |
| 106 | 107 | ||
| Line 107... | Line 108... | ||
| 107 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
108 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
| Line 307... | Line 308... | ||
| 307 | case SPI_KALMAN: |
308 | case SPI_KALMAN: |
| 308 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
309 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
| 309 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
310 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 310 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
311 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| 311 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
312 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| - | 313 | ToFlightCtrl.Param.Byte[4] = (s8) ToFcGpsZ; |
|
| 312 | break; |
314 | break; |
| Line 313... | Line 315... | ||
| 313 | 315 | ||
| 314 | default: |
316 | default: |
| 315 | break; |
317 | break; |