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Rev 202 | Rev 204 | ||
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Line 96... | Line 96... | ||
96 | s32 Kalman_K = 32; |
96 | s32 Kalman_K = 32; |
97 | s32 Kalman_MaxDrift = 5 * 16; |
97 | s32 Kalman_MaxDrift = 5 * 16; |
98 | s32 Kalman_MaxFusion = 64; |
98 | s32 Kalman_MaxFusion = 64; |
99 | s32 ToFcGpsZ = 0; |
99 | s32 ToFcGpsZ = 0; |
Line 100... | Line 100... | ||
100 | 100 | ||
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
Line 102... | Line 102... | ||
102 | u8 SPI_CommandCounter = 0; |
102 | u8 SPI_CommandCounter = 0; |
Line 103... | Line 103... | ||
103 | 103 | ||
Line 295... | Line 295... | ||
295 | break; |
295 | break; |
Line 296... | Line 296... | ||
296 | 296 | ||
297 | case SPI_NCCMD_VERSION: |
297 | case SPI_NCCMD_VERSION: |
298 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
298 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
299 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
299 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
300 | ToFlightCtrl.Param.Byte[2] = VERSION_MINOR; |
300 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
301 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
301 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
302 | ToFlightCtrl.Param.Byte[4] = 0; |
302 | ToFlightCtrl.Param.Byte[4] = 0; |
- | 303 | break; |
|
- | 304 | ||
- | 305 | case SPI_NCCMD_GPSINFO: |
|
- | 306 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
|
- | 307 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
|
- | 308 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
|
Line 303... | Line 309... | ||
303 | break; |
309 | break; |
304 | 310 | ||
305 | default: |
311 | default: |
306 | break; |
312 | break; |
Line 402... | Line 408... | ||
402 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
408 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
403 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
409 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
404 | break; |
410 | break; |
Line 405... | Line 411... | ||
405 | 411 | ||
406 | default: |
412 | default: |
407 | break; |
413 | break; |
Line 408... | Line 414... | ||
408 | } |
414 | } |
409 | 415 | ||
410 | // every time we got new data from the FC via SPI call the navigation routine |
416 | // every time we got new data from the FC via SPI call the navigation routine |