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Rev 306 | Rev 319 | ||
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Line 104... | Line 104... | ||
104 | s32 HeadFreeStartAngle = 0; |
104 | s32 HeadFreeStartAngle = 0; |
105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
106 | u32 ToFC_AltitudeRate = 0; |
106 | u32 ToFC_AltitudeRate = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
108 | u8 FromFC_VarioCharacter = ' '; |
108 | u8 FromFC_VarioCharacter = ' '; |
- | 109 | u8 DisableFC_Sticks = 0; |
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Line 109... | Line 110... | ||
109 | 110 | ||
Line 110... | Line 111... | ||
110 | SPI_Version_t FC_Version; |
111 | SPI_Version_t FC_Version; |
111 | 112 | ||
Line 290... | Line 291... | ||
290 | ToFlightCtrl.NCStatus = 0; |
291 | ToFlightCtrl.NCStatus = 0; |
291 | // cycle spi commands |
292 | // cycle spi commands |
292 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
293 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
293 | // restart command cycle at the end |
294 | // restart command cycle at the end |
294 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
295 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
295 | - | ||
- | 296 | #define FLAG_GPS_AID 0x01 |
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296 | switch (ToFlightCtrl.Command) |
297 | switch (ToFlightCtrl.Command) |
297 | { |
298 | { |
298 | case SPI_NCCMD_KALMAN: |
299 | case SPI_NCCMD_KALMAN: |
299 | CalcHeadFree(); |
300 | CalcHeadFree(); |
300 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
301 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
Line 302... | Line 303... | ||
302 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
303 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
303 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
304 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
304 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
305 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
305 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
306 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
306 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
307 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
307 | //ToFlightCtrl.Param.Byte[7] = |
308 | if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00; |
308 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
309 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
309 | { |
310 | { |
310 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
311 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
311 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
312 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
312 | } |
313 | } |