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Rev 355 | Rev 358 | ||
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Line 111... | Line 111... | ||
111 | u8 FromFC_VarioCharacter = ' '; |
111 | u8 FromFC_VarioCharacter = ' '; |
112 | u8 GPS_Aid_StickMultiplikator = 0; |
112 | u8 GPS_Aid_StickMultiplikator = 0; |
113 | u8 NC_GPS_ModeCharacter = ' '; |
113 | u8 NC_GPS_ModeCharacter = ' '; |
114 | u8 FCCalibActive = 0; |
114 | u8 FCCalibActive = 0; |
115 | u8 FC_is_Calibrated = 0; |
115 | u8 FC_is_Calibrated = 0; |
116 | u8 MotorCurrent[12]; |
- | |
117 | u8 MotorTemperature[12]; |
116 | Motor_t Motor[12]; |
118 | u8 NC_To_FC_Flags = 0; |
117 | u8 NC_To_FC_Flags = 0; |
119 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
120 | u32 FC_I2C_ErrorConter; |
119 | u32 FC_I2C_ErrorConter; |
121 | SPI_Version_t FC_Version; |
120 | SPI_Version_t FC_Version; |
122 | s16 POI_KameraNick = 0; |
121 | s16 POI_KameraNick = 0; |
Line 601... | Line 600... | ||
601 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
600 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
602 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
601 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
603 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
602 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
604 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
603 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
605 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
604 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
606 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
605 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
607 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
606 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
608 | MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10]; |
607 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
609 | MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11]; |
608 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
610 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
609 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
611 | { |
610 | { |
612 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
611 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
613 | } |
612 | } |
614 | NaviData.UBat = FC.BAT_Voltage; |
613 | NaviData.UBat = FC.BAT_Voltage; |
Line 690... | Line 689... | ||
690 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
689 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
691 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
690 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
692 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
691 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
693 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
692 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
694 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
693 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
695 | FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
694 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
696 | FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
695 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
697 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
696 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
698 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
697 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
699 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
698 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
700 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
699 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
701 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
700 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
Line 705... | Line 704... | ||
705 | break; |
704 | break; |
706 | } |
705 | } |
Line 707... | Line 706... | ||
707 | 706 | ||
708 | /* |
707 | /* |
709 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
710 | // Einkommentieren, falls der Flug simultert werden soll |
- | |
711 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
- | |
712 | else |
- | |
713 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
- | |
714 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
- | |
715 | BL_MinOfMaxPWM = 255; |
- | |
716 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
708 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
717 | */ |
709 | */ |
718 | // every time we got new data from the FC via SPI call the navigation routine |
710 | // every time we got new data from the FC via SPI call the navigation routine |
719 | // and update GPSStick that are returned to FC |
711 | // and update GPSStick that are returned to FC |
720 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
712 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |