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Rev 450 | Rev 451 | ||
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Line 547... | Line 547... | ||
547 | } |
547 | } |
Line 548... | Line 548... | ||
548 | 548 | ||
549 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
549 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
550 | DebugOut.Analog[5] = FC.StatusFlags; |
550 | DebugOut.Analog[5] = FC.StatusFlags; |
- | 551 | NaviData.FCStatusFlags = FC.StatusFlags; |
|
551 | NaviData.FCStatusFlags = FC.StatusFlags; |
552 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
552 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
553 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
Line 553... | Line 554... | ||
553 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
554 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
554 | 555 | ||
Line 687... | Line 688... | ||
687 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
688 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
688 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
689 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
689 | // every time we got new data from the FC via SPI call the navigation routine |
690 | // every time we got new data from the FC via SPI call the navigation routine |
690 | // and update GPSStick that are returned to FC |
691 | // and update GPSStick that are returned to FC |
691 | SPI_RxBuffer_Request = 0; |
692 | SPI_RxBuffer_Request = 0; |
692 | - | ||
693 | - | ||
694 | /* |
- | |
695 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
696 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
697 | // in SPI Einkommentieren, falls der Flug simultert werden soll |
- | |
698 | - | ||
699 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
- | |
700 | else |
- | |
701 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
- | |
702 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
- | |
703 | BL_MinOfMaxPWM = 255; |
- | |
704 | NaviData.FCStatusFlags = FC.StatusFlags; |
- | |
705 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
706 | */ |
- | |
707 | - | ||
708 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
693 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
709 | ClearFCStatusFlags = 1; |
694 | ClearFCStatusFlags = 1; |
710 | if(counter) |
695 | if(counter) |
711 | { |
696 | { |
712 | counter--; // count down to enable servo |
697 | counter--; // count down to enable servo |