WebSVN - Projects - Diff - Rev 2217 and 2225 - /C-OSD/trunk/mk-data-structs.h

 /****************************************************************************
- *   Copyright (C) 2009-2015 by Claas Anders "CaScAdE" Rathje               *
+ *   Copyright (C) 2009-2016 by Claas Anders "CaScAdE" Rathje               *
  *   admiralcascade@gmail.com                                               *
  *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
  *                                                                          *
  *   This program is free software; you can redistribute it and/or modify   *
  *   it under the terms of the GNU General Public License as published by   *
 } __attribute__((packed)) GPS_PosDev_t;
 #define NAVIDATA_VERSION 5
 typedef struct {
-    u8 Version; // version of the data structure
+        u8 Version;                                             // version of the data structure
-    GPS_Pos_t CurrentPosition; // see gpspos.h for details
+        GPS_Pos_t CurrentPosition;              // see gpspos.h for details
-    GPS_Pos_t TargetPosition;
+        GPS_Pos_t TargetPosition;
-    GPS_PosDev_t TargetPositionDeviation;
+        GPS_PosDev_t TargetPositionDeviation;
-    GPS_Pos_t HomePosition;
+        GPS_Pos_t HomePosition;
-    GPS_PosDev_t HomePositionDeviation;
+        GPS_PosDev_t HomePositionDeviation;
-    u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
+        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
-    u8 WaypointNumber; // number of stored waypoints
+        u8  WaypointNumber;                             // number of stored waypoints
-    u8 SatsInUse; // number of satellites used for position solution
+        u8  SatsInUse;                                  // number of satellites used for position solution
-    s16 Altimeter; // hight according to air pressure
+        s16 Altimeter_5cm;                              // hight according to air pressure
-    s16 Variometer; // climb(+) and sink(-) rate
+        s16 Variometer;                                 // climb(+) and sink(-) rate
-    u16 FlyingTime; // in seconds
+        u16 FlyingTime;                                 // in seconds
-    u8 UBat; // Battery Voltage in 0.1 Volts
+        u8  UBat;                                               // Battery Voltage in 0.1 Volts
-    u16 GroundSpeed; // speed over ground in cm/s (2D)
+        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
-    s16 Heading; // current flight direction in ° as angle to north
+        s16 Heading;                                    // current flight direction in ° as angle to north
-    s16 CompassHeading; // current compass value in °
+        s16     CompassHeading;                         // current compass value in °
-    s8 AngleNick; // current Nick angle in 1°
+        s8  AngleNick;                                  // current Nick angle in 1°
-    s8 AngleRoll; // current Rick angle in 1°
+        s8  AngleRoll;                                  // current Rick angle in 1°
-    u8 RC_Quality; // RC_Quality
+        u8  RC_Quality;                                 // RC_Quality
-    u8 FCStatusFlags; // Flags from FC
+        u8  FCStatusFlags;                              // Flags from FC
-    u8 NCFlags; // Flags from NC
+        u8  NCFlags;                                    // Flags from NC
-    u8 Errorcode; // 0 --> okay
+        u8  Errorcode;                                  // 0 --> okay
-    u8  WP_OperatingRadius; // current WP operation radius around the Home Position in m
+        u8  WP_OperatingRadius;                 // current WP operation radius around the Home Position in m
-    s16 TopSpeed; // velocity in vertical direction in cm/s
+        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
-    u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
+        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
-    u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
+        u8  FCStatusFlags2;                             // StatusFlags2 (since version 5 added)
-    s16 SetpointAltitude; // setpoint for altitude
+        s16 SetpointAltitude;                   // setpoint for altitude
-    u8 Gas; // for future use
+        u8  Gas;                                                // for future use
-    u16 Current; // actual current in 0.1A steps
+        u16 Current;                                    // actual current in 0.1A steps
-    u16 UsedCapacity; // used capacity in mAh
+        u16 UsedCapacity;                               // used capacity in mAh
 } __attribute__((packed)) NaviData_t;
 #define FC_STATUS2_ALTITUDE_CONTROL         0x02
 #define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
 #define FC_STATUS2_OUT1_ACTIVE                  0x08
 #define FC_STATUS2_OUT2_ACTIVE                  0x10
 #define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground
+#define FC_STATUS2_AUTO_STARTING                0x40
+#define FC_STATUS2_AUTO_LANDING                 0x80
 // FC.StatusFlags3
 #define FC_STATUS3_REDUNDANCE_AKTIVE        0x01
 #define FC_STATUS3_BOAT                         0x02
 #define FC_STATUS3_REDUNDANCE_ERROR                     0x04
+#define FC_STATUS3_REDUNDANCE_TEST                      0x08
+#define FC_STATUS3_NOT_CALIBRATED                       0x10
-#define FC_STATUS3_REDUNDANCE_TEST                      0x08
+#define FC_STATUS3_MOTORS_STOPPED_BY_RC         0x20
 // FC ERRORS FLAGS
 #define FC_ERROR0_GYRO_NICK     0x01
  * MikroKopter config struct
  * portions taken and adapted from
  * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h
  */
-#define EEPARAM_REVISION        106 // is count up, if paramater stucture has changed (compatibility)
+#define EEPARAM_REVISION        108 // is count up, if paramater stucture has changed (compatibility)
-#define EEMIXER_REVISION         1  // is count up, if mixer stucture has changed (compatibility)
+#define EEMIXER_REVISION          1 // is count up, if mixer stucture has changed (compatibility)
 typedef struct
+{
         unsigned char AutoPhotoAtitudes;
         unsigned char SingleWpSpeed;
         unsigned char LandingPulse;
         unsigned char SingleWpControlChannel;
         unsigned char MenuKeyChannel;
+    unsigned char CamCtrlModeChannel;
+    unsigned char CamCtrlZoomChannel;
+        unsigned char reserved[32];       // for later use
         //------------------------------------------------
         unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
         unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
         unsigned char ExtraConfig;        // bitcodiert
         unsigned char GlobalConfig3;      // bitcodiert
         char Name[12];
-        unsigned char crc;                                // must be the last byte!
+        unsigned char crc;                              // must be the last byte!
-} paramset_t; // 134 bytes (V1.06)
+} paramset_t; // since 2.14 -> size is always 179 Bytes
 typedef struct {

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