Rev 2225 | Rev 2598 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2225 | Rev 2569 | ||
|---|---|---|---|
| Line 83... | Line 83... | ||
| 83 | #define SIMULATION 0x03 |
83 | #define SIMULATION 0x03 |
| Line 84... | Line 84... | ||
| 84 | 84 | ||
| 85 | /* |
85 | /* |
| 86 | * NaviCtrl OSD Structs |
86 | * NaviCtrl OSD Structs |
| 87 | * portions taken and adapted from |
87 | * portions taken and adapted from |
| 88 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.12a/uart1.h |
88 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V2.16a/uart1.h |
| 89 | */ |
89 | */ |
| 90 | typedef struct { |
90 | typedef struct { |
| 91 | u16 Distance; // distance to target in dm |
91 | u16 Distance; // distance to target in dm |
| 92 | s16 Bearing; // course to target in deg |
92 | s16 Bearing; // course to target in deg |
| Line 93... | Line 93... | ||
| 93 | } __attribute__((packed)) GPS_PosDev_t; |
93 | } __attribute__((packed)) GPS_PosDev_t; |
| Line 94... | Line 94... | ||
| 94 | 94 | ||
| - | 95 | #define NAVIDATA_VERSION 5 |
|
| 95 | #define NAVIDATA_VERSION 5 |
96 | |
| 96 | 97 | typedef struct // 84 Bytes (note: this is the old protocol) |
|
| 97 | typedef struct { |
98 | { |
| 98 | u8 Version; // version of the data structure |
99 | u8 Version; // version of the data structure = 5 |
| 99 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
100 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
| 100 | GPS_Pos_t TargetPosition; |
101 | GPS_Pos_t TargetPosition; |
| Line 112... | Line 113... | ||
| 112 | s16 Heading; // current flight direction in ° as angle to north |
113 | s16 Heading; // current flight direction in ° as angle to north |
| 113 | s16 CompassHeading; // current compass value in ° |
114 | s16 CompassHeading; // current compass value in ° |
| 114 | s8 AngleNick; // current Nick angle in 1° |
115 | s8 AngleNick; // current Nick angle in 1° |
| 115 | s8 AngleRoll; // current Rick angle in 1° |
116 | s8 AngleRoll; // current Rick angle in 1° |
| 116 | u8 RC_Quality; // RC_Quality |
117 | u8 RC_Quality; // RC_Quality |
| 117 | u8 FCStatusFlags; // Flags from FC |
118 | u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
| 118 | u8 NCFlags; // Flags from NC |
119 | u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
| 119 | u8 Errorcode; // 0 --> okay |
120 | u8 Errorcode; // 0 --> okay |
| 120 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
121 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
| 121 | s16 TopSpeed; // velocity in vertical direction in cm/s |
122 | s16 TopSpeed; // velocity in vertical direction in cm/s |
| 122 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
123 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| 123 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
124 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
| 124 | s16 SetpointAltitude; // setpoint for altitude |
125 | s16 SetpointAltitude; // setpoint for altitude |
| 125 | u8 Gas; // for future use |
126 | u8 Gas; // current gas (thrust) |
| 126 | u16 Current; // actual current in 0.1A steps |
127 | u16 Current; // actual current in 0.1A steps |
| 127 | u16 UsedCapacity; // used capacity in mAh |
128 | u16 UsedCapacity; // used capacity in mAh |
| - | 129 | u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
|
| - | 130 | u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
|
| 128 | } __attribute__((packed)) NaviData_t; |
131 | } __attribute__((packed)) NaviData_t; |
| - | 132 | extern NaviData_t NaviData; |
|
| Line 129... | Line 133... | ||
| 129 | 133 | ||
| 130 | /* |
134 | /* |
| 131 | * NaviCtrl & FCFlags Flags |
135 | * NaviCtrl & FCFlags Flags |
| 132 | * portions taken and adapted from |
136 | * portions taken and adapted from |
| Line 190... | Line 194... | ||
| 190 | #define FC_ERROR1_RES3 0x80 |
194 | #define FC_ERROR1_RES3 0x80 |
| Line 191... | Line 195... | ||
| 191 | 195 | ||
| 192 | /* |
196 | /* |
| 193 | * MikroKopter config struct |
197 | * MikroKopter config struct |
| 194 | * portions taken and adapted from |
198 | * portions taken and adapted from |
| 195 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.12a/eeprom.h |
199 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.16a/eeprom.h |
| Line 196... | Line 200... | ||
| 196 | */ |
200 | */ |
| 197 | 201 | ||
| - | 202 | #define EEPARAM_REVISION 109 // !!!Update NC also!!! is count up, if paramater stucture has changed (compatibility) |
|
| - | 203 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
|
| - | 204 | #define EE_BACKWARD_COMP 1 // change if the eepropm parameters are not backwards compatible |
|
| Line 198... | Line 205... | ||
| 198 | #define EEPARAM_REVISION 108 // is count up, if paramater stucture has changed (compatibility) |
205 | |
| 199 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
206 | |
| 200 | 207 | ||
| 201 | typedef struct |
208 | typedef struct |
| Line 329... | Line 336... | ||
| 329 | unsigned char ExtraConfig; // bitcodiert |
336 | unsigned char ExtraConfig; // bitcodiert |
| 330 | unsigned char GlobalConfig3; // bitcodiert |
337 | unsigned char GlobalConfig3; // bitcodiert |
| 331 | char Name[12]; |
338 | char Name[12]; |
| 332 | unsigned char crc; // must be the last byte! |
339 | unsigned char crc; // must be the last byte! |
| 333 | } paramset_t; // since 2.14 -> size is always 179 Bytes |
340 | } paramset_t; // since 2.14 -> size is always 179 Bytes |
| - | 341 | // -> if changed: update NC-Data structure also <- |
|
| Line 334... | Line 342... | ||
| 334 | 342 | ||
| 335 | 343 | ||
| 336 | typedef struct { |
344 | typedef struct { |