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/****************************************************************************
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/****************************************************************************
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 *   Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje               *
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 *   Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje               *
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 *   admiralcascade@gmail.com                                               *
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 *   admiralcascade@gmail.com                                               *
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 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
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 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
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 *                                                                          *
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 *                                                                          *
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 *   This program is free software; you can redistribute it and/or modify   *
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 *   This program is free software; you can redistribute it and/or modify   *
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 *   it under the terms of the GNU General Public License as published by   *
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 *   it under the terms of the GNU General Public License as published by   *
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 *   the Free Software Foundation; either version 2 of the License.         *
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 *   the Free Software Foundation; either version 2 of the License.         *
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 *                                                                          *
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 *                                                                          *
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 *   This program is distributed in the hope that it will be useful,        *
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 *   This program is distributed in the hope that it will be useful,        *
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 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
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 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
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 *   GNU General Public License for more details.                           *
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 *   GNU General Public License for more details.                           *
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 *                                                                          *
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 *                                                                          *
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 *   You should have received a copy of the GNU General Public License      *
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 *   You should have received a copy of the GNU General Public License      *
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 *   along with this program; if not, write to the                          *
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 *   along with this program; if not, write to the                          *
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 *   Free Software Foundation, Inc.,                                        *
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 *   Free Software Foundation, Inc.,                                        *
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 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
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 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
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 ****************************************************************************/
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 ****************************************************************************/
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/* ##########################################################################
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/* ##########################################################################
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 * gain some fake arm compat :)
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 * gain some fake arm compat :)
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 * ##########################################################################*/
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 * ##########################################################################*/
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#define u8 uint8_t
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#define u8 uint8_t
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#define s8 int8_t
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#define s8 int8_t
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#define u16 uint16_t
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#define u16 uint16_t
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#define s16 int16_t
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#define s16 int16_t
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#define u32 uint32_t
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#define u32 uint32_t
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#define s32 int32_t
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#define s32 int32_t
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/*
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/*
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 * FC Debug Struct
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 * FC Debug Struct
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 * portions taken and adapted from
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
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 */
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 */
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typedef struct {
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typedef struct {
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    uint8_t Digital[2];
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    uint8_t Digital[2];
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    uint16_t Analog[32]; // Debugvalues
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    uint16_t Analog[32]; // Debugvalues
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} __attribute__((packed)) DebugOut_t;
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} __attribute__((packed)) DebugOut_t;
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typedef struct {
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typedef struct {
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  unsigned char SWMajor;
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  unsigned char SWMajor;
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  unsigned char SWMinor;
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  unsigned char SWMinor;
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  unsigned char ProtoMajor;
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  unsigned char ProtoMajor;
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  unsigned char ProtoMinor;
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  unsigned char ProtoMinor;
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  unsigned char SWPatch;
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  unsigned char SWPatch;
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  unsigned char Reserved[5];
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  unsigned char Reserved[5];
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} str_VersionInfo;
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} str_VersionInfo;
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/*
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/*
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 * NaviCtrl OSD Structs
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 * NaviCtrl OSD Structs
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 * portions taken and adapted from
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h
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 */
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 */
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typedef struct {
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typedef struct {
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    s32 Longitude; // in 1E-7 deg
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    s32 Longitude; // in 1E-7 deg
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    s32 Latitude; // in 1E-7 deg
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    s32 Latitude; // in 1E-7 deg
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    s32 Altitude; // in mm
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    s32 Altitude; // in mm
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    u8 Status; // validity of data
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    u8 Status; // validity of data
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} __attribute__((packed)) GPS_Pos_t;
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} __attribute__((packed)) GPS_Pos_t;
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#define INVALID         0x00
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#define INVALID         0x00
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#define NEWDATA         0x01
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#define NEWDATA         0x01
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#define PROCESSED       0x02
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#define PROCESSED       0x02
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typedef struct {
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typedef struct {
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        u16 Distance;                                   // distance to target in cm
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        u16 Distance;                                   // distance to target in cm
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        s16 Bearing;                                    // course to target in deg
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        s16 Bearing;                                    // course to target in deg
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} __attribute__((packed)) GPS_PosDev_t;
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} __attribute__((packed)) GPS_PosDev_t;
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typedef struct {
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typedef struct {
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        u8 Version;                                     // version of the data structure
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        u8 Version;                                     // version of the data structure
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        GPS_Pos_t CurrentPosition;                      // see ubx.h for details
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        GPS_Pos_t CurrentPosition;                      // see ubx.h for details
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        GPS_Pos_t TargetPosition;
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        GPS_Pos_t TargetPosition;
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        GPS_PosDev_t TargetPositionDeviation;
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        GPS_PosDev_t TargetPositionDeviation;
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        GPS_Pos_t HomePosition;
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        GPS_Pos_t HomePosition;
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        GPS_PosDev_t HomePositionDeviation;
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        GPS_PosDev_t HomePositionDeviation;
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        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
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        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
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        u8  WaypointNumber;                             // number of stored waypoints
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        u8  WaypointNumber;                             // number of stored waypoints
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        u8  SatsInUse;                                  // number of satellites used for position solution
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        u8  SatsInUse;                                  // number of satellites used for position solution
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        s16 Altimeter;                                  // hight according to air pressure
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        s16 Altimeter;                                  // hight according to air pressure
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        s16 Variometer;                                 // climb(+) and sink(-) rate
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        s16 Variometer;                                 // climb(+) and sink(-) rate
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        u16 FlyingTime;                                 // in seconds
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        u16 FlyingTime;                                 // in seconds
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        u8  UBat;                                       // Battery Voltage in 0.1 Volts
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        u8  UBat;                                       // Battery Voltage in 0.1 Volts
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        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
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        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
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        s16 Heading;                                    // current flight direction in � as angle to north
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        s16 Heading;                                    // current flight direction in � as angle to north
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        s16 CompassHeading;                             // current compass value in �
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        s16 CompassHeading;                             // current compass value in �
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        s8  AngleNick;                                  // current Nick angle in 1�
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        s8  AngleNick;                                  // current Nick angle in 1�
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        s8  AngleRoll;                                  // current Rick angle in 1�
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        s8  AngleRoll;                                  // current Rick angle in 1�
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        u8  RC_Quality;                                 // RC_Quality
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        u8  RC_Quality;                                 // RC_Quality
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        u8  FCFlags;                                    // Flags from FC
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        u8  FCFlags;                                    // Flags from FC
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        u8  NCFlags;                                    // Flags from NC
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        u8  NCFlags;                                    // Flags from NC
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        u8  Errorcode;                                  // 0 --> okay
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        u8  Errorcode;                                  // 0 --> okay
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        u8  OperatingRadius;                            // current operation radius around the Home Position in m
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        u8  OperatingRadius;                            // current operation radius around the Home Position in m
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        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
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        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
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        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
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        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
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        u8  RC_RSSI;                                    // Receiver signal strength (since version 2 added)
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        u8  RC_RSSI;                                    // Receiver signal strength (since version 2 added)
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        s16 SetpointAltitude;                           // setpoint for altitude
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        s16 SetpointAltitude;                           // setpoint for altitude
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        u8  Gas;                                        // for future use
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        u8  Gas;                                        // for future use
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        u16 Current;                                    // actual current in 0.1A steps
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        u16 Current;                                    // actual current in 0.1A steps
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        u16 UsedCapacity;                               // used capacity in mAh
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        u16 UsedCapacity;                               // used capacity in mAh
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} __attribute__((packed)) NaviData_t;
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} __attribute__((packed)) NaviData_t;
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/*
107
/*
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 * MikroKopter Flags
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 * MikroKopter Flags
109
 * taken from
109
 * taken from
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.78b%2Ffc.h
111
 */
111
 */
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#define FLAG_MOTOR_RUN  1
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#define FCFLAG_MOTOR_RUN        0x01
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#define FLAG_FLY        2
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#define FCFLAG_FLY              0x02
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#define FLAG_CALIBRATE  4
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#define FCFLAG_CALIBRATE        0x04
-
 
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#define FCFLAG_START            0x08
-
 
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#define FCFLAG_NOTLANDUNG       0x10
-
 
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#define FCFLAG_LOWBAT           0x20
-
 
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#define FCFLAG_SPI_RX_ERR       0x40
-
 
119
#define FCFLAG_I2CERR           0x80
-
 
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-
 
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// backward compat
-
 
122
#define FLAG_MOTOR_RUN  FCFLAG_MOTOR_RUN
-
 
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#define FLAG_FLY        FCFLAG_FLY
-
 
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#define FLAG_CALIBRATE  FCFLAG_CALIBRATE
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#define FLAG_START      8
125
#define FLAG_START      FCFLAG_START
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126
 
117
/*
127
/*
118
 * NaviCtrl Flags
128
 * NaviCtrl Flags
119
 * taken from
129
 * taken from
120
 * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h
130
 * http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.17e%2Fuart1.h
121
 */
131
 */
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#define NC_FLAG_FREE                    0x01
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#define NC_FLAG_FREE                    0x01
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#define NC_FLAG_PH                              0x02
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#define NC_FLAG_PH                              0x02
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#define NC_FLAG_CH                              0x04
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#define NC_FLAG_CH                              0x04
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#define NC_FLAG_RANGE_LIMIT             0x08
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#define NC_FLAG_RANGE_LIMIT             0x08
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#define NC_FLAG_NOSERIALLINK    0x10
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#define NC_FLAG_NOSERIALLINK    0x10
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#define NC_FLAG_TARGET_REACHED  0x20
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#define NC_FLAG_TARGET_REACHED  0x20
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#define NC_FLAG_MANUAL_CONTROL  0x40
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#define NC_FLAG_MANUAL_CONTROL  0x40
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#define NC_FLAG_8                               0x80
139
#define NC_FLAG_8                               0x80
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