Subversion Repositories Projects

Rev

Rev 734 | Rev 762 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 734 Rev 761
Line 36... Line 36...
36
typedef struct {
36
typedef struct {
37
    uint8_t Digital[2];
37
    uint8_t Digital[2];
38
    uint16_t Analog[32]; // Debugvalues
38
    uint16_t Analog[32]; // Debugvalues
39
} __attribute__((packed)) DebugOut_t;
39
} __attribute__((packed)) DebugOut_t;
40
 
40
 
41
 
-
 
42
typedef struct {
41
typedef struct {
43
  unsigned char SWMajor;
42
    unsigned char SWMajor;
44
  unsigned char SWMinor;
43
    unsigned char SWMinor;
45
  unsigned char ProtoMajor;
44
    unsigned char ProtoMajor;
46
  unsigned char ProtoMinor;
45
    unsigned char ProtoMinor;
47
  unsigned char SWPatch;
46
    unsigned char SWPatch;
48
  unsigned char Reserved[5];
47
    unsigned char Reserved[5];
49
} str_VersionInfo;
48
} str_VersionInfo;
50
 
49
 
51
 
-
 
52
/*
50
/*
53
 * NaviCtrl OSD Structs
51
 * NaviCtrl OSD Structs
54
 * portions taken and adapted from
52
 * portions taken and adapted from
55
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h
53
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.18c%2Fuart1.h
56
 */
54
 */
57
typedef struct {
55
typedef struct {
58
    s32 Longitude; // in 1E-7 deg
56
    s32 Longitude; // in 1E-7 deg
59
    s32 Latitude; // in 1E-7 deg
57
    s32 Latitude; // in 1E-7 deg
60
    s32 Altitude; // in mm
58
    s32 Altitude; // in mm
61
    u8 Status; // validity of data
59
    u8 Status; // validity of data
62
} __attribute__((packed)) GPS_Pos_t;
60
} __attribute__((packed)) GPS_Pos_t;
63
#define INVALID         0x00
61
#define INVALID         0x00
64
#define NEWDATA         0x01
62
#define NEWDATA         0x01
65
#define PROCESSED       0x02
63
#define PROCESSED       0x02
66
 
64
 
67
 
-
 
-
 
65
typedef struct {
68
typedef struct {
66
    u16 Distance; // distance to target in cm
69
        u16 Distance;                                   // distance to target in cm
67
    s16 Bearing; // course to target in deg
70
        s16 Bearing;                                    // course to target in deg
68
} __attribute__((packed)) GPS_PosDev_t;
71
} __attribute__((packed)) GPS_PosDev_t;
69
 
72
 
70
typedef struct {
73
typedef struct {
71
    u8 Version; // version of the data structure
74
        u8 Version;                                     // version of the data structure
72
    GPS_Pos_t CurrentPosition; // see ubx.h for details
75
        GPS_Pos_t CurrentPosition;                      // see ubx.h for details
73
    GPS_Pos_t TargetPosition;
76
        GPS_Pos_t TargetPosition;
74
    GPS_PosDev_t TargetPositionDeviation;
77
        GPS_PosDev_t TargetPositionDeviation;
75
    GPS_Pos_t HomePosition;
78
        GPS_Pos_t HomePosition;
76
    GPS_PosDev_t HomePositionDeviation;
79
        GPS_PosDev_t HomePositionDeviation;
77
    u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
80
        u8  WaypointIndex;                              // index of current waypoints running from 0 to WaypointNumber-1
78
    u8 WaypointNumber; // number of stored waypoints
81
        u8  WaypointNumber;                             // number of stored waypoints
79
    u8 SatsInUse; // number of satellites used for position solution
82
        u8  SatsInUse;                                  // number of satellites used for position solution
80
    s16 Altimeter; // hight according to air pressure
83
        s16 Altimeter;                                  // hight according to air pressure
81
    s16 Variometer; // climb(+) and sink(-) rate
84
        s16 Variometer;                                 // climb(+) and sink(-) rate
82
    u16 FlyingTime; // in seconds
85
        u16 FlyingTime;                                 // in seconds
83
    u8 UBat; // Battery Voltage in 0.1 Volts
86
        u8  UBat;                                       // Battery Voltage in 0.1 Volts
84
    u16 GroundSpeed; // speed over ground in cm/s (2D)
87
        u16 GroundSpeed;                                // speed over ground in cm/s (2D)
85
    s16 Heading; // current flight direction in � as angle to north
88
        s16 Heading;                                    // current flight direction in � as angle to north
86
    s16 CompassHeading; // current compass value in �
89
        s16 CompassHeading;                             // current compass value in �
87
    s8 AngleNick; // current Nick angle in 1�
90
        s8  AngleNick;                                  // current Nick angle in 1�
88
    s8 AngleRoll; // current Rick angle in 1�
91
        s8  AngleRoll;                                  // current Rick angle in 1�
89
    u8 RC_Quality; // RC_Quality
92
        u8  RC_Quality;                                 // RC_Quality
90
    u8 FCFlags; // Flags from FC
93
        u8  FCFlags;                                    // Flags from FC
91
    u8 NCFlags; // Flags from NC
94
        u8  NCFlags;                                    // Flags from NC
92
    u8 Errorcode; // 0 --> okay
95
        u8  Errorcode;                                  // 0 --> okay
93
    u8 OperatingRadius; // current operation radius around the Home Position in m
96
        u8  OperatingRadius;                            // current operation radius around the Home Position in m
94
    s16 TopSpeed; // velocity in vertical direction in cm/s
97
        s16 TopSpeed;                                   // velocity in vertical direction in cm/s
95
    u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
98
        u8  TargetHoldTime;                             // time in s to stay at the given target, counts down to 0 if target has been reached
96
    u8 RC_RSSI; // Receiver signal strength (since version 2 added)
99
        u8  RC_RSSI;                                    // Receiver signal strength (since version 2 added)
97
    s16 SetpointAltitude; // setpoint for altitude
100
        s16 SetpointAltitude;                           // setpoint for altitude
98
    u8 Gas; // for future use
101
        u8  Gas;                                        // for future use
99
    u16 Current; // actual current in 0.1A steps
102
        u16 Current;                                    // actual current in 0.1A steps
100
    u16 UsedCapacity; // used capacity in mAh
103
        u16 UsedCapacity;                               // used capacity in mAh
101
} __attribute__((packed)) NaviData_t;
104
} __attribute__((packed)) NaviData_t;
102
 
105
 
103
 
106
 
104
/*
107
/*
105
 * MikroKopter Flags