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| 1 | /**************************************************************************** |
1 | /**************************************************************************** |
| 2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
| 3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
| 4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
| 5 | * * |
5 | * * |
| 6 | * This program is free software; you can redistribute it and/or modify * |
6 | * This program is free software; you can redistribute it and/or modify * |
| 7 | * it under the terms of the GNU General Public License as published by * |
7 | * it under the terms of the GNU General Public License as published by * |
| 8 | * the Free Software Foundation; either version 2 of the License. * |
8 | * the Free Software Foundation; either version 2 of the License. * |
| 9 | * * |
9 | * * |
| 10 | * This program is distributed in the hope that it will be useful, * |
10 | * This program is distributed in the hope that it will be useful, * |
| 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| 13 | * GNU General Public License for more details. * |
13 | * GNU General Public License for more details. * |
| 14 | * * |
14 | * * |
| 15 | * You should have received a copy of the GNU General Public License * |
15 | * You should have received a copy of the GNU General Public License * |
| 16 | * along with this program; if not, write to the * |
16 | * along with this program; if not, write to the * |
| 17 | * Free Software Foundation, Inc., * |
17 | * Free Software Foundation, Inc., * |
| 18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| 19 | ****************************************************************************/ |
19 | ****************************************************************************/ |
| 20 | 20 | ||
| 21 | #ifndef _MK_DATA_STRUCTS_H |
21 | #ifndef _MK_DATA_STRUCTS_H |
| 22 | #define _MK_DATA_STRUCTS_H |
22 | #define _MK_DATA_STRUCTS_H |
| 23 | 23 | ||
| 24 | /* ########################################################################## |
24 | /* ########################################################################## |
| 25 | * gain some fake arm compat :) |
25 | * gain some fake arm compat :) |
| 26 | * ##########################################################################*/ |
26 | * ##########################################################################*/ |
| 27 | #define u8 uint8_t |
27 | #define u8 uint8_t |
| 28 | #define s8 int8_t |
28 | #define s8 int8_t |
| 29 | #define u16 uint16_t |
29 | #define u16 uint16_t |
| 30 | #define s16 int16_t |
30 | #define s16 int16_t |
| 31 | #define u32 uint32_t |
31 | #define u32 uint32_t |
| 32 | #define s32 int32_t |
32 | #define s32 int32_t |
| - | 33 | ||
| - | 34 | /** |
|
| - | 35 | * MikroKopter Slave-Addresses |
|
| - | 36 | * portions taken and adapted from |
|
| - | 37 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/mkprotocol.h |
|
| - | 38 | */ |
|
| - | 39 | #define ANY_ADDRESS 0 |
|
| - | 40 | #define FC_ADDRESS 1 |
|
| - | 41 | #define NC_ADDRESS 2 |
|
| - | 42 | #define MK3MAG_ADDRESS 3 |
|
| - | 43 | #define MKOSD_ADDRESS 4 |
|
| - | 44 | #define BL_ADDRESS 5 |
|
| - | 45 | ||
| 33 | 46 | ||
| 34 | /* |
47 | /* |
| 35 | * FC Debug Struct |
48 | * FC Debug Struct |
| 36 | * portions taken and adapted from |
49 | * portions taken and adapted from |
| 37 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h |
50 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/uart.h |
| 38 | */ |
51 | */ |
| 39 | typedef struct { |
52 | typedef struct { |
| 40 | unsigned char Status[2]; |
53 | unsigned char Status[2]; |
| 41 | signed int Analog[32]; // Debugwerte |
54 | signed int Analog[32]; // Debugwerte |
| 42 | } __attribute__((packed)) str_DebugOut; |
55 | } __attribute__((packed)) str_DebugOut; |
| 43 | 56 | ||
| 44 | typedef struct { |
57 | typedef struct { |
| 45 | unsigned char SWMajor; |
58 | unsigned char SWMajor; |
| 46 | unsigned char SWMinor; |
59 | unsigned char SWMinor; |
| 47 | unsigned char ProtoMajor; |
60 | unsigned char ProtoMajor; |
| 48 | unsigned char ProtoMinor; |
61 | unsigned char ProtoMinor; |
| 49 | unsigned char SWPatch; |
62 | unsigned char SWPatch; |
| 50 | unsigned char HardwareError[5]; |
63 | unsigned char HardwareError[5]; |
| 51 | } __attribute__((packed)) str_VersionInfo; |
64 | } __attribute__((packed)) str_VersionInfo; |
| 52 | 65 | ||
| 53 | /* |
66 | /* |
| 54 | * NaviCtrl GPS Structs |
67 | * NaviCtrl GPS Structs |
| 55 | * portions taken and adapted from |
68 | * portions taken and adapted from |
| 56 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h |
69 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/ubx.h |
| 57 | */ |
70 | */ |
| 58 | typedef struct { |
71 | typedef struct { |
| 59 | s32 Longitude; // in 1E-7 deg |
72 | s32 Longitude; // in 1E-7 deg |
| 60 | s32 Latitude; // in 1E-7 deg |
73 | s32 Latitude; // in 1E-7 deg |
| 61 | s32 Altitude; // in mm |
74 | s32 Altitude; // in mm |
| 62 | u8 Status;// validity of data |
75 | u8 Status;// validity of data |
| 63 | } __attribute__((packed)) GPS_Pos_t; |
76 | } __attribute__((packed)) GPS_Pos_t; |
| 64 | 77 | ||
| 65 | #define INVALID 0x00 |
78 | #define INVALID 0x00 |
| 66 | #define NEWDATA 0x01 |
79 | #define NEWDATA 0x01 |
| 67 | #define PROCESSED 0x02 |
80 | #define PROCESSED 0x02 |
| 68 | 81 | ||
| 69 | 82 | ||
| 70 | /* |
83 | /* |
| 71 | * NaviCtrl OSD Structs |
84 | * NaviCtrl OSD Structs |
| 72 | * portions taken and adapted from |
85 | * portions taken and adapted from |
| 73 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.20c/uart1.h |
86 | * http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=/tags/V0.22a/uart1.h |
| 74 | */ |
87 | */ |
| 75 | typedef struct { |
88 | typedef struct { |
| 76 | u16 Distance; // distance to target in dm |
89 | u16 Distance; // distance to target in dm |
| 77 | s16 Bearing; // course to target in deg |
90 | s16 Bearing; // course to target in deg |
| 78 | } __attribute__((packed)) GPS_PosDev_t; |
91 | } __attribute__((packed)) GPS_PosDev_t; |
| 79 | 92 | ||
| 80 | typedef struct { |
93 | typedef struct { |
| 81 | u8 Version; // version of the data structure |
94 | u8 Version; // version of the data structure |
| 82 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
95 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
| 83 | GPS_Pos_t TargetPosition; |
96 | GPS_Pos_t TargetPosition; |
| 84 | GPS_PosDev_t TargetPositionDeviation; |
97 | GPS_PosDev_t TargetPositionDeviation; |
| 85 | GPS_Pos_t HomePosition; |
98 | GPS_Pos_t HomePosition; |
| 86 | GPS_PosDev_t HomePositionDeviation; |
99 | GPS_PosDev_t HomePositionDeviation; |
| 87 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
100 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| 88 | u8 WaypointNumber; // number of stored waypoints |
101 | u8 WaypointNumber; // number of stored waypoints |
| 89 | u8 SatsInUse; // number of satellites used for position solution |
102 | u8 SatsInUse; // number of satellites used for position solution |
| 90 | s16 Altimeter; // hight according to air pressure |
103 | s16 Altimeter; // hight according to air pressure |
| 91 | s16 Variometer; // climb(+) and sink(-) rate |
104 | s16 Variometer; // climb(+) and sink(-) rate |
| 92 | u16 FlyingTime; // in seconds |
105 | u16 FlyingTime; // in seconds |
| 93 | u8 UBat; // Battery Voltage in 0.1 Volts |
106 | u8 UBat; // Battery Voltage in 0.1 Volts |
| 94 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
107 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
| 95 | s16 Heading; // current flight direction in ° as angle to north |
108 | s16 Heading; // current flight direction in ° as angle to north |
| 96 | s16 CompassHeading; // current compass value in ° |
109 | s16 CompassHeading; // current compass value in ° |
| 97 | s8 AngleNick; // current Nick angle in 1° |
110 | s8 AngleNick; // current Nick angle in 1° |
| 98 | s8 AngleRoll; // current Rick angle in 1° |
111 | s8 AngleRoll; // current Rick angle in 1° |
| 99 | u8 RC_Quality; // RC_Quality |
112 | u8 RC_Quality; // RC_Quality |
| 100 | u8 FCFlags; // Flags from FC |
113 | u8 FCFlags; // Flags from FC |
| 101 | u8 NCFlags; // Flags from NC |
114 | u8 NCFlags; // Flags from NC |
| 102 | u8 Errorcode; // 0 --> okay |
115 | u8 Errorcode; // 0 --> okay |
| 103 | u8 OperatingRadius; // current operation radius around the Home Position in m |
116 | u8 OperatingRadius; // current operation radius around the Home Position in m |
| 104 | s16 TopSpeed; // velocity in vertical direction in cm/s |
117 | s16 TopSpeed; // velocity in vertical direction in cm/s |
| 105 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
118 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| 106 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
119 | u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
| 107 | s16 SetpointAltitude; // setpoint for altitude |
120 | s16 SetpointAltitude; // setpoint for altitude |
| 108 | u8 Gas; // for future use |
121 | u8 Gas; // for future use |
| 109 | u16 Current; // actual current in 0.1A steps |
122 | u16 Current; // actual current in 0.1A steps |
| 110 | u16 UsedCapacity; // used capacity in mAh |
123 | u16 UsedCapacity; // used capacity in mAh |
| 111 | } __attribute__((packed)) NaviData_t; |
124 | } __attribute__((packed)) NaviData_t; |
| 112 | 125 | ||
| 113 | #define NC_FLAG_FREE 0x01 |
126 | #define NC_FLAG_FREE 0x01 |
| 114 | #define NC_FLAG_PH 0x02 |
127 | #define NC_FLAG_PH 0x02 |
| 115 | #define NC_FLAG_CH 0x04 |
128 | #define NC_FLAG_CH 0x04 |
| 116 | #define NC_FLAG_RANGE_LIMIT 0x08 |
129 | #define NC_FLAG_RANGE_LIMIT 0x08 |
| 117 | #define NC_FLAG_NOSERIALLINK 0x10 |
130 | #define NC_FLAG_NOSERIALLINK 0x10 |
| 118 | #define NC_FLAG_TARGET_REACHED 0x20 |
131 | #define NC_FLAG_TARGET_REACHED 0x20 |
| 119 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
132 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
| 120 | #define NC_FLAG_8 0x80 |
133 | #define NC_FLAG_GPS_OK 0x80 |
| 121 | 134 | ||
| 122 | /* |
135 | /* |
| 123 | * MikroKopter Flags |
136 | * MikroKopter Flags |
| 124 | * portions taken and adapted from |
137 | * portions taken and adapted from |
| 125 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
138 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/fc.h |
| 126 | */ |
139 | */ |
| 127 | #define FCFLAG_MOTOR_RUN 0x01 |
140 | #define FCFLAG_MOTOR_RUN 0x01 |
| 128 | #define FCFLAG_FLY 0x02 |
141 | #define FCFLAG_FLY 0x02 |
| 129 | #define FCFLAG_CALIBRATE 0x04 |
142 | #define FCFLAG_CALIBRATE 0x04 |
| 130 | #define FCFLAG_START 0x08 |
143 | #define FCFLAG_START 0x08 |
| 131 | #define FCFLAG_NOTLANDUNG 0x10 |
144 | #define FCFLAG_NOTLANDUNG 0x10 |
| 132 | #define FCFLAG_LOWBAT 0x20 |
145 | #define FCFLAG_LOWBAT 0x20 |
| 133 | #define FCFLAG_SPI_RX_ERR 0x40 |
146 | #define FCFLAG_VARIO_TRIM_UP 0x40 |
| 134 | #define FCFLAG_I2CERR 0x80 |
147 | #define FCFLAG_VARIO_TRIM_DOWN 0x80 |
| 135 | 148 | ||
| 136 | #define DEFEKT_G_NICK 0x01 |
149 | #define DEFEKT_G_NICK 0x01 |
| 137 | #define DEFEKT_G_ROLL 0x02 |
150 | #define DEFEKT_G_ROLL 0x02 |
| 138 | #define DEFEKT_G_GIER 0x04 |
151 | #define DEFEKT_G_GIER 0x04 |
| 139 | #define DEFEKT_A_NICK 0x08 |
152 | #define DEFEKT_A_NICK 0x08 |
| 140 | #define DEFEKT_A_ROLL 0x10 |
153 | #define DEFEKT_A_ROLL 0x10 |
| 141 | #define DEFEKT_A_Z 0x20 |
154 | #define DEFEKT_A_Z 0x20 |
| 142 | #define DEFEKT_PRESSURE 0x40 |
155 | #define DEFEKT_PRESSURE 0x40 |
| 143 | #define DEFEKT_CAREFREE_ERR 0x80 |
156 | #define DEFEKT_CAREFREE_ERR 0x80 |
| 144 | 157 | ||
| 145 | #define DEFEKT_I2C 0x01 |
158 | #define DEFEKT_I2C 0x01 |
| 146 | #define DEFEKT_BL_MISSING 0x02 |
159 | #define DEFEKT_BL_MISSING 0x02 |
| 147 | #define DEFEKT_SPI_RX_ERR 0x04 |
160 | #define DEFEKT_SPI_RX_ERR 0x04 |
| 148 | #define DEFEKT_PPM_ERR 0x08 |
161 | #define DEFEKT_PPM_ERR 0x08 |
| 149 | #define DEFEKT_MIXER_ERR 0x10 |
162 | #define DEFEKT_MIXER_ERR 0x10 |
| 150 | 163 | ||
| 151 | 164 | ||
| 152 | /* |
165 | /* |
| 153 | * MikroKopter config struct |
166 | * MikroKopter config struct |
| 154 | * portions taken and adapted from |
167 | * portions taken and adapted from |
| 155 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/eeprom.h |
168 | * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V0.80d/eeprom.h |
| 156 | */ |
169 | */ |
| 157 | typedef struct { |
170 | typedef struct { |
| 158 | unsigned char Revision; |
171 | unsigned char Revision; |
| 159 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
172 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| 160 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
173 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| 161 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
174 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
| 162 | unsigned char Luftdruck_D; // Wert : 0-250 |
175 | unsigned char Luftdruck_D; // Wert : 0-250 |
| 163 | unsigned char MaxHoehe; // Wert : 0-32 |
176 | unsigned char MaxHoehe; // Wert : 0-32 |
| 164 | unsigned char Hoehe_P; // Wert : 0-32 |
177 | unsigned char Hoehe_P; // Wert : 0-32 |
| 165 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
178 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| 166 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
179 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| 167 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
180 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
| 168 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
181 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
| 169 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
182 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
| 170 | unsigned char Stick_P; // Wert : 1-6 |
183 | unsigned char Stick_P; // Wert : 1-6 |
| 171 | unsigned char Stick_D; // Wert : 0-64 |
184 | unsigned char Stick_D; // Wert : 0-64 |
| 172 | unsigned char Gier_P; // Wert : 1-20 |
185 | unsigned char Gier_P; // Wert : 1-20 |
| 173 | unsigned char Gas_Min; // Wert : 0-32 |
186 | unsigned char Gas_Min; // Wert : 0-32 |
| 174 | unsigned char Gas_Max; // Wert : 33-250 |
187 | unsigned char Gas_Max; // Wert : 33-250 |
| 175 | unsigned char GyroAccFaktor; // Wert : 1-64 |
188 | unsigned char GyroAccFaktor; // Wert : 1-64 |
| 176 | unsigned char KompassWirkung; // Wert : 0-32 |
189 | unsigned char KompassWirkung; // Wert : 0-32 |
| 177 | unsigned char Gyro_P; // Wert : 10-250 |
190 | unsigned char Gyro_P; // Wert : 10-250 |
| 178 | unsigned char Gyro_I; // Wert : 0-250 |
191 | unsigned char Gyro_I; // Wert : 0-250 |
| 179 | unsigned char Gyro_D; // Wert : 0-250 |
192 | unsigned char Gyro_D; // Wert : 0-250 |
| 180 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
193 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
| 181 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
194 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
| 182 | unsigned char Gyro_Stability; // Wert : 0-16 |
195 | unsigned char Gyro_Stability; // Wert : 0-16 |
| 183 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
196 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| 184 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
197 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| 185 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
198 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| 186 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
199 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
| 187 | unsigned char I_Faktor; // Wert : 0-250 |
200 | unsigned char I_Faktor; // Wert : 0-250 |
| 188 | unsigned char UserParam1; // Wert : 0-250 |
201 | unsigned char UserParam1; // Wert : 0-250 |
| 189 | unsigned char UserParam2; // Wert : 0-250 |
202 | unsigned char UserParam2; // Wert : 0-250 |
| 190 | unsigned char UserParam3; // Wert : 0-250 |
203 | unsigned char UserParam3; // Wert : 0-250 |
| 191 | unsigned char UserParam4; // Wert : 0-250 |
204 | unsigned char UserParam4; // Wert : 0-250 |
| 192 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
205 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| 193 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
206 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| 194 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
207 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| 195 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
208 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| 196 | //--- Seit V0.75 |
209 | //--- Seit V0.75 |
| 197 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
210 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
| 198 | unsigned char ServoRollComp; // Wert : 0-250 |
211 | unsigned char ServoRollComp; // Wert : 0-250 |
| 199 | unsigned char ServoRollMin; // Wert : 0-250 |
212 | unsigned char ServoRollMin; // Wert : 0-250 |
| 200 | unsigned char ServoRollMax; // Wert : 0-250 |
213 | unsigned char ServoRollMax; // Wert : 0-250 |
| 201 | //--- |
214 | //--- |
| 202 | unsigned char ServoNickRefresh; // Speed of the Servo |
215 | unsigned char ServoNickRefresh; // Speed of the Servo |
| - | 216 | unsigned char ServoManualControlSpeed;// |
|
| - | 217 | unsigned char CamOrientation; // |
|
| 203 | unsigned char Servo3; // Value or mapping of the Servo Output |
218 | unsigned char Servo3; // Value or mapping of the Servo Output |
| 204 | unsigned char Servo4; // Value or mapping of the Servo Output |
219 | unsigned char Servo4; // Value or mapping of the Servo Output |
| 205 | unsigned char Servo5; // Value or mapping of the Servo Output |
220 | unsigned char Servo5; // Value or mapping of the Servo Output |
| 206 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
221 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| 207 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
222 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| 208 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
223 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| 209 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
224 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| 210 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
225 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| 211 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
226 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| 212 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
227 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| 213 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
228 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| 214 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
229 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| 215 | unsigned char Driftkomp; |
230 | unsigned char Driftkomp; |
| 216 | unsigned char DynamicStability; |
231 | unsigned char DynamicStability; |
| 217 | unsigned char UserParam5; // Wert : 0-250 |
232 | unsigned char UserParam5; // Wert : 0-250 |
| 218 | unsigned char UserParam6; // Wert : 0-250 |
233 | unsigned char UserParam6; // Wert : 0-250 |
| 219 | unsigned char UserParam7; // Wert : 0-250 |
234 | unsigned char UserParam7; // Wert : 0-250 |
| 220 | unsigned char UserParam8; // Wert : 0-250 |
235 | unsigned char UserParam8; // Wert : 0-250 |
| 221 | //---Output --------------------------------------------- |
236 | //---Output --------------------------------------------- |
| 222 | unsigned char J16Bitmask; // for the J16 Output |
237 | unsigned char J16Bitmask; // for the J16 Output |
| 223 | unsigned char J16Timing; // for the J16 Output |
238 | unsigned char J16Timing; // for the J16 Output |
| 224 | unsigned char J17Bitmask; // for the J17 Output |
239 | unsigned char J17Bitmask; // for the J17 Output |
| 225 | unsigned char J17Timing; // for the J17 Output |
240 | unsigned char J17Timing; // for the J17 Output |
| 226 | // seit version V0.75c |
241 | // seit version V0.75c |
| 227 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
242 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
| 228 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
243 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
| 229 | //---NaviCtrl--------------------------------------------- |
244 | //---NaviCtrl--------------------------------------------- |
| 230 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
245 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
| 231 | unsigned char NaviGpsGain; |
246 | unsigned char NaviGpsGain; |
| 232 | unsigned char NaviGpsP; |
247 | unsigned char NaviGpsP; |
| 233 | unsigned char NaviGpsI; |
248 | unsigned char NaviGpsI; |
| 234 | unsigned char NaviGpsD; |
249 | unsigned char NaviGpsD; |
| 235 | unsigned char NaviGpsPLimit; |
250 | unsigned char NaviGpsPLimit; |
| 236 | unsigned char NaviGpsILimit; |
251 | unsigned char NaviGpsILimit; |
| 237 | unsigned char NaviGpsDLimit; |
252 | unsigned char NaviGpsDLimit; |
| 238 | unsigned char NaviGpsACC; |
253 | unsigned char NaviGpsACC; |
| 239 | unsigned char NaviGpsMinSat; |
254 | unsigned char NaviGpsMinSat; |
| 240 | unsigned char NaviStickThreshold; |
255 | unsigned char NaviStickThreshold; |
| 241 | unsigned char NaviWindCorrection; |
256 | unsigned char NaviWindCorrection; |
| 242 | unsigned char NaviSpeedCompensation; |
257 | unsigned char NaviSpeedCompensation; |
| 243 | unsigned char NaviOperatingRadius; |
258 | unsigned char NaviOperatingRadius; |
| 244 | unsigned char NaviAngleLimitation; |
259 | unsigned char NaviAngleLimitation; |
| 245 | unsigned char NaviPH_LoginTime; |
260 | unsigned char NaviPH_LoginTime; |
| 246 | //---Ext.Ctrl--------------------------------------------- |
261 | //---Ext.Ctrl--------------------------------------------- |
| 247 | unsigned char ExternalControl; // for serial Control |
262 | unsigned char ExternalControl; // for serial Control |
| 248 | //---CareFree--------------------------------------------- |
263 | //---CareFree--------------------------------------------- |
| 249 | unsigned char OrientationAngle; // Where is the front-direction? |
264 | unsigned char OrientationAngle; // Where is the front-direction? |
| 250 | unsigned char OrientationModeControl; // switch for CareFree |
265 | unsigned char OrientationModeControl; // switch for CareFree |
| 251 | //------------------------------------------------ |
266 | //------------------------------------------------ |
| 252 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
267 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| 253 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
268 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
| 254 | unsigned char ExtraConfig; // bitcodiert |
269 | unsigned char ExtraConfig; // bitcodiert |
| 255 | char Name[12]; |
270 | char Name[12]; |
| 256 | unsigned char crc; // must be the last byte! |
271 | unsigned char crc; // must be the last byte! |
| 257 | } __attribute__((packed)) paramset_t; |
272 | } __attribute__((packed)) paramset_t; |
| 258 | 273 | ||
| 259 | typedef struct { |
274 | typedef struct { |
| 260 | u8 SettingsIndex; |
275 | u8 SettingsIndex; |
| 261 | paramset_t param; |
276 | paramset_t param; |
| 262 | } __attribute__((packed)) paramset_serial; |
277 | } __attribute__((packed)) paramset_serial; |
| 263 | 278 | ||
| 264 | #endif |
279 | #endif |
| 265 | 280 | ||