Subversion Repositories FlightCtrl

#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <avr/pgmspace.h>
#include <stdarg.h>
#include <string.h>

#include "eeprom.h"
#include "menu.h"
#include "timer0.h"
#include "uart0.h"
#include "rc.h"
#include "externalControl.h"
#include "output.h"
#include "attitude.h"
#include "commands.h"

#ifdef USE_DIRECT_GPS
#include "mk3mag.h"
#endif

#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3

#define FALSE   0
#define TRUE    1

uint8_t requestedDebugLabel = 255;

uint8_t request_verInfo = FALSE;
uint8_t request_externalControl = FALSE;
uint8_t request_display = FALSE;
uint8_t request_display1 = FALSE;
uint8_t request_debugData = FALSE;
uint8_t request_data3D = FALSE;
uint8_t request_PPMChannels = FALSE;
uint8_t request_motorTest = FALSE;
uint8_t request_variables = FALSE;
uint8_t request_OSD = FALSE;

/*
#define request_verInfo         (1<<0)
#define request_externalControl (1<<1)
#define request_display         (1<<3)
#define request_display1        (1<<4)
#define request_debugData       (1<<5)
#define request_data3D          (1<<6)
#define request_PPMChannels     (1<<7)
#define request_motorTest       (1<<8)
#define request_variables       (1<<9)
#define request_OSD             (1<<10)
*/

//uint16_t request = 0;

uint8_t displayLine = 0;

volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t rxd_buffer_locked = FALSE;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t txd_complete = TRUE;
volatile uint8_t receivedBytes = 0;
volatile uint8_t *pRxData = 0;
volatile uint8_t rxDataLen = 0;

uint8_t motorTestActive = 0;
uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
uint8_t confirmFrame;

typedef struct {
        int16_t heading;
}__attribute__((packed)) Heading_t;

Data3D_t data3D;

uint16_t debugData_timer;
uint16_t data3D_timer;
uint16_t OSD_timer;
uint16_t debugData_interval = 0; // in 1ms
uint16_t data3D_interval = 0; // in 1ms
uint16_t OSD_interval = 0;

#ifdef USE_DIRECT_GPS
int16_t toMk3MagTimer;
#endif

// keep lables in flash to save 512 bytes of sram space
const prog_uint8_t ANALOG_LABEL[32][16] = {
                //1234567890123456
                "AnglePitch      ", //0
                "AngleRoll       ",
                "AngleYaw        ",
                "GyroPitch       ",
                "GyroRoll        ",
                "GyroYaw         ", //5
                "PitchTerm       ",
                "RollTerm        ",
                "ThrottleTerm    ",
                "YawTerm         ",
                "heightP         ", //10
                "heightI         ",
        "heightD         ",
                "heightErr/10    ",
                "controlActivity ",
                "accVector       ", //15
                "NaviMode        ",
                "NaviStatus      ",
        "NaviStickP      ",
                "NaviStickR      ",
                "control act wghd", //20
                "acc vector wghd ",
                "Height[dm]      ",
                "dHeight         ",
                "acc vector      ",
                "EFT             ", //25
                "naviPitch       ",
                "naviRoll        ",
                "i part contrib  ",
                "Acc Z           ",
                "Height D        ", //30
                "RCCommand       "
  };

/****************************************************************/
/*              Initialization of the USART0                    */
/****************************************************************/
void usart0_init(void) {
        uint8_t sreg = SREG;
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);

        // disable all interrupts before configuration
        cli();

        // disable RX-Interrupt
        UCSR0B &= ~(1 << RXCIE0);
        // disable TX-Interrupt
        UCSR0B &= ~(1 << TXCIE0);

        // set direction of RXD0 and TXD0 pins
        // set RXD0 (PD0) as an input pin
        PORTD |= (1 << PORTD0);
        DDRD &= ~(1 << DDD0);
        // set TXD0 (PD1) as an output pin
        PORTD |= (1 << PORTD1);
        DDRD |= (1 << DDD1);

        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t) (ubrr >> 8);
        UBRR0L = (uint8_t) ubrr;

        // USART0 Control and Status Register A, B, C

        // enable double speed operation in
        UCSR0A |= (1 << U2X0);
        // enable receiver and transmitter in
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
        // set asynchronous mode
        UCSR0C &= ~(1 << UMSEL01);
        UCSR0C &= ~(1 << UMSEL00);
        // no parity
        UCSR0C &= ~(1 << UPM01);
        UCSR0C &= ~(1 << UPM00);
        // 1 stop bit
        UCSR0C &= ~(1 << USBS0);
        // 8-bit
        UCSR0B &= ~(1 << UCSZ02);
        UCSR0C |= (1 << UCSZ01);
        UCSR0C |= (1 << UCSZ00);

        // flush receive buffer
        while (UCSR0A & (1 << RXC0))
                UDR0;

        // enable interrupts at the end
        // enable RX-Interrupt
        UCSR0B |= (1 << RXCIE0);
        // enable TX-Interrupt
        UCSR0B |= (1 << TXCIE0);

        // initialize the debug timer
        debugData_timer = setDelay(debugData_interval);

        // unlock rxd_buffer
        rxd_buffer_locked = FALSE;
        pRxData = 0;
        rxDataLen = 0;

        // no bytes to send
        txd_complete = TRUE;

#ifdef USE_DIRECT_GPS
        toMk3MagTimer = setDelay(220);
#endif

        versionInfo.SWMajor = VERSION_MAJOR;
        versionInfo.SWMinor = VERSION_MINOR;
        versionInfo.SWPatch = VERSION_PATCH;
        versionInfo.protoMajor = VERSION_SERIAL_MAJOR;
        versionInfo.protoMinor = VERSION_SERIAL_MINOR;

        // restore global interrupt flags
        SREG = sreg;
}

/****************************************************************/
/* USART0 transmitter ISR                                       */
/****************************************************************/
ISR(USART0_TX_vect) {
        static uint16_t ptr_txd_buffer = 0;
        uint8_t tmp_tx;
        if (!txd_complete) { // transmission not completed
                ptr_txd_buffer++; // die [0] wurde schon gesendet
                tmp_tx = txd_buffer[ptr_txd_buffer];
                // if terminating character or end of txd buffer was reached
                if ((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) {
                        ptr_txd_buffer = 0; // reset txd pointer
                        txd_complete = 1; // stop transmission
                }
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
        }
        // transmission completed
        else
                ptr_txd_buffer = 0;
}

/****************************************************************/
/* USART0 receiver               ISR                            */
/****************************************************************/
ISR(USART0_RX_vect) {
        static uint16_t checksum;
        static uint8_t ptr_rxd_buffer = 0;
        uint8_t checksum1, checksum2;
        uint8_t c;

        c = UDR0; // catch the received byte

        if (rxd_buffer_locked)
                return; // if rxd buffer is locked immediately return

        // the rxd buffer is unlocked
        if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
                checksum = c; // init checksum
        }
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
                if (c != '\r') { // no termination character
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                        checksum += c; // update checksum
                } else { // termination character was received
                        // the last 2 bytes are no subject for checksum calculation
                        // they are the checksum itself
                        checksum -= rxd_buffer[ptr_rxd_buffer - 2];
                        checksum -= rxd_buffer[ptr_rxd_buffer - 1];
                        // calculate checksum from transmitted data
                        checksum %= 4096;
                        checksum1 = '=' + checksum / 64;
                        checksum2 = '=' + checksum % 64;
                        // compare checksum to transmitted checksum bytes
                        if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2
                                        == rxd_buffer[ptr_rxd_buffer - 1])) {
                                // checksum valid
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
                                receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
                                rxd_buffer_locked = TRUE; // lock the rxd buffer
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
                                if (rxd_buffer[2] == 'R') {
                                        wdt_enable(WDTO_250MS);
                                } // Reset-Commando
                        } else { // checksum invalid
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
                        }
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
                }
        } else { // rxd buffer overrun
                ptr_rxd_buffer = 0; // reset rxd buffer
                rxd_buffer_locked = FALSE; // unlock rxd buffer
        }
}

// --------------------------------------------------------------------------
void addChecksum(uint16_t datalen) {
        uint16_t tmpchecksum = 0, i;
        for (i = 0; i < datalen; i++) {
                tmpchecksum += txd_buffer[i];
        }
        tmpchecksum %= 4096;
        txd_buffer[i++] = '=' + (tmpchecksum >> 6);
        txd_buffer[i++] = '=' + (tmpchecksum & 0x3F);
        txd_buffer[i++] = '\r';
        txd_complete = FALSE;
        UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
}

// --------------------------------------------------------------------------
// application example:
// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);
/*
 void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
 va_list ap;
 uint16_t txd_bufferIndex = 0;
 uint8_t *currentBuffer;
 uint8_t currentBufferIndex;
 uint16_t lengthOfCurrentBuffer;
 uint8_t shift = 0;

 txd_buffer[txd_bufferIndex++] = '#';                   // Start character
 txd_buffer[txd_bufferIndex++] = 'a' + addr;            // Address (a=0; b=1,...)
 txd_buffer[txd_bufferIndex++] = cmd;                   // Command

 va_start(ap, numofbuffers);

 while(numofbuffers) {
 currentBuffer = va_arg(ap, uint8_t*);
 lengthOfCurrentBuffer = va_arg(ap, int);
 currentBufferIndex = 0;
 // Encode data: 3 bytes of data are encoded into 4 bytes,
 // where the 2 most significant bits are both 0.
 while(currentBufferIndex != lengthOfCurrentBuffer) {
 if (!shift) txd_buffer[txd_bufferIndex] = 0;
 txd_buffer[txd_bufferIndex]  |= currentBuffer[currentBufferIndex] >> (shift + 2);
 txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;
 shift += 2;
 if (shift == 6) { shift=0; txd_bufferIndex++; }
 currentBufferIndex++;
 }
 }
 // If the number of data bytes was not divisible by 3, stuff
 //  with 0 pseudodata  until length is again divisible by 3.
 if (shift == 2) {
 // We need to stuff with zero bytes at the end.
 txd_buffer[txd_bufferIndex]  &= 0b00110000;
 txd_buffer[++txd_bufferIndex] = 0;
 shift = 4;
 }
 if (shift == 4) {
 // We need to stuff with zero bytes at the end.
 txd_buffer[txd_bufferIndex++] &= 0b00111100;
 txd_buffer[txd_bufferIndex]    = 0;
 }
 va_end(ap);
 Addchecksum(pt); // add checksum after data block and initates the transmission
 }
 */

void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
        va_list ap;
        uint16_t pt = 0;
        uint8_t a, b, c;
        uint8_t ptr = 0;

        uint8_t *pdata = 0;
        int len = 0;

        txd_buffer[pt++] = '#'; // Start character
        txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
        txd_buffer[pt++] = cmd; // Command

        va_start(ap, numofbuffers);

        if (numofbuffers) {
                pdata = va_arg(ap, uint8_t*);
                len = va_arg(ap, int);
                ptr = 0;
                numofbuffers--;
        }

        while (len) {
                if (len) {
                        a = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        a = 0;
                if (len) {
                        b = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        b = 0;
                if (len) {
                        c = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        c = 0;
                txd_buffer[pt++] = '=' + (a >> 2);
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
                txd_buffer[pt++] = '=' + (c & 0x3f);
        }
        va_end(ap);
        addChecksum(pt); // add checksum after data block and initates the transmission
}

// --------------------------------------------------------------------------
void decode64(void) {
        uint8_t a, b, c, d;
        uint8_t x, y, z;
        uint8_t ptrIn = 3;
        uint8_t ptrOut = 3;
        uint8_t len = receivedBytes - 6;

        while (len) {
                a = rxd_buffer[ptrIn++] - '=';
                b = rxd_buffer[ptrIn++] - '=';
                c = rxd_buffer[ptrIn++] - '=';
                d = rxd_buffer[ptrIn++] - '=';
                //if(ptrIn > ReceivedBytes - 3) break;

                x = (a << 2) | (b >> 4);
                y = ((b & 0x0f) << 4) | (c >> 2);
                z = ((c & 0x03) << 6) | d;

                if (len--)
                        rxd_buffer[ptrOut++] = x;
                else
                        break;
                if (len--)
                        rxd_buffer[ptrOut++] = y;
                else
                        break;
                if (len--)
                        rxd_buffer[ptrOut++] = z;
                else
                        break;
        }
        pRxData = &rxd_buffer[3];
        rxDataLen = ptrOut - 3;
}

// --------------------------------------------------------------------------
void usart0_processRxData(void) {
        // We control the motorTestActive var from here: Count it down.
        if (motorTestActive)
                motorTestActive--;
        // if data in the rxd buffer are not locked immediately return
        if (!rxd_buffer_locked)
                return;
        uint8_t tempchar[3];
        decode64(); // decode data block in rxd_buffer

        switch (rxd_buffer[1] - 'a') {

        case FC_ADDRESS:
                switch (rxd_buffer[2]) {
#ifdef USE_DIRECT_GPS
                case 'K':// compass value
                  // What is the point of this - the compass will overwrite this soon?
                magneticHeading = ((Heading_t *)pRxData)->heading;
                // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
                break;
#endif
                case 't': // motor test
                        if (rxDataLen > 20) {
                                memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest));
                        } else {
                                memcpy(&motorTest[0], (uint8_t*) pRxData, 4);
                        }
                        motorTestActive = 255;
                        externalControlActive = 255;
                        break;

                case 'n':// "Get Mixer Table
                        while (!txd_complete)
                                ; // wait for previous frame to be sent
                        sendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix));
                        break;

                case 'm':// "Set Mixer Table
                        if (pRxData[0] == EEMIXER_REVISION) {
                                memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix));
                                mixerMatrix_writeToEEProm();
                                while (!txd_complete)
                                        ; // wait for previous frame to be sent
                                tempchar[0] = 1;
                        } else {
                                tempchar[0] = 0;
                        }
                        sendOutData('M', FC_ADDRESS, 1, &tempchar, 1);
                        break;

                case 'p': // get PPM channels
                        request_PPMChannels = TRUE;
                        break;

                case 'q':// request settings
                        if (pRxData[0] == 0xFF) {
                                pRxData[0] = getParamByte(PID_ACTIVE_SET);
                        }
                        // limit settings range
                        if (pRxData[0] < 1)
                                pRxData[0] = 1; // limit to 1
                        else if (pRxData[0] > 5)
                                pRxData[0] = 5; // limit to 5
                        // load requested parameter set

                        paramSet_readFromEEProm(pRxData[0]);

                        tempchar[0] = pRxData[0];
                        tempchar[1] = EEPARAM_REVISION;
                        tempchar[2] = sizeof(staticParams);
                        while (!txd_complete)
                                ; // wait for previous frame to be sent
                        sendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams));
                        break;

                case 's': // save settings
                        if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off
                        {
                                if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && (pRxData[2] == sizeof(staticParams))) // check for setting to be in range and version of settings
                                {
                                        memcpy(&staticParams, (uint8_t*) &pRxData[3], sizeof(staticParams));
                                        paramSet_writeToEEProm(pRxData[0]);
                                        setActiveParamSet(pRxData[0]);
                                        configuration_paramSetDidChange();
                                        tempchar[0] = getActiveParamSet();
                                        beepNumber(tempchar[0]);
                                } else {
                                        tempchar[0] = 0; //indicate bad data
                                }
                                while (!txd_complete)
                                        ; // wait for previous frame to be sent
                                sendOutData('S', FC_ADDRESS, 1, &tempchar, 1);
                        }
                        break;

                default:
                        //unsupported command received
                        break;
                } // case FC_ADDRESS:

        default: // any Slave Address
                switch (rxd_buffer[2]) {
                case 'a':// request for labels of the analog debug outputs
                        requestedDebugLabel = pRxData[0];
                        if (requestedDebugLabel > 31)
                                requestedDebugLabel = 31;
                        break;

                case 'b': // submit extern control
                        memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl));
                        confirmFrame = externalControl.frame;
                        externalControlActive = 255;
                        break;

                case 'h':// request for display columns
                        remoteKeys |= pRxData[0];
                        if (remoteKeys)
                                displayLine = 0;
                        request_display = TRUE;
                        break;

                case 'l':// request for display columns
                        menuItem = pRxData[0];
                        request_display1 = TRUE;
                        break;

                case 'o':// request for OSD data (FC style)
                  OSD_interval = (uint16_t) pRxData[0] * 10;
                  if (OSD_interval > 0)
                    request_OSD = TRUE;
                  break;
                  
                case 'v': // request for version and board release
                        request_verInfo = TRUE;
                        break;

                case 'x':
                        request_variables = TRUE;
                        break;

                case 'g':// get external control data
                        request_externalControl = TRUE;
                        break;

                case 'd': // request for the debug data
                        debugData_interval = (uint16_t) pRxData[0] * 10;
                        if (debugData_interval > 0)
                                request_debugData = TRUE;
                        break;

                case 'c': // request for the 3D data
                        data3D_interval = (uint16_t) pRxData[0] * 10;
                        if (data3D_interval > 0)
                                request_data3D = TRUE;
                        break;

                default:
                        //unsupported command received
                        break;
                }
                break; // default:
        }
        // unlock the rxd buffer after processing
        pRxData = 0;
        rxDataLen = 0;
        rxd_buffer_locked = FALSE;
}

/************************************************************************/
/* Routine f�r die Serielle Ausgabe                                     */
/************************************************************************/
int16_t uart_putchar(int8_t c) {
        if (c == '\n')
                uart_putchar('\r');
        // wait until previous character was send
        loop_until_bit_is_set(UCSR0A, UDRE0);
        // send character
        UDR0 = c;
        return (0);
}

//---------------------------------------------------------------------------------------------
void usart0_transmitTxData(void) {
        if (!txd_complete)
                return;

        if (request_verInfo && txd_complete) {
                sendOutData('V', FC_ADDRESS, 1, (uint8_t *) &versionInfo, sizeof(versionInfo));
                request_verInfo = FALSE;
        }

        if (request_display && txd_complete) {
                LCD_printMenu();
                sendOutData('H', FC_ADDRESS, 2, &displayLine, sizeof(displayLine),
                                &displayBuff[displayLine * 20], 20);
                displayLine++;
                if (displayLine >= 4)
                        displayLine = 0;
                request_display = FALSE;
        }

        if (request_display1 && txd_complete) {
                LCD_printMenu();
                sendOutData('L', FC_ADDRESS, 3, &menuItem, sizeof(menuItem), &maxMenuItem,
                                sizeof(maxMenuItem), displayBuff, sizeof(displayBuff));
                request_display1 = FALSE;
        }

        if (requestedDebugLabel != 0xFF && txd_complete) { // Texte f�r die Analogdaten
                uint8_t label[16]; // local sram buffer
                memcpy_P(label, ANALOG_LABEL[requestedDebugLabel], 16); // read lable from flash to sram buffer
                sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &requestedDebugLabel,
                                sizeof(requestedDebugLabel), label, 16);
                requestedDebugLabel = 0xFF;
        }

        if (confirmFrame && txd_complete) { // Datensatz ohne checksum best�tigen
                sendOutData('B', FC_ADDRESS, 1, (uint8_t*) &confirmFrame, sizeof(confirmFrame));
                confirmFrame = 0;
        }

        if (((debugData_interval && checkDelay(debugData_timer)) || request_debugData)
                        && txd_complete) {
                sendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut));
                debugData_timer = setDelay(debugData_interval);
                request_debugData = FALSE;
        }

        if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) && txd_complete) {
                sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D));
                data3D.anglePitch = (int16_t) (attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1 deg
                data3D.angleRoll = (int16_t) (attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1 deg
                data3D.heading = (int16_t) (heading / (GYRO_DEG_FACTOR_YAW/10)); // convert to multiple of 0.1 deg
                data3D_timer = setDelay(data3D_interval);
                request_data3D = FALSE;
        }

        if (request_externalControl && txd_complete) {
                sendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl,
                                sizeof(externalControl));
                request_externalControl = FALSE;
        }

#ifdef USE_DIRECT_GPS
        if((checkDelay(toMk3MagTimer)) && txd_complete) {
                toMk3Mag.attitude[0] = (int16_t)(attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // approx. 0.1 deg
                toMk3Mag.attitude[1] = (int16_t)(attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // approx. 0.1 deg
                toMk3Mag.userParam[0] = dynamicParams.userParams[0];
                toMk3Mag.userParam[1] = dynamicParams.userParams[1];
                toMk3Mag.calState = compassCalState;
                sendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &toMk3Mag,sizeof(toMk3Mag));
                // the last state is 5 and should be send only once to avoid multiple flash writing
                if(compassCalState > 4) compassCalState = 0;
                toMk3MagTimer = setDelay(99);
        }
#endif

        if (request_motorTest && txd_complete) {
                sendOutData('T', FC_ADDRESS, 0);
                request_motorTest = FALSE;
        }

        if (request_PPMChannels && txd_complete) {
                sendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in));
                request_PPMChannels = FALSE;
        }

        if (request_variables && txd_complete) {
                sendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables));
                request_variables = FALSE;
        }

        if (((OSD_interval && checkDelay(OSD_timer)) || request_OSD) && txd_complete) {
          int32_t height = analog_getHeight();
          data3D.anglePitch = (int16_t) (attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1 deg
          data3D.angleRoll = (int16_t) (attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1 deg
          data3D.heading = (int16_t) (heading / (GYRO_DEG_FACTOR_YAW/10)); // convert to multiple of 0.1 deg
          sendOutData('O', FC_ADDRESS, 4, (uint8_t*)&data3D, sizeof(data3D), (uint8_t*)&GPSInfo, sizeof(GPSInfo), (uint8_t*)&height, sizeof(height), (uint8_t*)UBat, sizeof(UBat));
          OSD_timer = setDelay(OSD_interval);
          request_OSD = FALSE;
        }
}