mirror of https://github.com/ArduPilot/ardupilot
522 lines
13 KiB
Plaintext
522 lines
13 KiB
Plaintext
/*
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www.ArduCopter.com - www.DIYDrones.com
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Copyright (c) 2010. All rights reserved.
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An Open Source Arduino based multicopter.
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File : GCS.pde
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Version : v1.0, Aug 27, 2010
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Author(s): ArduCopter Team
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Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
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Jani Hirvinen, Ken McEwans, Roberto Navoni,
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Sandro Benigno, Chris Anderson
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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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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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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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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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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, see <http://www.gnu.org/licenses/>.
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* ************************************************************** *
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ChangeLog:
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* ************************************************************** *
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TODO:
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* ************************************************************** */
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//
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// Function : send_message()
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//
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// Parameters:
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// byte severity - Debug level
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// char str - Text to write
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//
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// Returns : - none
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void send_message(byte severity, const char *str) // This is the instance of send_message for message 0x05
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{
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if(severity >= DEBUG_LEVEL){
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SerPri("MSG: ");
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SerPrln(str);
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}
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}
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//////////////////////////////////////////////////
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// Function : readSerialCommand()
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//
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// Parameters:
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// - none
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//
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// Returns : - none
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//
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void readSerialCommand() {
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// Check for serial message
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if (SerAva()) {
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queryType = SerRea();
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switch (queryType) {
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case 'A': // Stable PID
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KP_QUAD_ROLL = readFloatSerial();
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KI_QUAD_ROLL = readFloatSerial();
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STABLE_MODE_KP_RATE_ROLL = readFloatSerial();
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KP_QUAD_PITCH = readFloatSerial();
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KI_QUAD_PITCH = readFloatSerial();
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STABLE_MODE_KP_RATE_PITCH = readFloatSerial();
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KP_QUAD_YAW = readFloatSerial();
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KI_QUAD_YAW = readFloatSerial();
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STABLE_MODE_KP_RATE_YAW = readFloatSerial();
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STABLE_MODE_KP_RATE = readFloatSerial(); // NOT USED NOW
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MAGNETOMETER = readFloatSerial();
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break;
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case 'C': // Receive GPS PID
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KP_GPS_ROLL = readFloatSerial();
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KI_GPS_ROLL = readFloatSerial();
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KD_GPS_ROLL = readFloatSerial();
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KP_GPS_PITCH = readFloatSerial();
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KI_GPS_PITCH = readFloatSerial();
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KD_GPS_PITCH = readFloatSerial();
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GPS_MAX_ANGLE = readFloatSerial();
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GEOG_CORRECTION_FACTOR = readFloatSerial();
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break;
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case 'E': // Receive altitude PID
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KP_ALTITUDE = readFloatSerial();
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KI_ALTITUDE = readFloatSerial();
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KD_ALTITUDE = readFloatSerial();
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break;
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case 'G': // Receive drift correction PID
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Kp_ROLLPITCH = readFloatSerial();
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Ki_ROLLPITCH = readFloatSerial();
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Kp_YAW = readFloatSerial();
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Ki_YAW = readFloatSerial();
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break;
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case 'I': // Receive sensor offset
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gyro_offset_roll = readFloatSerial();
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gyro_offset_pitch = readFloatSerial();
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gyro_offset_yaw = readFloatSerial();
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acc_offset_x = readFloatSerial();
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acc_offset_y = readFloatSerial();
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acc_offset_z = readFloatSerial();
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break;
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case 'K': // Camera mode
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// 1 = Tilt / Roll without
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cam_mode = readFloatSerial();
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//BATTLOW = readFloatSerial();
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break;
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case 'M': // Receive debug motor commands
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frontMotor = readFloatSerial();
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backMotor = readFloatSerial();
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rightMotor = readFloatSerial();
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leftMotor = readFloatSerial();
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motorArmed = readFloatSerial();
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break;
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case 'O': // Rate Control PID
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Kp_RateRoll = readFloatSerial();
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Ki_RateRoll = readFloatSerial();
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Kd_RateRoll = readFloatSerial();
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Kp_RatePitch = readFloatSerial();
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Ki_RatePitch = readFloatSerial();
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Kd_RatePitch = readFloatSerial();
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Kp_RateYaw = readFloatSerial();
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Ki_RateYaw = readFloatSerial();
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Kd_RateYaw = readFloatSerial();
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xmitFactor = readFloatSerial();
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break;
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case 'W': // Write all user configurable values to EEPROM
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writeUserConfig();
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break;
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case 'Y': // Initialize EEPROM with default values
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defaultUserConfig();
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#if AIRFRAME == HELI
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heli_defaultUserConfig();
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#endif
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break;
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case '1': // Receive transmitter calibration values
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ch_roll_slope = readFloatSerial();
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ch_roll_offset = readFloatSerial();
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ch_pitch_slope = readFloatSerial();
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ch_pitch_offset = readFloatSerial();
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ch_yaw_slope = readFloatSerial();
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ch_yaw_offset = readFloatSerial();
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ch_throttle_slope = readFloatSerial();
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ch_throttle_offset = readFloatSerial();
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ch_aux_slope = readFloatSerial();
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ch_aux_offset = readFloatSerial();
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ch_aux2_slope = readFloatSerial();
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ch_aux2_offset = readFloatSerial();
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break;
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case '5': // Special debug features
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break;
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}
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}
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}
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void sendSerialTelemetry() {
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float aux_float[3]; // used for sensor calibration
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switch (queryType) {
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case '=': // Reserved debug command to view any variable from Serial Monitor
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/* SerPri(("throttle =");
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SerPrln(ch_throttle);
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SerPri("control roll =");
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SerPrln(control_roll-CHANN_CENTER);
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SerPri("control pitch =");
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SerPrln(control_pitch-CHANN_CENTER);
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SerPri("control yaw =");
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SerPrln(control_yaw-CHANN_CENTER);
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SerPri("front left yaw =");
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SerPrln(frontMotor);
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SerPri("front right yaw =");
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SerPrln(rightMotor);
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SerPri("rear left yaw =");
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SerPrln(leftMotor);
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SerPri("rear right motor =");
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SerPrln(backMotor);
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SerPrln();
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SerPri("current roll rate =");
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SerPrln(read_adc(0));
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SerPri("current pitch rate =");
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SerPrln(read_adc(1));
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SerPri("current yaw rate =");
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SerPrln(read_adc(2));
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SerPri("command rx yaw =");
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SerPrln(command_rx_yaw);
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SerPrln();
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queryType = 'X';*/
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SerPri(APM_RC.InputCh(0));
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comma();
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SerPri(ch_roll_slope);
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comma();
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SerPri(ch_roll_offset);
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comma();
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SerPrln(ch_roll);
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break;
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case 'B': // Send roll, pitch and yaw PID values
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SerPri(KP_QUAD_ROLL, 3);
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comma();
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SerPri(KI_QUAD_ROLL, 3);
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comma();
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SerPri(STABLE_MODE_KP_RATE_ROLL, 3);
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comma();
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SerPri(KP_QUAD_PITCH, 3);
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comma();
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SerPri(KI_QUAD_PITCH, 3);
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comma();
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SerPri(STABLE_MODE_KP_RATE_PITCH, 3);
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comma();
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SerPri(KP_QUAD_YAW, 3);
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comma();
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SerPri(KI_QUAD_YAW, 3);
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comma();
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SerPri(STABLE_MODE_KP_RATE_YAW, 3);
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comma();
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SerPri(STABLE_MODE_KP_RATE, 3); // NOT USED NOW
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comma();
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SerPrln(MAGNETOMETER, 3);
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queryType = 'X';
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break;
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case 'D': // Send GPS PID
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SerPri(KP_GPS_ROLL, 3);
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comma();
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SerPri(KI_GPS_ROLL, 3);
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comma();
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SerPri(KD_GPS_ROLL, 3);
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comma();
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SerPri(KP_GPS_PITCH, 3);
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comma();
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SerPri(KI_GPS_PITCH, 3);
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comma();
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SerPri(KD_GPS_PITCH, 3);
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comma();
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SerPri(GPS_MAX_ANGLE, 3);
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comma();
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SerPrln(GEOG_CORRECTION_FACTOR, 3);
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queryType = 'X';
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break;
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case 'F': // Send altitude PID
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SerPri(KP_ALTITUDE, 3);
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comma();
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SerPri(KI_ALTITUDE, 3);
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comma();
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SerPrln(KD_ALTITUDE, 3);
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queryType = 'X';
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break;
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case 'H': // Send drift correction PID
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SerPri(Kp_ROLLPITCH, 4);
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comma();
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SerPri(Ki_ROLLPITCH, 7);
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comma();
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SerPri(Kp_YAW, 4);
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comma();
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SerPrln(Ki_YAW, 6);
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queryType = 'X';
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break;
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case 'J': // Send sensor offset
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SerPri(gyro_offset_roll);
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comma();
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SerPri(gyro_offset_pitch);
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comma();
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SerPri(gyro_offset_yaw);
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comma();
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SerPri(acc_offset_x);
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comma();
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SerPri(acc_offset_y);
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comma();
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SerPrln(acc_offset_z);
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AN_OFFSET[3] = acc_offset_x;
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AN_OFFSET[4] = acc_offset_y;
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AN_OFFSET[5] = acc_offset_z;
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queryType = 'X';
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break;
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case 'L': // Camera settings and
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SerPri(cam_mode, DEC);
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tab();
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SerPri(BATTLOW, DEC);
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tab();
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queryType = 'X';
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break;
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case 'N': // Send magnetometer config
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queryType = 'X';
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break;
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case 'P': // Send rate control PID
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SerPri(Kp_RateRoll, 3);
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comma();
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SerPri(Ki_RateRoll, 3);
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comma();
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SerPri(Kd_RateRoll, 3);
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comma();
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SerPri(Kp_RatePitch, 3);
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comma();
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SerPri(Ki_RatePitch, 3);
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comma();
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SerPri(Kd_RatePitch, 3);
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comma();
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SerPri(Kp_RateYaw, 3);
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comma();
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SerPri(Ki_RateYaw, 3);
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comma();
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SerPri(Kd_RateYaw, 3);
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comma();
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SerPrln(xmitFactor, 3);
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queryType = 'X';
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break;
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case 'Q': // Send sensor data
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SerPri(read_adc(0));
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comma();
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SerPri(read_adc(1));
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comma();
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SerPri(read_adc(2));
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comma();
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SerPri(read_adc(4));
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comma();
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SerPri(read_adc(3));
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comma();
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SerPri(read_adc(5));
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comma();
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SerPri(err_roll);
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comma();
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SerPri(err_pitch);
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comma();
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SerPri(degrees(roll));
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comma();
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SerPri(degrees(pitch));
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comma();
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SerPrln(degrees(yaw));
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break;
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case 'R': // Send raw sensor data
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break;
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case 'S': // Send all flight data
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SerPri(timer-timer_old);
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comma();
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SerPri(read_adc(0));
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comma();
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SerPri(read_adc(1));
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comma();
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SerPri(read_adc(2));
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comma();
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SerPri(ch_throttle);
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comma();
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SerPri(control_roll);
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comma();
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SerPri(control_pitch);
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comma();
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SerPri(control_yaw);
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comma();
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SerPri(frontMotor); // Front Motor
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comma();
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SerPri(backMotor); // Back Motor
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comma();
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SerPri(rightMotor); // Right Motor
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comma();
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SerPri(leftMotor); // Left Motor
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comma();
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SerPri(read_adc(4));
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comma();
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SerPri(read_adc(3));
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comma();
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SerPri(read_adc(5));
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comma();
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SerPri(AP_Compass.heading, 4);
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comma();
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SerPri(AP_Compass.heading_x, 4);
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comma();
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SerPri(AP_Compass.heading_y, 4);
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comma();
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SerPri(AP_Compass.mag_x);
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comma();
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SerPri(AP_Compass.mag_y);
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comma();
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SerPri(AP_Compass.mag_z);
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// comma();
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SerPriln();
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break;
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case 'T': // Spare
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break;
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case 'U': // Send receiver values
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SerPri(ch_roll); // Aileron
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comma();
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SerPri(ch_pitch); // Elevator
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comma();
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SerPri(ch_yaw); // Yaw
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comma();
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SerPri(ch_throttle); // Throttle
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comma();
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SerPri(ch_aux); // AUX1 (Mode)
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comma();
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SerPri(ch_aux2); // AUX2
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comma();
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SerPri(roll_mid); // Roll MID value
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comma();
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SerPri(pitch_mid); // Pitch MID value
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comma();
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SerPrln(yaw_mid); // Yaw MID Value
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break;
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case 'V': // Spare
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break;
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case 'X': // Stop sending messages
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break;
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case '!': // Send flight software version
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SerPrln(VER);
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queryType = 'X';
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break;
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case '2': // Send transmitter calibration values
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SerPri(ch_roll_slope);
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comma();
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SerPri(ch_roll_offset);
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comma();
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SerPri(ch_pitch_slope);
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comma();
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SerPri(ch_pitch_offset);
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comma();
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SerPri(ch_yaw_slope);
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comma();
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SerPri(ch_yaw_offset);
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comma();
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SerPri(ch_throttle_slope);
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comma();
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SerPri(ch_throttle_offset);
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comma();
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SerPri(ch_aux_slope);
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comma();
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SerPri(ch_aux_offset);
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comma();
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SerPri(ch_aux2_slope);
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comma();
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SerPrln(ch_aux2_offset);
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queryType = 'X';
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break;
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case '3': // Jani's debugs
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SerPri(yaw);
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tab();
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SerPri(command_rx_yaw);
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tab();
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SerPri(control_yaw);
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tab();
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SerPri(err_yaw);
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tab();
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SerPri(AN[0]);
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tab();
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SerPri(AN[1]);
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tab();
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SerPri(AN[2] - gyro_offset_yaw);
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tab();
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SerPri(gyro_offset_yaw - AN[2]);
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tab();
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SerPri(gyro_offset_yaw);
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tab();
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SerPri(1500 - (gyro_offset_yaw - AN[2]));
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tab();
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SerPriln();
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break;
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#ifdef IsGPS
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case '4': // Jani's debugs
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// Log_Write_GPS(GPS.Time, GPS.Lattitude, GPS.Longitude, GPS.Altitude, GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
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SerPri(GPS.Time);
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tab();
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SerPri(GPS.Lattitude);
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tab();
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SerPri(GPS.Longitude);
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tab();
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SerPri(GPS.Altitude);
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tab();
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SerPri(GPS.Ground_Speed);
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tab();
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SerPri(GPS.Ground_Course);
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tab();
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SerPri(GPS.Fix);
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tab();
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SerPri(GPS.NumSats);
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tab();
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SerPriln();
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break;
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#endif
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case '.': // Modify GPS settings, print directly to GPS Port
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Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
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break;
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}
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}
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void comma() {
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SerPri(',');
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}
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void tab() {
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SerPri("\t");
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}
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// Used to read floating point values from the serial port
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float readFloatSerial() {
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byte index = 0;
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byte timeout = 0;
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char data[128] = "";
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do {
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if (SerAva() == 0) {
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delay(10);
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timeout++;
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}
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else {
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data[index] = SerRea();
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timeout = 0;
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index++;
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}
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}
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while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
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return atof(data);
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}
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