update serial protocol with payload length

serial protocol is highly described with code comments
altitude is transmitted in 32 bits
no more rcrate x2 factor

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii@675 02679b44-d973-9852-f2fa-63770883b36c

Buzzer.pde

@@ -32,12 +32,13 @@ void buzzer(uint8_t warn_vbat){
     if ( failsafeCnt == 0) warn_failsafe = 0;                                              // turn off alarm if TX is okay
   #endif
   //===================== GPS fix notification handling =====================
+  #if GPS
   if ((GPSModeHome || GPSModeHold) && !GPS_fix){    //if no fix and gps funtion is activated: do warning beeps.
     warn_noGPSfix = 1;    
   }else{
     warn_noGPSfix = 0;
   }
-
+  #endif
  //===================== Main Handling Block =====================
   repeat = 1;                                           // set repeat to default
   ontime = 100;                                           // set offtime to default

EEPROM.pde

@@ -45,7 +45,7 @@ void readEEPROM() {
   #if defined(POWERMETER)
     pAlarm = (uint32_t) powerTrigger1 * (uint32_t) PLEVELSCALE * (uint32_t) PLEVELDIV; // need to cast before multiplying
   #endif
-  for(i=0;i<7;i++) lookupRX[i] = (2500+rcExpo8*(i*i-25))*i*(int32_t)rcRate8/1250;
+  for(i=0;i<7;i++) lookupRX[i] = (2500+rcExpo8*(i*i-25))*i*(int32_t)rcRate8/2500;
   #ifdef FLYING_WING
     wing_left_mid  = constrain(wing_left_mid, WING_LEFT_MIN,  WING_LEFT_MAX); //LEFT 
     wing_right_mid = constrain(wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
@@ -55,13 +55,13 @@ void readEEPROM() {
   #endif
 }
 
-void writeParams() {
+void writeParams(uint8_t b) {
   uint8_t i, _address = 0;
   for(i=0; i<EEBLOCK_SIZE; i++) {
     eeprom_write_block(eep_entry[i].var, (void*)(_address), eep_entry[i].size); _address += eep_entry[i].size;
   }  
   readEEPROM();
-  blinkLED(15,20,1);
+  if (b == 1) blinkLED(15,20,1);
 }
 
 void checkFirstTime() {
@@ -75,7 +75,7 @@ void checkFirstTime() {
   P8[PIDVEL]   =  0; I8[PIDVEL]   = 0;  D8[PIDVEL]   = 0;
   P8[PIDLEVEL] = 90; I8[PIDLEVEL] = 45; D8[PIDLEVEL] = 100;
   P8[PIDMAG] = 40;
-  rcRate8 = 45; // = 0.9 in GUI
+  rcRate8 = 90;
   rcExpo8 = 65;
   rollPitchRate = 0;
   yawRate = 0;
@@ -90,6 +90,6 @@ void checkFirstTime() {
   #ifdef TRI
     tri_yaw_middle = TRI_YAW_MIDDLE; 
   #endif
-  writeParams();
+  writeParams(0);
 }
 

GPS.pde

@@ -67,20 +67,9 @@ void GPS_NewData() {
       GPS_distanceToHome = 0;
       GPS_directionToHome = 0;
       GPS_numSat = 0;
-    }  
+    }
   #endif     
 
-void GPS_reset_home_position() {
-  #if defined(I2C_GPS)
-    //set current position as home
-    i2c_rep_start(I2C_GPS_ADDRESS);i2c_write(I2C_GPS_COMMAND);i2c_write(I2C_GPS_COMMAND_SET_WP);//Store current position to WP#0 (this is used for RTH)
-    i2c_rep_start(I2C_GPS_ADDRESS);i2c_write(I2C_GPS_COMMAND);i2c_write(I2C_GPS_COMMAND_ACTIVATE_WP);//Set WP#0 as the active WP
-  #else
-    GPS_latitude_home  = GPS_latitude;
-    GPS_longitude_home = GPS_longitude;
-  #endif
-}
-
   #if defined(GPS_SERIAL)
     while (SerialAvailable(GPS_SERIAL)) {
      if (GPS_newFrame(SerialRead(GPS_SERIAL))) {
@@ -118,6 +107,17 @@ void GPS_reset_home_position() {
   #endif
 }
 
+void GPS_reset_home_position() {
+  #if defined(I2C_GPS)
+    //set current position as home
+    i2c_rep_start(I2C_GPS_ADDRESS);i2c_write(I2C_GPS_COMMAND);i2c_write(I2C_GPS_COMMAND_SET_WP);//Store current position to WP#0 (this is used for RTH)
+    i2c_rep_start(I2C_GPS_ADDRESS);i2c_write(I2C_GPS_COMMAND);i2c_write(I2C_GPS_COMMAND_ACTIVATE_WP);//Set WP#0 as the active WP
+  #else
+    GPS_latitude_home  = GPS_latitude;
+    GPS_longitude_home = GPS_longitude;
+  #endif
+}
+
 /* this is an equirectangular approximation to calculate distance and bearing between 2 GPS points (lat/long)
    it's much more faster than an exact calculation
    the error is neglectible for few kilometers assuming a constant R for earth

IMU.pde

@@ -230,13 +230,6 @@ void getEstimatedAttitude(){
   if ( ( 36 < accMag && accMag < 196 ) || smallAngle25 )
     for (axis = 0; axis < 3; axis++) {
       int16_t acc = ACC_VALUE;
-      #if !defined(TRUSTED_ACCZ)
-        if (smallAngle25 && axis == YAW)
-          //We consider ACCZ = acc_1G when the acc on other axis is small.
-          //It's a tweak to deal with some configs where ACC_Z tends to a value < acc_1G when high throttle is applied.
-          //This tweak applies only when the multi is not in inverted position
-          acc = acc_1G;      
-      #endif
       EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + acc) * INV_GYR_CMPF_FACTOR;
     }
   #if MAG

LCD.pde

@@ -735,7 +735,6 @@ static lcd_type_desc_t LAUX = {&__uAuxFmt, &__u16Inc}; //to review (activate is
 static lcd_param_def_t __P = {&LTU8, 1, 1, 1};
 static lcd_param_def_t __I = {&LTU8, 3, 1, 2};
 static lcd_param_def_t __D = {&LTU8, 0, 1, 1};
-static lcd_param_def_t __RCR = {&LTU8, 2, 2, 2};
 static lcd_param_def_t __RC = {&LTU8, 2, 1, 2};
 static lcd_param_def_t __PM = {&LPMM, 1, 1, 0};
 static lcd_param_def_t __PS = {&LPMS, 1, 1, 0};
@@ -849,7 +848,7 @@ PROGMEM const prog_void *lcd_param_ptr_table [] = {
 #if MAG
   &lcd_param_text19, &P8[PIDMAG], &__P,
 #endif
-  &lcd_param_text20, &rcRate8, &__RCR,
+  &lcd_param_text20, &rcRate8, &__RC,
   &lcd_param_text21, &rcExpo8, &__RC,
   &lcd_param_text22, &rollPitchRate, &__RC,
   &lcd_param_text23, &yawRate, &__RC,
@@ -1084,7 +1083,7 @@ void configurationLoop() {
     strcpy_P(line1,PSTR("Aborting"));
     LCDprintChar(line1);
   }
-  if (LCD == 0) writeParams();
+  if (LCD == 0) writeParams(1);
   LCDsetLine(2);
   strcpy_P(line1,PSTR("Exit"));
   LCDprintChar(line1);

MultiWii.ino

@@ -473,7 +473,7 @@ void loop () {
           previousTime = micros();
         }
       }
-      #if defined(InflightAccCalibration)  
+      #if defined(INFLIGHT_ACC_CALIBRATION)  
         else if (armed == 0 && rcData[YAW] < MINCHECK && rcData[PITCH] > MAXCHECK && rcData[ROLL] > MAXCHECK){
           if (rcDelayCommand == 20){
             if (AccInflightCalibrationMeasurementDone){                // trigger saving into eeprom after landing
@@ -523,22 +523,22 @@ void loop () {
         if (rcDelayCommand == 20) calibratingM=1; // MAG calibration request
         rcDelayCommand++;
       } else if (rcData[PITCH] > MAXCHECK) {
-         accTrim[PITCH]+=2;writeParams();
+         accTrim[PITCH]+=2;writeParams(1);
          #if defined(LED_RING)
            blinkLedRing();
          #endif
       } else if (rcData[PITCH] < MINCHECK) {
-         accTrim[PITCH]-=2;writeParams();
+         accTrim[PITCH]-=2;writeParams(1);
          #if defined(LED_RING)
            blinkLedRing();
          #endif
       } else if (rcData[ROLL] > MAXCHECK) {
-         accTrim[ROLL]+=2;writeParams();
+         accTrim[ROLL]+=2;writeParams(1);
          #if defined(LED_RING)
            blinkLedRing();
          #endif
       } else if (rcData[ROLL] < MINCHECK) {
-         accTrim[ROLL]-=2;writeParams();
+         accTrim[ROLL]-=2;writeParams(1);
          #if defined(LED_RING)
            blinkLedRing();
          #endif
@@ -622,7 +622,7 @@ void loop () {
     if (rcOptions[BOXPASSTHRU]) {passThruMode = 1;}
     else passThruMode = 0;
   } else { // not in rc loop
-    static int8_t taskOrder=0; // never call all functions in the same loop, to avoid high delay spikes
+    static uint8_t taskOrder=0; // never call all functions in the same loop, to avoid high delay spikes
     switch (taskOrder++ % 5) {
       case 0:
         #if MAG
@@ -651,7 +651,7 @@ void loop () {
         break;
     }
   }
-
+ 
   computeIMU();
   // Measure loop rate just afer reading the sensors
   currentTime = micros();

Sensors.pde

@@ -269,7 +269,7 @@ void ACC_Common() {
       accZero[YAW]   = a[YAW]/400-acc_1G; // for nunchuk 200=1G
       accTrim[ROLL]   = 0;
       accTrim[PITCH]  = 0;
-      writeParams(); // write accZero in EEPROM
+      writeParams(1); // write accZero in EEPROM
     }
     calibratingA--;
   }
@@ -317,7 +317,7 @@ void ACC_Common() {
         accZero[YAW]   = b[YAW]/50-acc_1G; // for nunchuk 200=1G
         accTrim[ROLL]   = 0;
         accTrim[PITCH]  = 0;
-        writeParams(); // write accZero in EEPROM
+        writeParams(1); // write accZero in EEPROM
       }
   #endif
   accADC[ROLL]  -=  accZero[ROLL] ;
@@ -946,7 +946,7 @@ void Mag_getADC() {
       tCal = 0;
       for(axis=0;axis<3;axis++)
         magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis])/2;
-      writeParams();
+      writeParams(1);
     }
   }
 }