altapix.h

//#define rxPin 4 // define the RX pin
//#define txPin 5 // define the TX pin
//#define ledPin 13 // define the flashing LED pin
//#define beepPin 13 // the buzzer
//
#define maxFrameLen 254
#define DEBUGME 1
#define SERIAL_READ_TIMEOUT 10000 // 10 sec to read a valid frame
#define MK_ALTI_FACTOR 22.5 // some value that correct the altitude reference to alti 0 i guess
#define MINIMUM_VOLTAGE_BEFORE_ALERT 14.5 // set it whatever you want.
#define ERROR_BEEP 1
#define STARTUP_BEEP 2

int checkCRC(char *, int );
void addCRC(char *,char *);
void encode64(char *,char *, int );
void decode64(char *Rx,unsigned char *,int);
char *ftoa(char *, double , int);
void resolveError(int ,char *);
void beepMe(int,int);
void extractGpsInfo(char*,char*);

/*
for the structures above i have used parts of uart.c and QMK ground station 
*/

typedef struct
{
    int32_t Longitude;      // in 1E-7 deg
    int32_t Latitude;       // in 1E-7 deg
    int32_t Altitude;       // in mm
    uint8_t Status;         // validity of data
} __attribute__((packed)) GPS_Pos_t;

typedef struct
{
    uint16_t Distance;      // distance to target in dm
    int16_t Bearing;        // course to target in deg
}  __attribute__((packed)) GPS_PosDev_t;

typedef struct 
{
 unsigned char Digital[2];
 int16_t Analog[32];    // Debugwerte
} s_MK_Debug;

struct str_VersionInfo
{
  unsigned char SWMajor;
  unsigned char SWMinor;
  unsigned char ProtoMajor;
  unsigned char ProtoMinor;
  unsigned char SWPatch;
  unsigned char HardwareError[5];
};

typedef struct
{
		uint8_t		Menuitem;
		uint8_t   MaxMenuItem;
		char DisplayText[81];
} __attribute__((packed)) s_MK_LcdScreen;

typedef struct
{
		char DisplayText[81];
} __attribute__((packed)) s_MK_LcdScreen_Item;

typedef struct
{
		uint8_t		Menuitem;
} __attribute__((packed)) s_MK_CMD_RequestDisplay;


typedef struct
{
    uint8_t      Version;		// version of the data structure
    GPS_Pos_t    CurrentPosition;		// see ubx.h for details
    GPS_Pos_t    TargetPosition;
    GPS_PosDev_t TargetPositionDeviation;
    GPS_Pos_t    HomePosition;
    GPS_PosDev_t HomePositionDeviation;
    uint8_t      WaypointIndex;		// index of current waypoints running from 0 to WaypointNumber-1
    uint8_t      WaypointNumber;		// number of stored waypoints
    uint8_t      SatsInUse;		// number of satellites used for position solution
    int16_t      Altimeter; 		// hight according to air pressure
    int16_t      Variometer;		// climb(+) and sink(-) rate
    uint16_t     FlyingTime;		// in seconds
    uint8_t      UBat;			// Battery Voltage in 0.1 Volts
    uint16_t     GroundSpeed;		// speed over ground in cm/s (2D)
    int16_t      Heading;		// current flight direction in ° as angle to north
    int16_t      CompassHeading;		// current compass value in °
    int8_t       AngleNick;		// current Nick angle in 1°
    int8_t       AngleRoll;		// current Rick angle in 1°
    uint8_t      RC_Quality;		// RC_Quality
    uint8_t      FCFlags;		// Flags from FC
    uint8_t      NCFlags;		// Flags from NC
    uint8_t      Errorcode;		// 0 --> okay
    uint8_t      OperatingRadius;               // current operation radius around the Home Position in m
    int16_t      TopSpeed;		// velocity in vertical direction in cm/s
    uint8_t      TargetHoldTime;		// time in s to stay at the given target, counts down to 0 if target has been reached
    uint8_t      RC_RSSI;		// Receiver signal strength (since version 2 added)
    int16_t      SetpointAltitude;			// setpoint for altitude
    uint8_t      Gas;						// for future use
    uint16_t     Current;					// actual current in 0.1A steps
    uint16_t     UsedCapacity;				// used capacity in mAh

} __attribute__((packed)) s_MK_NaviData;