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  → /branches/V0.71h Code Redesign killagreg/spi.c @ 1096

  → /branches/V0.71h Code Redesign killagreg/spi.c @ 1097

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Ignore whitespace Rev 1096 → Rev 1097

/branches/V0.71h Code Redesign killagreg/spi.c
89,8 → 89,8
cli(); // stop all interrupts to avoid writing of new data during update of that packet.
// update content of packet to NaviCtrl
ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 108);
ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108);
ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 130L); // convert to multiple of 0.1°
ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 130L); // convert to multiple of 0.1°
ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR;
ToNaviCtrl.GyroNick = Reading_GyroNick;
ToNaviCtrl.GyroRoll = Reading_GyroRoll;