| 401,7 → 401,7 |
|---|
| if(NC_CompassSetpoint != -1) |
| { |
| int diff; |
| if(!NeueKompassRichtungMerken && (KompassSollWert != NC_CompassSetpoint) && CareFree) |
| if(!NeueKompassRichtungMerken && (KompassSollWert != NC_CompassSetpoint) && (CareFree || NCForcesNewDirection)) |
| { |
| diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
| if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
| 409,7 → 409,11 |
|---|
| if(diff < -2) diff = -2; |
| KompassSollWert -= diff; |
| } |
| else NC_CompassSetpoint = -1; |
| else |
| { |
| NC_CompassSetpoint = -1; |
| NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
| } |
| } |
| // ++++++++++++++++++++++++++++ |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |