| 17,10 → 17,10 |
|---|
| #include "fc.h" |
| #include "_Settings.h" |
| #include "rc.h" |
| #ifdef USE_KILLAGREG |
| #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| #include "ubx.h" |
| #endif |
| #if !defined(USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #endif |
| |
| 57,7 → 57,7 |
|---|
| |
| int16_t Debug_Timer; |
| |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #ifdef USE_MK3MAG |
| int16_t Compass_Timer; |
| #endif |
| |
| 163,7 → 163,7 |
|---|
| |
| Debug_Timer = SetDelay(200); |
| |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #ifdef USE_MK3MAG |
| Compass_Timer = SetDelay(220); |
| #endif |
| |
| 206,7 → 206,7 |
|---|
| |
| c = UDR0; // catch the received byte |
| |
| #ifdef USE_KILLAGREG |
| #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
| // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
| #if defined (__AVR_ATmega644P__) |
| 214,7 → 214,7 |
|---|
| #else |
| ubx_parser(c); |
| #endif |
| #endif // USE_KILLAGREG |
| #endif |
| |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| |
| 355,7 → 355,7 |
|---|
| |
| switch(rxd_buffer[2]) |
| { |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #ifdef USE_MK3MAG |
| case 'K':// Compass value |
| Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes); |
| CompassHeading = tmp_int_arr1[0]; |
| 460,7 → 460,7 |
|---|
| RequestExternalControl = FALSE; |
| } |
| |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #ifdef USE_MK3MAG |
| if((CheckDelay(Compass_Timer)) && txd_complete) |
| { |
| ToMk3Mag.Attitude[0] = (int16_t) (IntegralPitch / 108); // approx. 0,1 Deg |