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| 22 | #include "mymath.h" |
22 | #include "mymath.h" |
| 23 | #include "fc.h" |
23 | #include "fc.h" |
| 24 | #include "timer0.h" |
24 | #include "timer0.h" |
| 25 | #include "rc.h" |
25 | #include "rc.h" |
| 26 | #include "eeprom.h" |
26 | #include "eeprom.h" |
| - | 27 | #include "uart.h" |
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| Line 27... | Line 28... | ||
| 27 | 28 | ||
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| 28 | #define MAX_AXIS_VALUE 500 |
29 | #define MAX_AXIS_VALUE 500 |
| Line 327... | Line 328... | ||
| 327 | int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |
328 | int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |
| 328 | int16_t angle; |
329 | int16_t angle; |
| 329 | uint16_t div_factor; |
330 | uint16_t div_factor; |
| 330 | int16_t heading; |
331 | int16_t heading; |
| Line -... | Line 332... | ||
| - | 332 | ||
| - | 333 | DebugOut.Analog[11] = MM3_Timeout; |
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| 331 | 334 | ||
| 332 | if (MM3_Timeout) |
335 | if (MM3_Timeout) |
| 333 | { |
336 | { |
| 334 | // Offset correction and normalization (values of H are +/- 512) |
337 | // Offset correction and normalization (values of H are +/- 512) |
| 335 | Hx = (((int32_t)(MM3.x_axis - MM3_calib.X_off)) * 1024) / (int32_t)MM3_calib.X_range; |
338 | Hx = (((int32_t)(MM3.x_axis - MM3_calib.X_off)) * 1024) / (int32_t)MM3_calib.X_range; |