Rev 1081 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1081 | Rev 1097 | ||
|---|---|---|---|
| Line 609... | Line 609... | ||
| 609 | } |
609 | } |
| Line 610... | Line 610... | ||
| 610 | 610 | ||
| 611 | #ifdef USE_MK3MAG |
611 | #ifdef USE_MK3MAG |
| 612 | if((CheckDelay(Compass_Timer)) && txd_complete) |
612 | if((CheckDelay(Compass_Timer)) && txd_complete) |
| 613 | { |
613 | { |
| 614 | ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 108); // approx. 0,1 Deg |
614 | ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 130L); // approx. 0.1 deg |
| 615 | ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |
615 | ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 130L); // approx. 0.1 deg |
| 616 | ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
616 | ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
| 617 | ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
617 | ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
| 618 | ToMk3Mag.CalState = CompassCalState; |
618 | ToMk3Mag.CalState = CompassCalState; |
| 619 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
619 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |