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Rev 1598 Rev 1619
Line 566... Line 566...
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         {
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         {
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                  WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
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                  WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
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                  WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
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                  WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
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                  WinkelOut.UserParameter[0] = Parameter_UserParam1;
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                  WinkelOut.UserParameter[0] = Parameter_UserParam1;
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                  WinkelOut.UserParameter[1] = Parameter_UserParam2;
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                  WinkelOut.UserParameter[1] = Parameter_UserParam2;
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          SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut));
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          SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut));
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          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
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          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
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          Kompass_Timer = SetDelay(99);
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          Kompass_Timer = SetDelay(99);
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         }
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         }
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    if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
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    if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
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         {
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         {