Rev 275 | Rev 287 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 275 | Rev 284 | ||
|---|---|---|---|
| Line 381... | Line 381... | ||
| 381 | raw = pRxBuffer[4]<<8; |
381 | raw = pRxBuffer[4]<<8; |
| 382 | raw+= pRxBuffer[5]; |
382 | raw+= pRxBuffer[5]; |
| 383 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
383 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
| 384 | } |
384 | } |
| 385 | if(Compass_CalState || !NCMAG_IsCalibrated) |
385 | if(Compass_CalState || !NCMAG_IsCalibrated) |
| 386 | { // direct output the raw data |
386 | { // mark out data invalid |
| 387 | memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector)); |
387 | MagVector.X = 0; |
| - | 388 | MagVector.Y = 0; |
|
| - | 389 | MagVector.Z = 0; |
|
| 388 | Compass_Heading = -1; |
390 | Compass_Heading = -1; |
| 389 | } |
391 | } |
| 390 | else |
392 | else |
| 391 | { |
393 | { |
| 392 | // update MagVector from MagRaw Vector by Scaling |
394 | // update MagVector from MagRaw Vector by Scaling |