Rev 1180 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1180 | Rev 1186 | ||
|---|---|---|---|
| Line 667... | Line 667... | ||
| 667 | } |
667 | } |
| Line 668... | Line 668... | ||
| 668 | 668 | ||
| 669 | #ifdef USE_MK3MAG |
669 | #ifdef USE_MK3MAG |
| 670 | if((CheckDelay(Compass_Timer)) && txd_complete) |
670 | if((CheckDelay(Compass_Timer)) && txd_complete) |
| 671 | { |
671 | { |
| 672 | ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / (GyroDegFactor/ 10)); // approx. 0.1 deg |
672 | ToMk3Mag.Attitude[0] = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
| 673 | ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / (GyroDegFactor/ 10)); // approx. 0.1 deg |
673 | ToMk3Mag.Attitude[1] = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
| 674 | ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
674 | ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
| 675 | ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
675 | ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
| 676 | ToMk3Mag.CalState = CompassCalState; |
676 | ToMk3Mag.CalState = CompassCalState; |
| 677 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
677 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |