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366 | Nick666 | 1 | /* |
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3 | Copyright 2007, Niklas Nold |
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4 | |||
5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
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6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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7 | either version 3 of the License, or (at your option) any later version. |
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8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
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11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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12 | |||
13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
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14 | */ |
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15 | |||
16 | #include "main.h" |
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17 | |||
18 | MM3_working_struct MM3; |
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19 | |||
20 | MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
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21 | MM3_calib_struct MM3_calib; |
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22 | |||
23 | |||
24 | //############################################################################ |
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25 | // Initialisierung |
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26 | void MM3_init(void) |
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27 | //############################################################################ |
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28 | { |
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29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
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30 | //SPSR = (1<<SPI2X); |
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31 | |||
32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
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33 | |||
34 | PORTD &= ~(1<<PD3); // J5 auf Low |
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35 | |||
36 | MM3.AXIS = MM3_X; |
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37 | MM3.STATE = MM3_RESET; |
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38 | |||
39 | // Kalibrierung aus dem EEprom lesen |
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40 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(MM3_calib_struct)); |
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41 | } |
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42 | |||
43 | |||
44 | //############################################################################ |
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45 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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46 | void MM3_timer0(void) |
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47 | //############################################################################ |
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48 | { |
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49 | switch (MM3.STATE) |
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50 | { |
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51 | case MM3_RESET: |
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52 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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53 | MM3.STATE = MM3_START_TRANSFER; |
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54 | return; |
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55 | |||
56 | case MM3_START_TRANSFER: |
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57 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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58 | |||
59 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
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60 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
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61 | else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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62 | |||
63 | MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
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64 | MM3.STATE = MM3_WAIT_DRDY; |
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65 | return; |
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66 | |||
67 | case MM3_WAIT_DRDY: |
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68 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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69 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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70 | /* |
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71 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
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72 | MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8); |
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73 | MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8); |
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74 | |||
75 | MM3.AXIS = MM3_X; |
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76 | MM3.STATE = MM3_RESET; |
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77 | return; |
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78 | */ |
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79 | } |
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80 | } |
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81 | |||
82 | |||
83 | //############################################################################ |
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84 | // SPI byte ready |
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85 | SIGNAL (SIG_SPI) |
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86 | //############################################################################ |
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87 | { |
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88 | switch (MM3.STATE) |
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89 | { |
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90 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
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91 | if (MM3.AXIS == MM3_X) |
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92 | { |
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93 | MM3.x_axis = SPDR; |
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94 | MM3.x_axis <<= 8; |
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95 | } |
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96 | else if (MM3.AXIS == MM3_Y) |
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97 | { |
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98 | MM3.y_axis = SPDR; |
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99 | MM3.y_axis <<= 8; |
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100 | } |
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101 | else // if (MM3.AXIS == MM3_Z) |
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102 | { |
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103 | MM3.z_axis = SPDR; |
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104 | MM3.z_axis <<= 8; |
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105 | } |
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106 | |||
107 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
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108 | MM3.STATE=MM3_BYTE2; |
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109 | return; |
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110 | |||
111 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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112 | if (MM3.AXIS == MM3_X) |
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113 | { |
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114 | MM3.x_axis |= SPDR; |
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115 | // Spikes filtern |
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116 | if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis; |
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117 | else MM3.x_axis = MM3.x_axis_old; |
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118 | MM3.AXIS = MM3_Y; |
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119 | MM3.STATE = MM3_RESET; |
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120 | } |
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121 | else if (MM3.AXIS == MM3_Y) |
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122 | { |
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123 | MM3.y_axis |= SPDR; |
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124 | if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis; |
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125 | else MM3.y_axis = MM3.y_axis_old; |
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126 | MM3.AXIS = MM3_Z; |
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127 | MM3.STATE = MM3_RESET; |
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128 | } |
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129 | else // if (MM3.AXIS == MM3_Z) |
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130 | { |
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131 | MM3.z_axis |= SPDR; |
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132 | if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis; |
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133 | else MM3.z_axis = MM3.z_axis_old; |
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134 | MM3.AXIS = MM3_X; |
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135 | MM3.STATE = MM3_RESET; |
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136 | } |
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137 | |||
138 | return; |
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139 | } |
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140 | } |
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141 | |||
142 | //############################################################################ |
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143 | // Kompass kalibrieren |
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144 | void calib_MM3(void) |
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145 | //############################################################################ |
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146 | { |
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147 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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148 | uint8_t measurement=50,beeper=0; |
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149 | unsigned int timer; |
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150 | |||
151 | while (measurement) |
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152 | { |
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153 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
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154 | |||
155 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
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156 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
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157 | |||
158 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
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159 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
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160 | |||
161 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
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162 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
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163 | |||
164 | if (!beeper) |
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165 | { |
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166 | beeper = 50; |
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167 | beeptime = 50; |
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168 | } |
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169 | beeper--; |
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170 | |||
171 | // Schleife mit 100 Hz voll ausreichend |
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172 | timer = SetDelay(10); |
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173 | while(!CheckDelay(timer)); |
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174 | |||
175 | // Wenn Gas zurück genommen wird, Kalibrierung mit Verzögerung beenden |
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176 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
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177 | } |
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178 | |||
179 | // Offset der Achsen berechnen |
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180 | MM3_calib.X_off = (x_max + x_min) / 2; |
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181 | MM3_calib.Y_off = (y_max + y_min) / 2; |
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182 | MM3_calib.Z_off = (z_max + z_min) / 2; |
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183 | |||
184 | // und im EEProm abspeichern |
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185 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(MM3_calib_struct)); |
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186 | |||
187 | } |
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188 | |||
189 | |||
190 | //############################################################################ |
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191 | // Neigungskompensierung und Berechnung der Ausrichtung |
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192 | signed int MM3_heading(void) |
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193 | //############################################################################ |
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194 | { |
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195 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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196 | signed int x_corr, y_corr, heading; |
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197 | signed int x_axis,y_axis,z_axis; |
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198 | |||
199 | MM3.NickGrad = -(IntegralNick/(EE_Parameter.UserParam1*8)); |
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200 | MM3.RollGrad = -(IntegralRoll/(EE_Parameter.UserParam2*8)); |
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201 | |||
202 | // Berechung von sinus und cosinus |
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203 | sin_nick = sin_f(MM3.NickGrad); |
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204 | cos_nick = cos_f(MM3.NickGrad); |
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205 | sin_roll = sin_f(MM3.RollGrad); |
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206 | cos_roll = cos_f(MM3.RollGrad); |
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207 | |||
208 | // Offset der Achsen nur bei Bedarf (also hier) berücksichtigen |
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209 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
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210 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
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211 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
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212 | |||
213 | // Neigungskompensation |
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214 | x_corr = (cos_nick * x_axis) + (((sin_roll * y_axis) - (cos_roll * z_axis)) * sin_nick); |
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215 | y_corr = ((cos_roll * y_axis) + (sin_roll * z_axis)); |
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216 | |||
217 | // Winkelberechnung |
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218 | heading = atan2_i(x_corr, y_corr); |
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219 | |||
220 | return (heading); |
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221 | } |