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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 | |||
378 | Nick666 | 18 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
366 | Nick666 | 19 | |
373 | Nick666 | 20 | struct MM3_working_struct MM3; |
21 | struct MM3_calib_struct MM3_calib; |
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366 | Nick666 | 22 | |
23 | |||
24 | //############################################################################ |
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25 | // Initialisierung |
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371 | Nick666 | 26 | void init_MM3(void) |
366 | Nick666 | 27 | //############################################################################ |
28 | { |
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378 | Nick666 | 29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); //Interrupt an, Master, 625 kHz Oszillator |
30 | SPSR = (1<<SPI2X); |
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366 | Nick666 | 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 | |||
416 | Nick666 | 36 | // Init Statemachine |
366 | Nick666 | 37 | MM3.AXIS = MM3_X; |
38 | MM3.STATE = MM3_RESET; |
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39 | |||
40 | // Kalibrierung aus dem EEprom lesen |
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373 | Nick666 | 41 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
366 | Nick666 | 42 | } |
43 | |||
44 | |||
45 | //############################################################################ |
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46 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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371 | Nick666 | 47 | void timer0_MM3(void) |
366 | Nick666 | 48 | //############################################################################ |
49 | { |
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50 | switch (MM3.STATE) |
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51 | { |
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52 | case MM3_RESET: |
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53 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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54 | MM3.STATE = MM3_START_TRANSFER; |
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55 | return; |
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56 | |||
57 | case MM3_START_TRANSFER: |
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58 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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59 | |||
60 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
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61 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
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416 | Nick666 | 62 | else SPDR = 0x33; //if (MM3.AXIS == MM3_Z) // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
366 | Nick666 | 63 | |
412 | Nick666 | 64 | MM3.DRDY = SetDelay(5); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
366 | Nick666 | 65 | MM3.STATE = MM3_WAIT_DRDY; |
66 | return; |
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67 | |||
68 | case MM3_WAIT_DRDY: |
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69 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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378 | Nick666 | 70 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
366 | Nick666 | 71 | } |
72 | } |
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73 | |||
74 | |||
75 | //############################################################################ |
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76 | // SPI byte ready |
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77 | SIGNAL (SIG_SPI) |
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78 | //############################################################################ |
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412 | Nick666 | 79 | { |
80 | static char tmp; |
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81 | int wert; |
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82 | |||
413 | Nick666 | 83 | switch (MM3.STATE) |
412 | Nick666 | 84 | { |
413 | Nick666 | 85 | case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
412 | Nick666 | 86 | tmp = SPDR; |
413 | Nick666 | 87 | SPDR = 0x00; // Übertragung von 2. Byte auslösen |
412 | Nick666 | 88 | MM3.STATE = MM3_BYTE2; |
366 | Nick666 | 89 | return; |
90 | |||
413 | Nick666 | 91 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
92 | wert = tmp; |
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93 | wert <<= 8; // 1. Byte an MSB-Stelle rücken |
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94 | wert |= SPDR; // 2. Byte dranpappen |
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95 | |||
412 | Nick666 | 96 | if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
413 | Nick666 | 97 | switch (MM3.AXIS) |
366 | Nick666 | 98 | { |
412 | Nick666 | 99 | case MM3_X: |
100 | MM3.x_axis = wert; |
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366 | Nick666 | 101 | MM3.AXIS = MM3_Y; |
412 | Nick666 | 102 | break; |
103 | case MM3_Y: |
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104 | MM3.y_axis = wert; |
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366 | Nick666 | 105 | MM3.AXIS = MM3_Z; |
412 | Nick666 | 106 | break; |
107 | default: |
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108 | MM3.z_axis = wert; |
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366 | Nick666 | 109 | MM3.AXIS = MM3_X; |
110 | } |
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413 | Nick666 | 111 | |
112 | MM3.STATE = MM3_RESET; |
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366 | Nick666 | 113 | } |
114 | } |
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115 | |||
116 | //############################################################################ |
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117 | // Kompass kalibrieren |
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118 | void calib_MM3(void) |
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119 | //############################################################################ |
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120 | { |
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121 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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122 | uint8_t measurement=50,beeper=0; |
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123 | unsigned int timer; |
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124 | |||
370 | Nick666 | 125 | GRN_ON; |
126 | ROT_OFF; |
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127 | |||
366 | Nick666 | 128 | while (measurement) |
129 | { |
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130 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
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131 | |||
132 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
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133 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
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134 | |||
135 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
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136 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
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137 | |||
138 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
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139 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
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140 | |||
141 | if (!beeper) |
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142 | { |
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370 | Nick666 | 143 | ROT_FLASH; |
144 | GRN_FLASH; |
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378 | Nick666 | 145 | beeptime = 50; |
366 | Nick666 | 146 | beeper = 50; |
147 | } |
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148 | beeper--; |
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149 | |||
373 | Nick666 | 150 | // Schleife mit 100 Hz |
366 | Nick666 | 151 | timer = SetDelay(10); |
152 | while(!CheckDelay(timer)); |
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153 | |||
373 | Nick666 | 154 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
366 | Nick666 | 155 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
156 | } |
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157 | |||
378 | Nick666 | 158 | // Wertebereich der Achsen |
159 | MM3_calib.X_range = (x_max - x_min); |
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160 | MM3_calib.Y_range = (y_max - y_min); |
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161 | MM3_calib.Z_range = (z_max - z_min); |
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366 | Nick666 | 162 | |
378 | Nick666 | 163 | // Offset der Achsen |
391 | Nick666 | 164 | MM3_calib.X_off = (x_max + x_min) / 2; |
165 | MM3_calib.Y_off = (y_max + y_min) / 2; |
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166 | MM3_calib.Z_off = (z_max + z_min) / 2; |
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378 | Nick666 | 167 | |
366 | Nick666 | 168 | // und im EEProm abspeichern |
373 | Nick666 | 169 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
366 | Nick666 | 170 | } |
171 | |||
172 | |||
173 | //############################################################################ |
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174 | // Neigungskompensierung und Berechnung der Ausrichtung |
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371 | Nick666 | 175 | signed int heading_MM3(void) |
366 | Nick666 | 176 | //############################################################################ |
177 | { |
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178 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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378 | Nick666 | 179 | float x_corr, y_corr; |
180 | signed int x_axis,y_axis,z_axis, heading; |
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412 | Nick666 | 181 | unsigned int div_faktor; |
378 | Nick666 | 182 | |
183 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
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366 | Nick666 | 184 | |
185 | // Berechung von sinus und cosinus |
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387 | Nick666 | 186 | MM3.NickGrad = (IntegralNick/div_faktor); |
407 | Nick666 | 187 | //MM3.NickGrad = asin_i(MM3.NickGrad); |
366 | Nick666 | 188 | sin_nick = sin_f(MM3.NickGrad); |
189 | cos_nick = cos_f(MM3.NickGrad); |
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378 | Nick666 | 190 | |
387 | Nick666 | 191 | MM3.RollGrad = (IntegralRoll/div_faktor); |
407 | Nick666 | 192 | //MM3.RollGrad = asin_i(MM3.RollGrad); |
366 | Nick666 | 193 | sin_roll = sin_f(MM3.RollGrad); |
194 | cos_roll = cos_f(MM3.RollGrad); |
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378 | Nick666 | 195 | |
196 | // Offset |
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391 | Nick666 | 197 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
198 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
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199 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
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366 | Nick666 | 200 | |
378 | Nick666 | 201 | // Normierung Wertebereich |
202 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
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203 | { |
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204 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
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205 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
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206 | } |
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207 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
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208 | { |
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209 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
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210 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
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211 | } |
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212 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
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213 | { |
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214 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
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215 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
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216 | } |
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366 | Nick666 | 217 | |
378 | Nick666 | 218 | DebugOut.Analog[9] = x_axis; |
219 | DebugOut.Analog[10] = y_axis; |
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220 | DebugOut.Analog[11] = z_axis; |
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221 | |||
366 | Nick666 | 222 | // Neigungskompensation |
378 | Nick666 | 223 | x_corr = x_axis * cos_nick; |
224 | x_corr += y_axis * sin_roll * sin_nick; |
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225 | x_corr -= z_axis * cos_roll * sin_nick; |
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366 | Nick666 | 226 | |
416 | Nick666 | 227 | y_corr = (y_axis * cos_roll) + (z_axis * sin_roll); |
378 | Nick666 | 228 | |
408 | Nick666 | 229 | // Winkelberechnung |
366 | Nick666 | 230 | heading = atan2_i(x_corr, y_corr); |
391 | Nick666 | 231 | if (heading < 0) heading = -heading; |
232 | else heading = 360 - heading; |
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386 | Nick666 | 233 | |
234 | /* |
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235 | if (!x_corr && y_corr <0) return (90); |
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236 | if (!x_corr && y_corr >0) return (270); |
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237 | |||
238 | heading = atan(y_corr/x_corr)*57.29578; |
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239 | if (x_corr < 0) heading = 180-heading; |
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240 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
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241 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
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242 | */ |
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366 | Nick666 | 243 | return (heading); |
244 | } |