| /branches/v0.60_MicroMag3_Nick666/trunc/compass.c |
|---|
| 244,8 → 244,7 |
| y_corr = y_axis * cos_roll; |
| y_corr += z_axis * sin_roll; |
| // Winkelberechnung |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| if (heading < 0) heading = -heading; |
| else heading = 360 - heading; |
| /branches/v0.60_MicroMag3_Nick666/trunc/timer0.c |
|---|
| 48,7 → 48,9 |
| if (!cntKompass--) // Aufruf mit 10 Hz |
| { |
| KompassValue = heading_MM3(); |
| int heading; |
| heading = heading_MM3(); |
| KompassValue = (KompassValue * 7 + heading) / 8; // Filtern |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 980; |
| } |