89,8 → 89,8 |
cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
|
// update content of packet to NaviCtrl |
ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 108); |
ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 130L); // convert to multiple of 0.1° |
ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 130L); // convert to multiple of 0.1° |
ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
ToNaviCtrl.GyroNick = Reading_GyroNick; |
ToNaviCtrl.GyroRoll = Reading_GyroRoll; |