| 52,7 → 52,8 |
|---|
| #include <stdlib.h> |
| #include <inttypes.h> |
| #include "timer0.h" |
| #include "rc.h" |
| // #include "rc.h" |
| #include "attitude.h" |
| #include "eeprom.h" |
| #include "mk3mag.h" |
| |
| 99,7 → 100,7 |
|---|
| if (PWMCount > 400) |
| { |
| if(PWMTimeout) PWMTimeout--; // decrement timeout |
| CompassHeading = -1; // unknown heading |
| compassHeading = -1; // unknown heading |
| PWMCount = 0; // reset PWM Counter |
| } |
| |
| 108,9 → 109,9 |
|---|
| { // ignore pwm values values of 0 and higher than 37 ms; |
| if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
| { |
| if(PWMCount <10) CompassHeading = 0; |
| else CompassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
| CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| if(PWMCount <10) compassHeading = 0; |
| else compassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
| compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| // 12 * 362 counts * 102.4 us |
| } |