| 131,7 → 131,7 |
|---|
| "GyroYaw ", //5 |
| "GYRO_RATE_FACTOR", |
| "GYRO_RATE_FACTOR", |
| "unused ", |
| "AttitudeControl ", |
| "AccPitch (angle)", |
| "AccRoll (angle) ", //10 |
| "UBat ", |
| 214,7 → 214,7 |
|---|
| UCSR0B |= (1 << TXCIE0); |
| |
| // initialize the debug timer |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| DebugData_Timer = setDelay(DebugData_Interval); |
| |
| // unlock rxd_buffer |
| rxd_buffer_locked = FALSE; |
| 225,7 → 225,7 |
|---|
| txd_complete = TRUE; |
| |
| #ifdef USE_MK3MAG |
| Compass_Timer = SetDelay(220); |
| Compass_Timer = setDelay(220); |
| #endif |
| |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| 705,14 → 705,14 |
|---|
| ConfirmFrame = 0; |
| } |
| |
| if (((DebugData_Interval && CheckDelay(DebugData_Timer)) || request_DebugData) |
| if (((DebugData_Interval && checkDelay(DebugData_Timer)) || request_DebugData) |
| && txd_complete) { |
| SendOutData('D', FC_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| DebugData_Timer = setDelay(DebugData_Interval); |
| request_DebugData = FALSE; |
| } |
| |
| if (((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D) |
| if (((Data3D_Interval && checkDelay(Data3D_Timer)) || request_Data3D) |
| && txd_complete) { |
| SendOutData('C', FC_ADDRESS, 1, (uint8_t *) &Data3D, sizeof(Data3D)); |
| Data3D.AngleNick = (int16_t) ((10 * angle[PITCH]) |
| 720,7 → 720,7 |
|---|
| Data3D.AngleRoll = (int16_t) ((10 * angle[ROLL]) |
| / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| Data3D.Heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
| Data3D_Timer = SetDelay(Data3D_Interval); |
| Data3D_Timer = setDelay(Data3D_Interval); |
| request_Data3D = FALSE; |
| } |
| |
| 731,7 → 731,7 |
|---|
| } |
| |
| #ifdef USE_MK3MAG |
| if((CheckDelay(Compass_Timer)) && txd_complete) { |
| if((checkDelay(Compass_Timer)) && txd_complete) { |
| ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
| 740,7 → 740,7 |
|---|
| SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| // the last state is 5 and should be send only once to avoid multiple flash writing |
| if(compassCalState > 4) compassCalState = 0; |
| Compass_Timer = SetDelay(99); |
| Compass_Timer = setDelay(99); |
| } |
| #endif |
| |