| 50,7 → 50,7 |
|---|
| else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| else {MM3.STATE == MM3_IDLE;break;} |
| |
| MM3.DRDY = SetDelay(10); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| MM3.STATE = MM3_WAIT_DRDY; |
| break; |
| |
| 100,8 → 100,8 |
|---|
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| // Zeitnahe Speicherung der aktuellen Nick-/Rollneigung in ° |
| MM3.NickGrad = IntegralNick/Int2Grad_Faktor; |
| MM3.RollGrad = IntegralRoll/Int2Grad_Faktor; |
| MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8); |
| MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8); |
| break; |
| } |
| } |
| 121,9 → 121,8 |
|---|
| //Neigungskompensation |
| y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| x_corr = (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick) + (cos_nick * MM3.x_axis); |
| |
| //Winkelberechnung |
| heading = arctan_f(x_corr, y_corr); |
| heading = arctan_i(x_corr, y_corr); |
| |
| return (heading); |
| } |