| 148,6 → 148,9 |
|---|
| uint8_t measurement=50,beeper=0; |
| unsigned int timer; |
| |
| GRN_ON; |
| ROT_OFF; |
| |
| while (measurement) |
| { |
| //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
| 163,8 → 166,9 |
|---|
| |
| if (!beeper) |
| { |
| ROT_FLASH; |
| GRN_FLASH; |
| beeper = 50; |
| beeptime = 50; |
| } |
| beeper--; |
| |
| 206,9 → 210,9 |
|---|
| cos_roll = cos_f(MM3.RollGrad); |
| |
| // Offset der Achsen nur bei Bedarf (also hier) berücksichtigen |
| x_axis = (MM3.x_axis - MM3_calib.X_off); |
| y_axis = (MM3.y_axis - MM3_calib.Y_off); |
| z_axis = (MM3.z_axis - MM3_calib.Z_off); |
| x_axis = -(MM3.x_axis - MM3_calib.X_off); |
| y_axis = -(MM3.y_axis - MM3_calib.Y_off); |
| z_axis = -(MM3.z_axis - MM3_calib.Z_off); |
| |
| // Neigungskompensation |
| x_corr = (cos_nick * x_axis) + (((sin_roll * y_axis) - (cos_roll * z_axis)) * sin_nick); |