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Compare Revisions

• This comparison shows the changes necessary to convert path

  → / @ 324

  → / @ 325

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 324 → Rev 325

/trunk/main.h
14,7 → 14,7
#define VERSION_MAJOR 0
#define VERSION_MINOR 25
#define VERSION_PATCH 0
#define VERSION_PATCH 1
// 0 = A
// 1 = B
// 2 = C

/trunk/spi_slave.c
414,13 → 414,12
{
if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
{
if(NaviData.HomePositionDeviation.Distance > 100) // nur bei ausreichender distance
if(NaviData.HomePositionDeviation.Distance > 200) // nur bei ausreichender Distance -> 20m
{
HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800) % 3600; // in 0.1°
HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1°
}
else // Ansonsten die aktuelle Richtung übernehmen
HeadFreeStartAngle = FromFlightCtrl.GyroHeading; // in 0.1°
HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1°
}
}