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1 | /* |
1 | /* |
2 | 2 | ||
3 | Copyright 2007, Niklas Nold |
3 | Copyright 2007, Niklas Nold |
4 | 4 | ||
5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
7 | either version 3 of the License, or (at your option) any later version. |
7 | either version 3 of the License, or (at your option) any later version. |
8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
12 | 12 | ||
13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
14 | */ |
14 | */ |
15 | 15 | ||
16 | #include "main.h" |
16 | #include "main.h" |
17 | 17 | ||
18 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
18 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
19 | 19 | ||
20 | struct MM3_working_struct MM3; |
20 | struct MM3_working_struct MM3; |
21 | struct MM3_calib_struct MM3_calib; |
21 | struct MM3_calib_struct MM3_calib; |
22 | 22 | ||
23 | 23 | ||
24 | //############################################################################ |
24 | //############################################################################ |
25 | // Initialisierung |
25 | // Initialisierung |
26 | void init_MM3(void) |
26 | void init_MM3(void) |
27 | //############################################################################ |
27 | //############################################################################ |
28 | { |
28 | { |
29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); //Interrupt an, Master, 625 kHz Oszillator |
29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); //Interrupt an, Master, 625 kHz Oszillator |
30 | SPSR = (1<<SPI2X); |
30 | SPSR = (1<<SPI2X); |
31 | 31 | ||
32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
33 | 33 | ||
34 | PORTD &= ~(1<<PD3); // J5 auf Low |
34 | PORTD &= ~(1<<PD3); // J5 auf Low |
35 | 35 | ||
36 | MM3.AXIS = MM3_X; |
36 | MM3.AXIS = MM3_X; |
37 | MM3.STATE = MM3_RESET; |
37 | MM3.STATE = MM3_RESET; |
38 | 38 | ||
39 | // Kalibrierung aus dem EEprom lesen |
39 | // Kalibrierung aus dem EEprom lesen |
40 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
40 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
41 | } |
41 | } |
42 | 42 | ||
43 | 43 | ||
44 | //############################################################################ |
44 | //############################################################################ |
45 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
45 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
46 | void timer0_MM3(void) |
46 | void timer0_MM3(void) |
47 | //############################################################################ |
47 | //############################################################################ |
48 | { |
48 | { |
49 | switch (MM3.STATE) |
49 | switch (MM3.STATE) |
50 | { |
50 | { |
51 | case MM3_RESET: |
51 | case MM3_RESET: |
52 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
52 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
53 | MM3.STATE = MM3_START_TRANSFER; |
53 | MM3.STATE = MM3_START_TRANSFER; |
54 | return; |
54 | return; |
55 | 55 | ||
56 | case MM3_START_TRANSFER: |
56 | case MM3_START_TRANSFER: |
57 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
57 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
58 | 58 | ||
59 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
59 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
60 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
60 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
61 | else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
61 | else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
62 | 62 | ||
63 | MM3.DRDY = SetDelay(5); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
63 | MM3.DRDY = SetDelay(5); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
64 | MM3.STATE = MM3_WAIT_DRDY; |
64 | MM3.STATE = MM3_WAIT_DRDY; |
65 | return; |
65 | return; |
66 | 66 | ||
67 | case MM3_WAIT_DRDY: |
67 | case MM3_WAIT_DRDY: |
68 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
68 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
69 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
69 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
70 | } |
70 | } |
71 | } |
71 | } |
72 | 72 | ||
73 | 73 | ||
74 | //############################################################################ |
74 | //############################################################################ |
75 | // SPI byte ready |
75 | // SPI byte ready |
76 | SIGNAL (SIG_SPI) |
76 | SIGNAL (SIG_SPI) |
77 | //############################################################################ |
77 | //############################################################################ |
78 | { |
78 | { |
79 | switch (MM3.STATE) |
79 | switch (MM3.STATE) |
80 | { |
80 | { |
81 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
81 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
82 | if (MM3.AXIS == MM3_X) |
82 | if (MM3.AXIS == MM3_X) |
83 | { |
83 | { |
84 | MM3.x_axis = SPDR; |
84 | MM3.x_axis = SPDR; |
85 | MM3.x_axis <<= 8; |
85 | MM3.x_axis <<= 8; |
86 | } |
86 | } |
87 | else if (MM3.AXIS == MM3_Y) |
87 | else if (MM3.AXIS == MM3_Y) |
88 | { |
88 | { |
89 | MM3.y_axis = SPDR; |
89 | MM3.y_axis = SPDR; |
90 | MM3.y_axis <<= 8; |
90 | MM3.y_axis <<= 8; |
91 | } |
91 | } |
92 | else // if (MM3.AXIS == MM3_Z) |
92 | else // if (MM3.AXIS == MM3_Z) |
93 | { |
93 | { |
94 | MM3.z_axis = SPDR; |
94 | MM3.z_axis = SPDR; |
95 | MM3.z_axis <<= 8; |
95 | MM3.z_axis <<= 8; |
96 | } |
96 | } |
97 | 97 | ||
98 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
98 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
99 | MM3.STATE=MM3_BYTE2; |
99 | MM3.STATE=MM3_BYTE2; |
100 | return; |
100 | return; |
101 | 101 | ||
102 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
102 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
103 | if (MM3.AXIS == MM3_X) |
103 | if (MM3.AXIS == MM3_X) |
104 | { |
104 | { |
105 | MM3.x_axis |= SPDR; |
105 | MM3.x_axis |= SPDR; |
106 | // Spikes filtern |
106 | // Spikes filtern |
107 | if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis; |
107 | if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis; |
108 | else MM3.x_axis = MM3.x_axis_old; |
108 | else MM3.x_axis = MM3.x_axis_old; |
109 | MM3.AXIS = MM3_Y; |
109 | MM3.AXIS = MM3_Y; |
110 | MM3.STATE = MM3_RESET; |
110 | MM3.STATE = MM3_RESET; |
111 | } |
111 | } |
112 | else if (MM3.AXIS == MM3_Y) |
112 | else if (MM3.AXIS == MM3_Y) |
113 | { |
113 | { |
114 | MM3.y_axis |= SPDR; |
114 | MM3.y_axis |= SPDR; |
115 | if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis; |
115 | if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis; |
116 | else MM3.y_axis = MM3.y_axis_old; |
116 | else MM3.y_axis = MM3.y_axis_old; |
117 | MM3.AXIS = MM3_Z; |
117 | MM3.AXIS = MM3_Z; |
118 | MM3.STATE = MM3_RESET; |
118 | MM3.STATE = MM3_RESET; |
119 | } |
119 | } |
120 | else // if (MM3.AXIS == MM3_Z) |
120 | else // if (MM3.AXIS == MM3_Z) |
121 | { |
121 | { |
122 | MM3.z_axis |= SPDR; |
122 | MM3.z_axis |= SPDR; |
123 | if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis; |
123 | if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis; |
124 | else MM3.z_axis = MM3.z_axis_old; |
124 | else MM3.z_axis = MM3.z_axis_old; |
125 | MM3.AXIS = MM3_X; |
125 | MM3.AXIS = MM3_X; |
126 | MM3.STATE = MM3_RESET; |
126 | MM3.STATE = MM3_RESET; |
127 | } |
127 | } |
128 | 128 | ||
129 | return; |
129 | return; |
130 | } |
130 | } |
131 | } |
131 | } |
132 | 132 | ||
133 | //############################################################################ |
133 | //############################################################################ |
134 | // Kompass kalibrieren |
134 | // Kompass kalibrieren |
135 | void calib_MM3(void) |
135 | void calib_MM3(void) |
136 | //############################################################################ |
136 | //############################################################################ |
137 | { |
137 | { |
138 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
138 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
139 | uint8_t measurement=50,beeper=0; |
139 | uint8_t measurement=50,beeper=0; |
140 | unsigned int timer; |
140 | unsigned int timer; |
141 | 141 | ||
142 | GRN_ON; |
142 | GRN_ON; |
143 | ROT_OFF; |
143 | ROT_OFF; |
144 | 144 | ||
145 | while (measurement) |
145 | while (measurement) |
146 | { |
146 | { |
147 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
147 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
148 | 148 | ||
149 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
149 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
150 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
150 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
151 | 151 | ||
152 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
152 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
153 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
153 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
154 | 154 | ||
155 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
155 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
156 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
156 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
157 | 157 | ||
158 | if (!beeper) |
158 | if (!beeper) |
159 | { |
159 | { |
160 | ROT_FLASH; |
160 | ROT_FLASH; |
161 | GRN_FLASH; |
161 | GRN_FLASH; |
162 | beeptime = 50; |
162 | beeptime = 50; |
163 | beeper = 50; |
163 | beeper = 50; |
164 | } |
164 | } |
165 | beeper--; |
165 | beeper--; |
166 | 166 | ||
167 | // Schleife mit 100 Hz |
167 | // Schleife mit 100 Hz |
168 | timer = SetDelay(10); |
168 | timer = SetDelay(10); |
169 | while(!CheckDelay(timer)); |
169 | while(!CheckDelay(timer)); |
170 | 170 | ||
171 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
171 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
172 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
172 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
173 | } |
173 | } |
174 | 174 | ||
175 | // Wertebereich der Achsen |
175 | // Wertebereich der Achsen |
176 | MM3_calib.X_range = (x_max - x_min); |
176 | MM3_calib.X_range = (x_max - x_min); |
177 | MM3_calib.Y_range = (y_max - y_min); |
177 | MM3_calib.Y_range = (y_max - y_min); |
178 | MM3_calib.Z_range = (z_max - z_min); |
178 | MM3_calib.Z_range = (z_max - z_min); |
179 | 179 | ||
180 | // Offset der Achsen |
180 | // Offset der Achsen |
181 | MM3_calib.X_off = (MM3_calib.X_range / 2) - x_max; |
181 | MM3_calib.X_off = (MM3_calib.X_range / 2) - x_max; |
182 | MM3_calib.Y_off = (MM3_calib.Y_range / 2) - y_max; |
182 | MM3_calib.Y_off = (MM3_calib.Y_range / 2) - y_max; |
183 | MM3_calib.Z_off = (MM3_calib.Z_range / 2) - z_max; |
183 | MM3_calib.Z_off = (MM3_calib.Z_range / 2) - z_max; |
184 | 184 | ||
185 | // und im EEProm abspeichern |
185 | // und im EEProm abspeichern |
186 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
186 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
187 | } |
187 | } |
188 | 188 | ||
189 | 189 | ||
190 | //############################################################################ |
190 | //############################################################################ |
191 | // Neigungskompensierung und Berechnung der Ausrichtung |
191 | // Neigungskompensierung und Berechnung der Ausrichtung |
192 | signed int heading_MM3(void) |
192 | signed int heading_MM3(void) |
193 | //############################################################################ |
193 | //############################################################################ |
194 | { |
194 | { |
195 | float sin_nick, cos_nick, sin_roll, cos_roll; |
195 | float sin_nick, cos_nick, sin_roll, cos_roll; |
196 | float x_corr, y_corr; |
196 | float x_corr, y_corr; |
197 | signed int x_axis,y_axis,z_axis, heading; |
197 | signed int x_axis,y_axis,z_axis, heading; |
198 | unsigned int div_faktor; |
198 | unsigned int div_faktor; |
199 | 199 | ||
200 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
200 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
201 | 201 | ||
202 | // Berechung von sinus und cosinus |
202 | // Berechung von sinus und cosinus |
203 | MM3.NickGrad = -(IntegralNick/div_faktor); |
203 | MM3.NickGrad = (IntegralNick/div_faktor); |
204 | sin_nick = sin_f(MM3.NickGrad); |
204 | sin_nick = sin_f(MM3.NickGrad); |
205 | cos_nick = cos_f(MM3.NickGrad); |
205 | cos_nick = cos_f(MM3.NickGrad); |
206 | 206 | ||
207 | MM3.RollGrad = -(IntegralRoll/div_faktor); |
207 | MM3.RollGrad = (IntegralRoll/div_faktor); |
208 | sin_roll = sin_f(MM3.RollGrad); |
208 | sin_roll = sin_f(MM3.RollGrad); |
209 | cos_roll = cos_f(MM3.RollGrad); |
209 | cos_roll = cos_f(MM3.RollGrad); |
210 | 210 | ||
211 | // Offset |
211 | // Offset |
212 | x_axis = (MM3.x_axis + MM3_calib.X_off); |
212 | x_axis = (MM3.x_axis + MM3_calib.X_off); |
213 | y_axis = (MM3.y_axis + MM3_calib.Y_off); |
213 | y_axis = (MM3.y_axis + MM3_calib.Y_off); |
214 | z_axis = (MM3.z_axis + MM3_calib.Z_off); |
214 | z_axis = (MM3.z_axis + MM3_calib.Z_off); |
215 | 215 | ||
216 | // Normierung Wertebereich |
216 | // Normierung Wertebereich |
217 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
217 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
218 | { |
218 | { |
219 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
219 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
220 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
220 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
221 | } |
221 | } |
222 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
222 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
223 | { |
223 | { |
224 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
224 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
225 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
225 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
226 | } |
226 | } |
227 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
227 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
228 | { |
228 | { |
229 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
229 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
230 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
230 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
231 | } |
231 | } |
232 | 232 | ||
233 | DebugOut.Analog[9] = x_axis; |
233 | DebugOut.Analog[9] = x_axis; |
234 | DebugOut.Analog[10] = y_axis; |
234 | DebugOut.Analog[10] = y_axis; |
235 | DebugOut.Analog[11] = z_axis; |
235 | DebugOut.Analog[11] = z_axis; |
236 | 236 | ||
237 | // Neigungskompensation |
237 | // Neigungskompensation |
238 | x_corr = x_axis * cos_nick; |
238 | x_corr = x_axis * cos_nick; |
239 | x_corr += y_axis * sin_roll * sin_nick; |
239 | x_corr += y_axis * sin_roll * sin_nick; |
240 | x_corr -= z_axis * cos_roll * sin_nick; |
240 | x_corr -= z_axis * cos_roll * sin_nick; |
241 | 241 | ||
242 | y_corr = y_axis * cos_roll; |
242 | y_corr = y_axis * cos_roll; |
243 | y_corr += z_axis * sin_roll; |
243 | y_corr += z_axis * sin_roll; |
244 | 244 | ||
245 | // Winkelberechnung |
245 | // Winkelberechnung |
246 | heading = atan2_i(x_corr, y_corr); |
246 | heading = atan2_i(x_corr, y_corr); |
247 | 247 | ||
248 | /* |
248 | /* |
249 | if (!x_corr && y_corr <0) return (90); |
249 | if (!x_corr && y_corr <0) return (90); |
250 | if (!x_corr && y_corr >0) return (270); |
250 | if (!x_corr && y_corr >0) return (270); |
251 | |
251 | |
252 | heading = atan(y_corr/x_corr)*57.29578; |
252 | heading = atan(y_corr/x_corr)*57.29578; |
253 | if (x_corr < 0) heading = 180-heading; |
253 | if (x_corr < 0) heading = 180-heading; |
254 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
254 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
255 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
255 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
256 | */ |
256 | */ |
257 | 257 | ||
258 | return (heading); |
258 | return (heading); |
259 | } |
259 | } |
260 | 260 |