WebSVN - NaviCtrl - Diff - Rev 340 and 342


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2010 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "91x_lib.h"
#include "compass.h"
#include "mk3mag.h"
#include "ncmag.h"
#include "spi_slave.h"
#include "mymath.h"
#include "uart1.h"
#include "fifo.h"
#include "led.h"
#include "main.h"
 
u8 CompassCalStateQueue[10];
fifo_t CompassCalcStateFiFo;
 
volatile s16vec_t MagVector;   // is written by mk3mag or ncmag implementation
volatile s16 Compass_Heading;   // is written by mk3mag or ncmag implementation
volatile u8  Compass_CalState; // is written by mk3mag or ncmag implementation
s16 Hx = 0, Hy = 0;
s32 EarthMagneticField = 100;
s32 EarthMagneticFieldFiltered = 100;
s32 EarthMagneticInclination = 0;
s32 EarthMagneticInclinationFiltered = 0;
s32 EarthMagneticInclinationTheoretic = 0;
u8  ErrorDisturbedEarthMagnetField = 0;
s16 EarthMagneticStrengthTheoretic = 0; // in mT (50 in Germany - 22 in Brazil)
 
#define COMPASS_NONE    0
#define COMPASS_MK3MAG  1
#define COMPASS_NCMAG   2
u8 Compass_Device = COMPASS_NONE;
 
void Compass_Init(void)
{
        switch(Compass_Device)
        {
                case COMPASS_NONE:
                        UART1_PutString("\r\n Looking for compass");
                        if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
                        else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
 
/*                      if(Version_HW > 11)
                        {
                                if(      NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
                                else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG;
                        }
                        else
                        {
                                if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
                                else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
                        }
*/
                        break;
 
                case COMPASS_NCMAG:
                        if( NCMAG_Init() )      Compass_Device = COMPASS_NCMAG;
                        else                            Compass_Device = COMPASS_NONE;
                        break;
 
                case COMPASS_MK3MAG:
                default:
                        // nothing to do
                        break;
 
        }
        fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine);
}
 
 
void Compass_CalcHeading(void)
{
        if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState)
        {
                Compass_Heading = -1;
        }
        else // fc attitude is avialable and no compass calibration active
        {
                // calculate attitude correction
                // a float implementation takes too long
                s16 tmp;
                s32 sinnick, cosnick, sinroll, cosroll;
                tmp = FromFlightCtrl.AngleNick/10; // in deg
                sinnick = (s32)c_sin_8192(tmp);
                cosnick = (s32)c_cos_8192(tmp);
                tmp = FromFlightCtrl.AngleRoll/10; // in deg
                sinroll = (s32)c_sin_8192(tmp);
                cosroll = (s32)c_cos_8192(tmp);
                // tbd. compensation signs and oriantation has to be fixed
                Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);
                Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);
                // calculate heading
                tmp = (s16)(c_atan2_546(Hy, Hx)/546L);
                if (tmp > 0) tmp = 360 - tmp;
                else tmp = -tmp;
                Compass_Heading = tmp;
        }
}
 
 
void Compass_Update(void)
{
static s16vec_t old;  
static u32 check_value_counter = 0;
        // check for new cal state
        Compass_UpdateCalState();
        // initiate new compass communication
        switch(Compass_Device)
        {
                case COMPASS_MK3MAG:
                        MK3MAG_Update();
                        DebugOut.Analog[24] = MagVector.X;
                        DebugOut.Analog[25] = MagVector.Y;
                        DebugOut.Analog[26] = MagVector.Z;
                        break;
                case COMPASS_NCMAG:
                        NCMAG_Update();
                        DebugOut.Analog[24] = MagRawVector.X;
                        DebugOut.Analog[25] = MagRawVector.Y;
                        DebugOut.Analog[26] = MagRawVector.Z;
                default:
                        break;
        }
    if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing
 
        if(check_value_counter > 5000)
         {
          Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
         }
         else check_value_counter++;
 
        old.X = MagVector.X;
        old.Y = MagVector.Y;
        old.Z = MagVector.Z;
}
 
// put cal state into fifo
void Compass_SetCalState(u8 CalState)
{
        fifo_put(&CompassCalcStateFiFo, CalState);
}
 
// get cal state from fifo
void Compass_UpdateCalState()
{
        fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState);
}
 
 

Subversion Repositories NaviCtrl

(root)/tags/V2.06i/compass.c @ 646 - Rev 340 → 342

Rev 340		Rev 342
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2010 Ingo Busker, Holger Buss	5	// + Copyright (c) 2010 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include "91x_lib.h"	57	#include "91x_lib.h"
58	#include "compass.h"	58	#include "compass.h"
59	#include "mk3mag.h"	59	#include "mk3mag.h"
60	#include "ncmag.h"	60	#include "ncmag.h"
61	#include "spi_slave.h"	61	#include "spi_slave.h"
62	#include "mymath.h"	62	#include "mymath.h"
63	#include "uart1.h"	63	#include "uart1.h"
64	#include "fifo.h"	64	#include "fifo.h"
65	#include "led.h"	65	#include "led.h"
66	#include "main.h"	66	#include "main.h"
67		67
68	u8 CompassCalStateQueue[10];	68	u8 CompassCalStateQueue[10];
69	fifo_t CompassCalcStateFiFo;	69	fifo_t CompassCalcStateFiFo;
70		70
71	volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation	71	volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation
72	volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation	72	volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation
73	volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation	73	volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation
74	s16 Hx = 0, Hy = 0;	74	s16 Hx = 0, Hy = 0;
75	s32 EarthMagneticField = 100;	75	s32 EarthMagneticField = 100;
76	s32 EarthMagneticFieldFiltered = 100;	76	s32 EarthMagneticFieldFiltered = 100;
77	s32 EarthMagneticInclination = 0;	77	s32 EarthMagneticInclination = 0;
78	s32 EarthMagneticInclinationFiltered = 0;	78	s32 EarthMagneticInclinationFiltered = 0;
79	s32 EarthMagneticInclinationTheoretic = 0;	79	s32 EarthMagneticInclinationTheoretic = 0;
80	u8 ErrorDisturbedEarthMagnetField = 0;	80	u8 ErrorDisturbedEarthMagnetField = 0;
-		81	s16 EarthMagneticStrengthTheoretic = 0; // in mT (50 in Germany - 22 in Brazil)
81		82
82	#define COMPASS_NONE 0	83	#define COMPASS_NONE 0
83	#define COMPASS_MK3MAG 1	84	#define COMPASS_MK3MAG 1
84	#define COMPASS_NCMAG 2	85	#define COMPASS_NCMAG 2
85	u8 Compass_Device = COMPASS_NONE;	86	u8 Compass_Device = COMPASS_NONE;
86		87
87	void Compass_Init(void)	88	void Compass_Init(void)
88	{	89	{
89	switch(Compass_Device)	90	switch(Compass_Device)
90	{	91	{
91	case COMPASS_NONE:	92	case COMPASS_NONE:
92	UART1_PutString("\r\n Looking for compass");	93	UART1_PutString("\r\n Looking for compass");
-		94	if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
-		95	else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
-		96
93	if(Version_HW > 11)	97	/* if(Version_HW > 11)
94	{	98	{
95	if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;	99	if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
96	else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG;	100	else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG;
97	}	101	}
98	else	102	else
99	{	103	{
100	if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;	104	if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
101	else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;	105	else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
102	}	106	}
-		107	*/
103	break;	108	break;
104		109
105	case COMPASS_NCMAG:	110	case COMPASS_NCMAG:
106	if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;	111	if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
107	else Compass_Device = COMPASS_NONE;	112	else Compass_Device = COMPASS_NONE;
108	break;	113	break;
109		114
110	case COMPASS_MK3MAG:	115	case COMPASS_MK3MAG:
111	default:	116	default:
112	// nothing to do	117	// nothing to do
113	break;	118	break;
114		119
115	}	120	}
116	fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine);	121	fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine);
117	}	122	}
118		123
119		124
120	void Compass_CalcHeading(void)	125	void Compass_CalcHeading(void)
121	{	126	{
122	if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) \|\| Compass_CalState)	127	if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) \|\| Compass_CalState)
123	{	128	{
124	Compass_Heading = -1;	129	Compass_Heading = -1;
125	}	130	}
126	else // fc attitude is avialable and no compass calibration active	131	else // fc attitude is avialable and no compass calibration active
127	{	132	{
128	// calculate attitude correction	133	// calculate attitude correction
129	// a float implementation takes too long	134	// a float implementation takes too long
130	s16 tmp;	135	s16 tmp;
131	s32 sinnick, cosnick, sinroll, cosroll;	136	s32 sinnick, cosnick, sinroll, cosroll;
132	tmp = FromFlightCtrl.AngleNick/10; // in deg	137	tmp = FromFlightCtrl.AngleNick/10; // in deg
133	sinnick = (s32)c_sin_8192(tmp);	138	sinnick = (s32)c_sin_8192(tmp);
134	cosnick = (s32)c_cos_8192(tmp);	139	cosnick = (s32)c_cos_8192(tmp);
135	tmp = FromFlightCtrl.AngleRoll/10; // in deg	140	tmp = FromFlightCtrl.AngleRoll/10; // in deg
136	sinroll = (s32)c_sin_8192(tmp);	141	sinroll = (s32)c_sin_8192(tmp);
137	cosroll = (s32)c_cos_8192(tmp);	142	cosroll = (s32)c_cos_8192(tmp);
138	// tbd. compensation signs and oriantation has to be fixed	143	// tbd. compensation signs and oriantation has to be fixed
139	Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);	144	Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);
140	Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);	145	Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);
141	// calculate heading	146	// calculate heading
142	tmp = (s16)(c_atan2_546(Hy, Hx)/546L);	147	tmp = (s16)(c_atan2_546(Hy, Hx)/546L);
143	if (tmp > 0) tmp = 360 - tmp;	148	if (tmp > 0) tmp = 360 - tmp;
144	else tmp = -tmp;	149	else tmp = -tmp;
145	Compass_Heading = tmp;	150	Compass_Heading = tmp;
146	}	151	}
147	}	152	}
148		153
149		154
150	void Compass_Update(void)	155	void Compass_Update(void)
151	{	156	{
152	static s16vec_t old;	157	static s16vec_t old;
153	static u32 check_value_counter = 0;	158	static u32 check_value_counter = 0;
154	// check for new cal state	159	// check for new cal state
155	Compass_UpdateCalState();	160	Compass_UpdateCalState();
156	// initiate new compass communication	161	// initiate new compass communication
157	switch(Compass_Device)	162	switch(Compass_Device)
158	{	163	{
159	case COMPASS_MK3MAG:	164	case COMPASS_MK3MAG:
160	MK3MAG_Update();	165	MK3MAG_Update();
161	DebugOut.Analog[24] = MagVector.X;	166	DebugOut.Analog[24] = MagVector.X;
162	DebugOut.Analog[25] = MagVector.Y;	167	DebugOut.Analog[25] = MagVector.Y;
163	DebugOut.Analog[26] = MagVector.Z;	168	DebugOut.Analog[26] = MagVector.Z;
164	break;	169	break;
165	case COMPASS_NCMAG:	170	case COMPASS_NCMAG:
166	NCMAG_Update();	171	NCMAG_Update();
167	DebugOut.Analog[24] = MagRawVector.X;	172	DebugOut.Analog[24] = MagRawVector.X;
168	DebugOut.Analog[25] = MagRawVector.Y;	173	DebugOut.Analog[25] = MagRawVector.Y;
169	DebugOut.Analog[26] = MagRawVector.Z;	174	DebugOut.Analog[26] = MagRawVector.Z;
170	default:	175	default:
171	break;	176	break;
172	}	177	}
173	if(!((old.X == MagVector.X) \|\| (old.Y == MagVector.Y) \|\| (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing	178	if(!((old.X == MagVector.X) \|\| (old.Y == MagVector.Y) \|\| (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing
174		179
175	if(check_value_counter > 5000)	180	if(check_value_counter > 5000)
176	{	181	{
177	Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault	182	Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
178	}	183	}
179	else check_value_counter++;	184	else check_value_counter++;
180		185
181	old.X = MagVector.X;	186	old.X = MagVector.X;
182	old.Y = MagVector.Y;	187	old.Y = MagVector.Y;
183	old.Z = MagVector.Z;	188	old.Z = MagVector.Z;
184	}	189	}
185		190
186	// put cal state into fifo	191	// put cal state into fifo
187	void Compass_SetCalState(u8 CalState)	192	void Compass_SetCalState(u8 CalState)
188	{	193	{
189	fifo_put(&CompassCalcStateFiFo, CalState);	194	fifo_put(&CompassCalcStateFiFo, CalState);
190	}	195	}
191		196
192	// get cal state from fifo	197	// get cal state from fifo
193	void Compass_UpdateCalState()	198	void Compass_UpdateCalState()
194	{	199	{
195	fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState);	200	fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState);
196	}	201	}
197		202
198		203