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| Rev 1850 | Rev 1852 | ||
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| Line 23... | Line 23... | ||
| 23 | 23 | ||
| 24 | unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
24 | unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
| 25 | unsigned char SPI_CommandCounter = 0; |
25 | unsigned char SPI_CommandCounter = 0; |
| 26 | unsigned char NC_ErrorCode = 0; |
26 | unsigned char NC_ErrorCode = 0; |
| - | 27 | signed int POI_KameraNick = 0; // in 0,1° |
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| Line 27... | Line 28... | ||
| 27 | signed int POI_KameraNick = 0; // in 0,1° |
28 | vector16_t MagVec = {0,0,0}; |
| Line 28... | Line 29... | ||
| 28 | 29 | ||
| 29 | #ifdef USE_SPI_COMMUNICATION |
30 | #ifdef USE_SPI_COMMUNICATION |
| Line 277... | Line 278... | ||
| 277 | { |
278 | { |
| 278 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
279 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
| 279 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
280 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
| 280 | } |
281 | } |
| Line -... | Line 282... | ||
| - | 282 | ||
| - | 283 | // update compass readings |
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| - | 284 | MagVec.x = FromNaviCtrl.MagVecX; |
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| - | 285 | MagVec.y = FromNaviCtrl.MagVecY; |
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| - | 286 | MagVec.z = FromNaviCtrl.MagVecZ; |
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| 281 | 287 | ||
| 282 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
288 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| Line 283... | Line 289... | ||
| 283 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
289 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |