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163 | 163 | ||
164 | //------------------------------------------------------ |
164 | //------------------------------------------------------ |
165 | void UpdateSPI_Buffer(void) |
165 | void UpdateSPI_Buffer(void) |
166 | { |
166 | { |
167 | signed int tmp; |
167 | signed int tmp; |
168 | static unsigned char motorindex, oldcommand = 255; |
168 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION; |
169 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
169 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
170 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
170 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
171 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
171 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
172 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
172 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |