Rev 473 | Rev 480 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 473 | Rev 475 | ||
|---|---|---|---|
| Line 307... | Line 307... | ||
| 307 | { |
307 | { |
| 308 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
308 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| 309 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
309 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| 310 | ToFlightCtrl.CompassHeading = Compass_Heading; |
310 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 311 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
311 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 312 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading - GeoMagDec) % 3600; |
312 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset - GeoMagDec) % 3600; |
| 313 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
313 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 314 | ToFlightCtrl.MagVecX = MagVector.X; |
314 | ToFlightCtrl.MagVecX = MagVector.X; |
| 315 | ToFlightCtrl.MagVecY = MagVector.Y; |
315 | ToFlightCtrl.MagVecY = MagVector.Y; |
| 316 | ToFlightCtrl.MagVecZ = MagVector.Z; |
316 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 317 | // ToFlightCtrl.NCStatus = 0; |
317 | // ToFlightCtrl.NCStatus = 0; |
| Line 735... | Line 735... | ||
| 735 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
735 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| 736 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
736 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| 737 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
737 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
| 738 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
738 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| 739 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
739 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
| 740 | // frei FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
740 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
| - | 741 | { |
|
| - | 742 | FC.FromFC_DisableDeclination = 1; |
|
| - | 743 | FC.FromFC_CompassOffset = 10 * (signed char) ((unsigned char) FromFlightCtrl.Param.Byte[7] - 128); |
|
| - | 744 | GeoMagDec = 0; |
|
| - | 745 | } |
|
| - | 746 | else |
|
| - | 747 | { |
|
| - | 748 | FC.FromFC_DisableDeclination = 0; |
|
| - | 749 | FC.FromFC_CompassOffset = 10 * (signed char) FromFlightCtrl.Param.Byte[7]; |
|
| - | 750 | } |
|
| 741 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
751 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| 742 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
752 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
| 743 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
753 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| 744 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
754 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
| 745 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
755 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |