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Rev 342 | Rev 345 | ||
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290 | if (SPI_RxBuffer_Request) |
290 | if (SPI_RxBuffer_Request) |
291 | { |
291 | { |
292 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
292 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
293 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
293 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
294 | ToFlightCtrl.CompassHeading = Compass_Heading; |
294 | ToFlightCtrl.CompassHeading = Compass_Heading; |
- | 295 | ||
295 | //ToFlightCtrl.CompassHeading += 360 + ((s32) FC.Poti[7] - 100); |
296 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
296 | //ToFlightCtrl.CompassHeading %= 360; |
297 | //ToFlightCtrl.CompassHeading %= 360; |
- | 298 | ||
297 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
299 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
298 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
300 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
299 | // ToFlightCtrl.MagVecX = MagVector.X; |
301 | // ToFlightCtrl.MagVecX = MagVector.X; |
300 | // ToFlightCtrl.MagVecY = MagVector.Y; |
302 | // ToFlightCtrl.MagVecY = MagVector.Y; |
301 | ToFlightCtrl.MagVecZ = MagVector.Z; |
303 | ToFlightCtrl.MagVecZ = MagVector.Z; |