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Rev 1081 Rev 1097
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{
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{
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        int16_t tmp;
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        int16_t tmp;
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        cli(); // stop all interrupts to avoid writing of new data during update of that packet.
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        cli(); // stop all interrupts to avoid writing of new data during update of that packet.
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        // update content of packet to NaviCtrl
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        // update content of packet to NaviCtrl
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        ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 108);
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        ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 130L);   // convert to multiple of 0.1°
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        ToNaviCtrl.IntegralRoll  = (int16_t) (IntegralRoll  / 108);
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        ToNaviCtrl.IntegralRoll  = (int16_t) (IntegralRoll  / 130L); // convert to multiple of 0.1°
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        ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR;
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        ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR;
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        ToNaviCtrl.GyroNick = Reading_GyroNick;
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        ToNaviCtrl.GyroNick = Reading_GyroNick;
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        ToNaviCtrl.GyroRoll = Reading_GyroRoll;
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        ToNaviCtrl.GyroRoll = Reading_GyroRoll;
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        ToNaviCtrl.GyroYaw = Reading_GyroYaw;
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        ToNaviCtrl.GyroYaw = Reading_GyroYaw;