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Rev 1078 | Rev 1081 | ||
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Line 58... | Line 58... | ||
58 | uint8_t ConfirmFrame; |
58 | uint8_t ConfirmFrame; |
Line 59... | Line 59... | ||
59 | 59 | ||
60 | typedef struct |
60 | typedef struct |
61 | { |
61 | { |
62 | int16_t Heading; |
62 | int16_t Heading; |
Line 63... | Line 63... | ||
63 | } Heading_t; |
63 | } __attribute__((packed)) Heading_t; |
64 | 64 | ||
65 | DebugOut_t DebugOut; |
65 | DebugOut_t DebugOut; |
Line 436... | Line 436... | ||
436 | 436 | ||
437 | switch(rxd_buffer[2]) |
437 | switch(rxd_buffer[2]) |
438 | { |
438 | { |
439 | #ifdef USE_MK3MAG |
439 | #ifdef USE_MK3MAG |
440 | case 'K':// compass value |
- | |
441 | Heading_t* pMK3MagHeading; |
440 | case 'K':// compass value |
442 | pMK3MagHeading = (Heading_t *) pRxData; |
- | |
443 | CompassHeading = *pMK3MagHeading; |
441 | CompassHeading = ((Heading_t *)pRxData)->Heading; |
444 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
442 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
445 | break; |
443 | break; |
Line 446... | Line 444... | ||
446 | #endif |
444 | #endif |
Line 497... | Line 495... | ||
497 | 495 | ||
Line 498... | Line 496... | ||
498 | default: // any Slave Address |
496 | default: // any Slave Address |
499 | 497 | ||
500 | switch(rxd_buffer[2]) |
- | |
501 | { |
- | |
502 | // only for compatibility to old MK3Mag Version taht does not send the right Slave Address |
- | |
503 | #ifdef USE_MK3MAG |
- | |
504 | case 'K':// compass value |
- | |
505 | Heading_t* pMK3MagHeading; |
- | |
506 | pMK3MagHeading = (Heading_t *) pRxData; |
- | |
507 | CompassHeading = *pMK3MagHeading; |
- | |
508 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
- | |
509 | break; |
498 | switch(rxd_buffer[2]) |
510 | #endif |
499 | { |
511 | case 'a':// request for labels of the analog debug outputs |
500 | case 'a':// request for labels of the analog debug outputs |
512 | Request_DebugLabel = pRxData[0]; |
501 | Request_DebugLabel = pRxData[0]; |
513 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
502 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |