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| Rev 1120 | Rev 1171 | ||
|---|---|---|---|
| Line 159... | Line 159... | ||
| 159 | { |
159 | { |
| 160 | static unsigned char i =0; |
160 | static unsigned char i =0; |
| 161 | signed int tmp; |
161 | signed int tmp; |
| 162 | cli(); |
162 | cli(); |
| Line 163... | Line 163... | ||
| 163 | 163 | ||
| 164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 130); |
164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| 165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 130); |
165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| 166 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
166 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| 167 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
167 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
| 168 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
168 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
| 169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| 170 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
170 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
| Line 171... | Line 171... | ||
| 171 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
171 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
| Line 233... | Line 233... | ||
| 233 | case SPI_CMD_VERSION: |
233 | case SPI_CMD_VERSION: |
| 234 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
234 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
| 235 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
235 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
| 236 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
236 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
| 237 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
237 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
| - | 238 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
|
| 238 | break; |
239 | break; |
| 239 | } |
240 | } |
| Line 240... | Line 241... | ||
| 240 | 241 | ||