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Rev 744 | Rev 805 | ||
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160 | void UpdateSPI_Buffer(void) |
160 | void UpdateSPI_Buffer(void) |
161 | { |
161 | { |
162 | static unsigned char i =0; |
162 | static unsigned char i =0; |
163 | cli(); |
163 | cli(); |
164 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
164 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
165 | ToNaviCtrl_Value.IntegralNick = (int) ( IntegralNick / 1024); |
165 | ToNaviCtrl_Value.IntegralNick = (int) (IntegralNick / 1024); |
166 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024); |
166 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024); |
- | 167 | ToNaviCtrl_Value.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
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- | 168 | ToNaviCtrl_Value.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc); |
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- | 169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
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167 | ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
170 | ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
168 | ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
171 | ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
169 | ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
172 | ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
170 | ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
173 | ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
171 | ToNaviCtrl_Value.User1 = Parameter_UserParam1; |
174 | ToNaviCtrl_Value.User1 = Parameter_UserParam1; |