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Rev 1879 | Rev 1912 | ||
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Line 291... | Line 291... | ||
291 | 291 | ||
292 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
292 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
Line 293... | Line 293... | ||
293 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
293 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
294 | - | ||
- | 294 | ||
295 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
295 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
296 | 296 | #define FLAG_GPS_AID 0x01 |
|
297 | switch (FromNaviCtrl.Command) |
297 | switch (FromNaviCtrl.Command) |
298 | { |
298 | { |
299 | case SPI_NCCMD_KALMAN: |
299 | case SPI_NCCMD_KALMAN: |
300 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
300 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
301 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
301 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
302 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
302 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
303 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
303 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
304 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
304 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
- | 305 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
|
305 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
306 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
306 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
307 | if(FromNaviCtrl.Param.Byte[7] & FLAG_GPS_AID) GPS_AidMode = 1; else GPS_AidMode = 0; |
307 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
308 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
308 | { |
309 | { |
309 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
310 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
310 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
311 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |