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297 | 297 | ||
298 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
298 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
Line 299... | Line 299... | ||
299 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
299 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
300 | - | ||
301 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
300 | |
302 | #define FLAG_GPS_AID 0x01 |
301 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
303 | switch (FromNaviCtrl.Command) |
302 | switch (FromNaviCtrl.Command) |
304 | { |
303 | { |
305 | case SPI_NCCMD_KALMAN: |
304 | case SPI_NCCMD_KALMAN: |
306 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
305 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
307 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
306 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
308 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
307 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
309 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
308 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
310 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
309 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
311 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
310 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
312 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
311 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
313 | if(FromNaviCtrl.Param.Byte[7] & FLAG_GPS_AID) GPS_AidMode = 1; else GPS_AidMode = 0; |
312 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
314 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
313 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
315 | { |
314 | { |
316 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
315 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |