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Rev 2370 | Rev 2373 | ||
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146 | //------------------------------------------------------ |
146 | //------------------------------------------------------ |
147 | void UpdateSPI_Buffer(void) |
147 | void UpdateSPI_Buffer(void) |
148 | { |
148 | { |
149 | signed int tmp; |
149 | signed int tmp; |
150 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION; |
150 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION; |
151 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
151 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
152 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
152 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
153 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
153 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
154 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
154 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
155 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
155 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
156 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
156 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
157 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
157 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |