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| Rev 1796 | Rev 1805 | ||
|---|---|---|---|
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| 263 | 263 | ||
| 264 | /************************************************************************/ |
264 | /************************************************************************/ |
| 265 | /* Yawing */ |
265 | /* Yawing */ |
| 266 | /************************************************************************/ |
266 | /************************************************************************/ |
| 267 | if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
267 | if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
| 268 | badCompassHeading = 1000; |
268 | ignoreCompassTimer = 1000; |
| 269 | if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
269 | if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
| 270 | updateCompassCourse = 1; |
270 | updateCompassCourse = 1; |
| 271 | } |
271 | } |
| Line 286... | Line 286... | ||
| 286 | /************************************************************************/ |
286 | /************************************************************************/ |
| 287 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
287 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
| 288 | updateCompass(); |
288 | updateCompass(); |
| 289 | } |
289 | } |
| Line 290... | Line 290... | ||
| 290 | 290 | ||
| 291 | #if defined (USE_MK3MAG) |
291 | #if defined (USE_NAVICTRL) |
| 292 | /************************************************************************/ |
292 | /************************************************************************/ |
| 293 | /* GPS is currently not supported. */ |
293 | /* GPS is currently not supported. */ |
| 294 | /************************************************************************/ |
294 | /************************************************************************/ |
| 295 | if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
295 | if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
| 296 | GPS_Main(); |
296 | GPS_Main(); |
| 297 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
- | |
| 298 | } |
297 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
| 299 | else { |
298 | } else { |
| 300 | // GPSStickPitch = 0; |
299 | // GPSStickPitch = 0; |
| 301 | // GPSStickRoll = 0; |
300 | // GPSStickRoll = 0; |
| 302 | } |
301 | } |
| 303 | #endif |
302 | #endif |