Rev 1796 | Rev 1821 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1796 | Rev 1805 | ||
---|---|---|---|
Line 263... | Line 263... | ||
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 |