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50 | } |
50 | } |
51 | else |
51 | else |
52 | { |
52 | { |
53 | if((cntKompass) && (cntKompass < 4000)) |
53 | if((cntKompass) && (cntKompass < 4000)) |
54 | { |
54 | { |
55 | KompassValue = cntKompass; |
55 | KompassValue = cntKompass; |
- | 56 | // Salvo Korrektur Ausrichtung kompass **************************** |
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- | 57 | KompassValue -= KOMPASS_OFFSET ; |
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- | 58 | if (KompassValue < 0) |
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56 | } |
59 | { |
57 | // if(cntKompass < 10) cntKompass = 10; |
60 | KompassValue = KompassValue +360; |
- | 61 | } |
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58 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
62 | if (KompassValue >= 360) |
- | 63 | { |
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59 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
64 | KompassValue = KompassValue -360; |
- | 65 | } |
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- | 66 | // Salvo End ******************** |
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- | 67 | } |
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- | 68 | ||
60 | cntKompass = 0; |
69 | cntKompass = 0; |
- | 70 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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61 | } |
71 | } |
62 | } |
72 | } |
63 | } |
73 | } |