Rev 366 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 366 | Rev 370 | ||
|---|---|---|---|
| Line 146... | Line 146... | ||
| 146 | { |
146 | { |
| 147 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
147 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
| 148 | uint8_t measurement=50,beeper=0; |
148 | uint8_t measurement=50,beeper=0; |
| 149 | unsigned int timer; |
149 | unsigned int timer; |
| Line -... | Line 150... | ||
| - | 150 | ||
| - | 151 | GRN_ON; |
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| - | 152 | ROT_OFF; |
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| 150 | 153 | ||
| 151 | while (measurement) |
154 | while (measurement) |
| 152 | { |
155 | { |
| Line 153... | Line 156... | ||
| 153 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
156 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
| Line 161... | Line 164... | ||
| 161 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
164 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
| 162 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
165 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
| Line 163... | Line 166... | ||
| 163 | 166 | ||
| 164 | if (!beeper) |
167 | if (!beeper) |
| - | 168 | { |
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| - | 169 | ROT_FLASH; |
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| 165 | { |
170 | GRN_FLASH; |
| 166 | beeper = 50; |
- | |
| 167 | beeptime = 50; |
171 | beeper = 50; |
| 168 | } |
172 | } |
| Line 169... | Line 173... | ||
| 169 | beeper--; |
173 | beeper--; |
| 170 | 174 | ||
| Line 204... | Line 208... | ||
| 204 | cos_nick = cos_f(MM3.NickGrad); |
208 | cos_nick = cos_f(MM3.NickGrad); |
| 205 | sin_roll = sin_f(MM3.RollGrad); |
209 | sin_roll = sin_f(MM3.RollGrad); |
| 206 | cos_roll = cos_f(MM3.RollGrad); |
210 | cos_roll = cos_f(MM3.RollGrad); |
| Line 207... | Line 211... | ||
| 207 | 211 | ||
| 208 | // Offset der Achsen nur bei Bedarf (also hier) berücksichtigen |
212 | // Offset der Achsen nur bei Bedarf (also hier) berücksichtigen |
| 209 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
213 | x_axis = -(MM3.x_axis - MM3_calib.X_off); |
| 210 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
214 | y_axis = -(MM3.y_axis - MM3_calib.Y_off); |
| Line 211... | Line 215... | ||
| 211 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
215 | z_axis = -(MM3.z_axis - MM3_calib.Z_off); |
| 212 | 216 | ||
| 213 | // Neigungskompensation |
217 | // Neigungskompensation |