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Rev 287 | Rev 289 | ||
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Line 382... | Line 382... | ||
382 | raw+= pRxBuffer[5]; |
382 | raw+= pRxBuffer[5]; |
383 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
383 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
384 | } |
384 | } |
385 | if(Compass_CalState || !NCMAG_IsCalibrated) |
385 | if(Compass_CalState || !NCMAG_IsCalibrated) |
386 | { // mark out data invalid |
386 | { // mark out data invalid |
387 | MagVector.X = 0; |
387 | MagVector.X = MagRawVector.X; |
388 | MagVector.Y = 0; |
388 | MagVector.Y = MagRawVector.Y; |
389 | MagVector.Z = 0; |
389 | MagVector.Z = MagRawVector.Z; |
390 | Compass_Heading = -1; |
390 | Compass_Heading = -1; |
391 | } |
391 | } |
392 | else |
392 | else |
393 | { |
393 | { |
394 | // update MagVector from MagRaw Vector by Scaling |
394 | // update MagVector from MagRaw Vector by Scaling |