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Rev 1879 Rev 1912
Line 291... Line 291...
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        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
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        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
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    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
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    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
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    if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime;
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    if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime;
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#define FLAG_GPS_AID 0x01
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          switch (FromNaviCtrl.Command)
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          switch (FromNaviCtrl.Command)
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          {
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          {
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            case SPI_NCCMD_KALMAN:
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            case SPI_NCCMD_KALMAN:
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                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
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                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
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                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
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                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
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                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
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                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
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                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
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                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
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                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
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                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
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                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
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                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
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                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
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                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
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            if(FromNaviCtrl.Param.Byte[7] & FLAG_GPS_AID) GPS_AidMode = 1; else GPS_AidMode = 0;
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            if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
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                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
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                         {
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                         {
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                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
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                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
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                          if(EE_Parameter.CamOrientation)  // Kamera angle is not front
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                          if(EE_Parameter.CamOrientation)  // Kamera angle is not front