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Rev 2370 Rev 2373
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//------------------------------------------------------
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//------------------------------------------------------
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void UpdateSPI_Buffer(void)
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void UpdateSPI_Buffer(void)
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{
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{
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  signed int tmp;
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  signed int tmp;
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  static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION;
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  static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION;
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  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
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  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
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  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
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  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
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  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
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  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
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  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
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  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
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  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
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  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
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  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
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  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;