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Rev 2346 Rev 2373
Line 740... Line 740...
740 
          DebugDataAnforderung = 0;
 740 
          DebugDataAnforderung = 0;
741 
          if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);
 741 
          if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);
742 
         }
 742 
         }
743 
    if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)
 743 
    if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)
744 
         {
 744 
         {
745 
                  Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
 745 
                  Data3D.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
746 
                  Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
 746 
                  Data3D.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
747 
          Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR);
 747 
          Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR);
748 
                  Data3D.Centroid[0] = SummeNick >> 9;
 748 
                  Data3D.Centroid[0] = SummeNick >> 9;
749 
                  Data3D.Centroid[1] = SummeRoll >> 9;
 749 
                  Data3D.Centroid[1] = SummeRoll >> 9;
750 
                  Data3D.Centroid[2] = Mess_Integral_Gier >> 9;
 750 
                  Data3D.Centroid[2] = Mess_Integral_Gier >> 9;
751 
          SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D));
 751 
          SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D));
Line 768... Line 768...
768 
                 SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in));
 768 
                 SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in));
769 
                 GetPPMChannelAnforderung = 0;
 769 
                 GetPPMChannelAnforderung = 0;
770 
         }
 770 
         }
771 
    if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)
 771 
    if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)
772 
         {
 772 
         {
773 
                  WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
 773 
                  WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
774 
                  WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
 774 
                  WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
775 
                  WinkelOut.UserParameter[0] = Parameter_UserParam1;
 775 
                  WinkelOut.UserParameter[0] = Parameter_UserParam1;
776 
                  WinkelOut.UserParameter[1] = Parameter_UserParam2;
 776 
                  WinkelOut.UserParameter[1] = Parameter_UserParam2;
777 
          SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut));
 777 
          SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut));
778 
          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
 778 
          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
779 
          if(!NaviDataOkay) Kompass_Timer = SetDelay(99);
 779 
          if(!NaviDataOkay) Kompass_Timer = SetDelay(99);