Rev 533 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 533 | Rev 540 | ||
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Line 353... | Line 353... | ||
353 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
353 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
354 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
354 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
355 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
355 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
356 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
356 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
357 | { |
357 | { |
358 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + 720 - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10)) % 360; // the FC uses the uncorrected comnpass value |
358 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.OrientationAngle * 15)) % 360; // the FC uses the uncorrected comnpass value |
359 | else CAM_Orientation.Azimuth = -1; |
359 | else CAM_Orientation.Azimuth = -1; |
360 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
360 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
361 | } |
361 | } |
362 | else |
362 | else |
363 | { |
363 | { |