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| Rev 2418 | Rev 2425 | ||
|---|---|---|---|
| Line 802... | Line 802... | ||
| 802 | GetPPMChannelAnforderung = 0; |
802 | GetPPMChannelAnforderung = 0; |
| 803 | } |
803 | } |
| 804 | #ifndef REDUNDANT_FC |
804 | #ifndef REDUNDANT_FC |
| 805 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
805 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 806 | { |
806 | { |
| - | 807 | if(!NaviDataOkay) // no external compass needed |
|
| - | 808 | { |
|
| 807 | WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
809 | WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 808 | WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
810 | WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 809 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
811 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 810 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
812 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 811 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
813 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| - | 814 | } |
|
| 812 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
815 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 813 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
816 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
| 814 | else Kompass_Timer = SetDelay(999); |
817 | else Kompass_Timer = SetDelay(999); |
| 815 | } |
818 | } |
| 816 | #endif |
819 | #endif |