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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 |