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| Rev 2425 | Rev 2427 | ||
|---|---|---|---|
| Line 799... | Line 799... | ||
| 799 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
799 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 800 | { |
800 | { |
| 801 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
801 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 802 | GetPPMChannelAnforderung = 0; |
802 | GetPPMChannelAnforderung = 0; |
| 803 | } |
803 | } |
| 804 | #ifndef REDUNDANT_FC |
804 | #ifndef REDUNDANT_FC_SLAVE |
| 805 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
805 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 806 | { |
806 | { |
| 807 | if(!NaviDataOkay) // no external compass needed |
807 | if(!NaviDataOkay) // no external compass needed |
| 808 | { |
808 | { |
| 809 | 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 |
| Line 816... | Line 816... | ||
| 816 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
816 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
| 817 | else Kompass_Timer = SetDelay(999); |
817 | else Kompass_Timer = SetDelay(999); |
| 818 | } |
818 | } |
| 819 | #endif |
819 | #endif |
| Line 820... | Line 820... | ||
| 820 | 820 | ||
| 821 | #ifdef REDUNDANT_FC |
821 | #ifdef REDUNDANT_FC_SLAVE |
| 822 | if(UebertragungAbgeschlossen || MotorenEin) |
822 | if(UebertragungAbgeschlossen || MotorenEin) |
| 823 | { |
823 | { |
| 824 | static unsigned char who; |
824 | static unsigned char who; |
| 825 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |
825 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |