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| Rev 2499 | Rev 2500 | ||
|---|---|---|---|
| Line 399... | Line 399... | ||
| 399 | // ++++++++++++++++++++++++++++ |
399 | // ++++++++++++++++++++++++++++ |
| 400 | // + New direction setpoint from NC |
400 | // + New direction setpoint from NC |
| 401 | if(NC_CompassSetpoint != -1) |
401 | if(NC_CompassSetpoint != -1) |
| 402 | { |
402 | { |
| 403 | int diff; |
403 | int diff; |
| 404 | if(!NeueKompassRichtungMerken && (KompassSollWert != NC_CompassSetpoint) && CareFree) |
404 | if(!NeueKompassRichtungMerken && (KompassSollWert != NC_CompassSetpoint) && (CareFree || NCForcesNewDirection)) |
| 405 | { |
405 | { |
| 406 | diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
406 | diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
| 407 | if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
407 | if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
| 408 | else |
408 | else |
| 409 | if(diff < -2) diff = -2; |
409 | if(diff < -2) diff = -2; |
| 410 | KompassSollWert -= diff; |
410 | KompassSollWert -= diff; |
| 411 | } |
411 | } |
| - | 412 | else |
|
| - | 413 | { |
|
| 412 | else NC_CompassSetpoint = -1; |
414 | NC_CompassSetpoint = -1; |
| - | 415 | NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
|
| - | 416 | } |
|
| 413 | } |
417 | } |
| 414 | // ++++++++++++++++++++++++++++ |
418 | // ++++++++++++++++++++++++++++ |
| 415 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
419 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 416 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
420 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
| 417 | else |
421 | else |