Rev 342 | Rev 348 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 342 | Rev 345 | ||
|---|---|---|---|
| Line 290... | Line 290... | ||
| 290 | if (SPI_RxBuffer_Request) |
290 | if (SPI_RxBuffer_Request) |
| 291 | { |
291 | { |
| 292 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
292 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| 293 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
293 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| 294 | ToFlightCtrl.CompassHeading = Compass_Heading; |
294 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| - | 295 | ||
| 295 | //ToFlightCtrl.CompassHeading += 360 + ((s32) FC.Poti[7] - 100); |
296 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
| 296 | //ToFlightCtrl.CompassHeading %= 360; |
297 | //ToFlightCtrl.CompassHeading %= 360; |
| - | 298 | ||
| 297 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
299 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 298 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
300 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 299 | // ToFlightCtrl.MagVecX = MagVector.X; |
301 | // ToFlightCtrl.MagVecX = MagVector.X; |
| 300 | // ToFlightCtrl.MagVecY = MagVector.Y; |
302 | // ToFlightCtrl.MagVecY = MagVector.Y; |
| 301 | ToFlightCtrl.MagVecZ = MagVector.Z; |
303 | ToFlightCtrl.MagVecZ = MagVector.Z; |