| /branches/salvo_gps/GPS.c |
|---|
| 13,7 → 13,7 |
| Peter Muehlenbrock |
| Auswertung der Daten vom GPS im ublox Format |
| Regelung fuer GPS noch nicht implementiert |
| Stand 14.9.2007 |
| Stand 15.9.2007 |
| ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| #include "main.h" |
| 65,11 → 65,14 |
| // Initialisierung |
| void GPS_Neutral(void) |
| { |
| ublox_msg_state = UBLOX_IDLE; |
| actual_pos.status = 0; |
| actual_speed.status = 0; |
| actual_status.status = 0; |
| gps_home_position.status= 0; // Noch keine gueltige Home Position |
| ublox_msg_state = UBLOX_IDLE; |
| actual_pos.status = 0; |
| actual_speed.status = 0; |
| actual_status.status = 0; |
| gps_home_position.status = 0; // Noch keine gueltige Home Position |
| gps_act_position.status = 0; |
| gps_rel_act_position.status = 0; |
| } |
| // Home Position sichern falls Daten verfuegbar sind. |
| 80,12 → 83,10 |
| if (n == 0) // Gueltige und aktuelle Daten ? |
| { |
| // Neue GPS Daten liegen vor |
| // beeptime = 500; // Piepsen um korrekte Home Position anzuzeigen |
| // gps_act_position.status = 0; |
| gps_home_position.utm_east = gps_act_position.utm_east; |
| gps_home_position.utm_north = gps_act_position.utm_north; |
| gps_home_position.utm_alt = gps_act_position.utm_alt; |
| gps_home_position.status = 1; // Home Position gueltig |
| gps_home_position.utm_east = gps_act_position.utm_east; |
| gps_home_position.utm_north = gps_act_position.utm_north; |
| gps_home_position.utm_alt = gps_act_position.utm_alt; |
| gps_home_position.status = 1; // Home Position gueltig |
| } |
| } |
| /branches/salvo_gps/analog.c |
|---|
| 63,7 → 63,6 |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| GyroKomp_Int += wert; |
| GyroKomp_Int2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| /branches/salvo_gps/fc.c |
|---|
| 182,7 → 182,6 |
| beeptime = 50; |
| //Salvo 2.9.2007 Ersatzkompass |
| GyroKomp_Int = 0; |
| GyroKomp_Int2 = 0; |
| // Salvo End |
| } |
| 514,7 → 513,7 |
| { |
| unsigned char setting; |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| { |
| GRN_OFF; |
| SetNeutral(); |
| MotorenEin = 0; |
| 532,11 → 531,17 |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| Piep(GetActiveParamSetNumber()); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| } |
| GPS_Save_Home(); |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| GPS_Save_Home(); //Daten sind jetzt hoffentlich verfuegbar |
| if (gps_home_position.status > 0 ) |
| { |
| Delay_ms(500); //akustisch verkuenden dass GPS Home Daten da sind |
| beeptime = 1000; |
| Delay_ms(500); |
| } |
| } |
| } |
| else delay_neutral = 0; |
| } |
| /branches/salvo_gps/fc.h |
|---|
| 37,11 → 37,11 |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| //Salvo 2.9.2007 Ersatzkompass |
| extern volatile long GyroKomp_Int,GyroKomp_Int2; |
| extern volatile long GyroKomp_Int; |
| extern volatile int GyroKomp_Inc_Grad; |
| extern volatile int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
| // Salvo End |
| void MotorRegler(void); |
| /branches/salvo_gps/timer0.c |
|---|
| 61,7 → 61,7 |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| // Salvo Kompassoffset 30.8.2007 *********** |
| Kompass_Value_Old = KompassValue; |
| Kompass_Value_Old = KompassValue; |
| KompassValue = cntKompass -KOMPASS_OFFSET; |
| if (KompassValue < 0) |