| /branches/V0.68d Code Redesign killagreg/GPS.c |
|---|
| 12,7 → 12,7 |
| #define GPS_STICK_SENSE 20 // must be at least in a range where 90% of the trimming does not switch of the GPS function |
| #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
| #define GPS_D_LIMIT_DIST 500 // for position deviations grater than 500 cm (20m) the D-Part of the PD-Controller is limited |
| #define GPS_D_LIMIT_DIST 500 // for position deviations greater than 500cm the D-Part of the PD-Controller is limited |
| #define GPS_D_LIMIT 50 // PD-Controntroller D-Limit. |
| int16_t GPS_Pitch = 0; |
| /branches/V0.68d Code Redesign killagreg/cmps03.c |
|---|
| 1,6 → 1,8 |
| #include <avr/io.h> |
| #include <stdlib.h> |
| #include "fc.h" |
| #include "timer0.h" |
| #include "uart.h" |
| int32_t PWMHeading = -1; |
| uint8_t PWMTimeout = 0; |
| 37,6 → 39,13 |
| // This counter is incremented by a periode of 102.4us, |
| // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
| PWMCount++; |
| // pwm overflow? |
| if (PWMCount > 400) |
| { |
| if(PWMTimeout ) PWMTimeout--; // decrement timeout |
| PWMCount = 0; // reset PWM Counter |
| } |
| } |
| else // PWM is low |
| { |
| 52,14 → 61,6 |
| } |
| PWMCount = 0; // reset pwm counter |
| } |
| // overflow without a low edge (nothing connected to PC4) |
| if (PWMCount > 400) |
| { |
| if(PWMTimeout ) PWMTimeout--; |
| PWMCount = 0; |
| } |
| } |
| 69,6 → 70,9 |
| int16_t CMPS03_Heading(void) |
| { |
| int16_t heading, w, v; |
| DebugOut.Analog[11] = PWMTimeout; |
| if(PWMTimeout) |
| { |
| w = abs(IntegralPitch / 512); |
| 82,14 → 86,14 |
| if (heading < 0) heading += 360; |
| heading = heading%360; |
| } |
| else // no date available from compass |
| else // compass to much tilted |
| { |
| if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
| heading = -1; |
| } |
| } |
| else // no data from compass |
| { |
| if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
| heading = -1; |
| } |
| return heading; |
| /branches/V0.68d Code Redesign killagreg/makefile |
|---|
| 1,7 → 1,7 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| #MCU = atmega644p |
| #MCU = atmega644 |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| 11,8 → 11,8 |
| VERSION_COMPATIBLE = 7 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| #OPTIONS |
| COMPASS = MM3 |
| #COMPASS = CMPS03 |
| #COMPASS = MM3 |
| COMPASS = CMPS03 |
| #EXT = WALTER |
| #------------------------------------------------------------------- |
| /branches/V0.68d Code Redesign killagreg/mm3.c |
|---|
| 24,6 → 24,7 |
| #include "timer0.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #include "uart.h" |
| #define MAX_AXIS_VALUE 500 |
| 329,6 → 330,8 |
| uint16_t div_factor; |
| int16_t heading; |
| DebugOut.Analog[11] = MM3_Timeout; |
| if (MM3_Timeout) |
| { |
| // Offset correction and normalization (values of H are +/- 512) |
| /branches/V0.68d Code Redesign killagreg/uart.c |
|---|
| 62,7 → 62,7 |
| "CompassHeading ", |
| "Voltage ", |
| "Receiver Level ", //10 |
| "Analog11 ", |
| "CompassTimeout ", |
| "GPSDevNorth ", |
| "GPSDevEast ", |
| "GPS_Pitch ", |