WebSVN - FlightCtrl - Path Comparison - /branches/salvo_gps Rev 1038 and /branches/salvo

Ignore whitespace Rev 1038 → Rev 1039

 /branches/salvo_gps/Basis_v0070d/trunk/Flight-Ctrl_MEGA644_V0_7e.hex
 ,9 → 87,9
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 ,11 → 104,11
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 ,8 → 123,8
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 ,7 → 177,7
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 ,9 → 227,9
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 ,7 → 262,7
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 ,9 → 288,9
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 ,7 → 386,7
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 ,10 → 398,10
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 ,7 → 438,7
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 ,7 → 450,7
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 ,19 → 477,19
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 ,7 → 520,7
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 ,25 → 541,25
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 ,7 → 568,7
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 ,12 → 580,12
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 ,8 → 649,8
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 ,11 → 670,11
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 ,7 → 748,7
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 ,29 → 796,29
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 ,8 → 835,8
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 ,11 → 887,11
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 :10378000991F820F931F8C0F9D1F64E070E00E94B1
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 :1037F00019821882F801EE0FFF1FEC58F84F318341
 :103800002083F8013196F0930C04E0930B04E5302B
 ,18 → 911,18
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 :1038F0001004821B930B9093060880930508609137
 :10390000EA037091EB03882777FD8095982F2CE0D0
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 :103920003E0870913F08882777FD8095982F620F99
 :10393000731F841F951F22E030E040E050E00E949A
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 :10395000E903882777FD8095982F2CE030E040E040
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 :103970005308882777FD8095982F620F731F841F47
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 :103990005308209352086091EC037091ED0388273F
 :1039A00077FD8095982F20911208309113084427B5
 :1039B00037FD4095542F620F731F841F951F22E01F
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 :1039E000820F931F880F991F880F991FAA2797FD91
 :1039F000A095BA2F209135043091360440913704B8
 ,10 → 939,10
 :103AA0001D0490911E04019690931E0480931D04A2
 :103AB000E0905C07F0905D07A0901F04B090200498
 :103AC000C0902104D090220460913D0470913E0486
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 :103B20005C01CC24B7FCC094DC2C80914E089091B1
 :103B30004F08A0915008B0915108A80EB91ECA1E96
 ,16 → 968,16
 :103C70008B04882309F08FC08091AC0786FF8BC02E
 :103C80006091A2077091A307E0909804FF2400E0E0
 :103C900010E0882777FD8095982F2091450430917A
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 :103CE000EB044093EC045093ED046091A2077091B3
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 :103D5000DA01B7FF07C0B095A095909581959F4F68
 :103D6000AF4FBF4F81389105A105B10584F4CB0158
 ,7 → 991,7
 :103DE000F9070091F9071091FA076090E6047090C6
 :103DF000E7048090E8049090E90480919904282ECB
 :103E0000332444245524C201B101A40193010E942A
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 :103E3000FA07442737FD4095542F80915104909103
 :103E40005204A0915304B0915404820F931FA41FF5
 ,8 → 1022,8
 :103FD00080ED97E09093FA078093F90780910508A8
 :103FE0009091060886199709909306088093050812
 :103FF0000091050810910608C201B10129813A819A
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 :104020005F4F020F131F109306080093050820919D
 :10403000050830910608442737FD4095542F80919C
 :10404000490490914A04A0914B04B0914C04820F12
 ,8 → 1211,8
 :104BA00098F08B3F19F4809170040EC08C3F19F47B
 :104BB0008091720409C08D3F19F48091740404C07F
 :104BC0008E3F21F48091760480935C086091A60367
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 :104BF0009C0390939D038091B70780934308809115
 :104C0000B6078093080808951F93CF93DF93182F5A
 :104C1000C4E6D0E00DC0115080918104882351F486
 ,9 → 1232,9
 :104CF00005088091E4039091E5039093FA0780936F
 :104D0000F9078091E6039091E7039093450880931B
 :104D100044086091EA037091EB03882777FD809542
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 :104D30003F0860933E086091E8037091E90388277B
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 :104D500052088091EC039091ED0390931308809397
 :104D600012088FEE80937A008091A807E82FF0E078
 :104D7000EE0FFF1FEC58F84F808191812091700455
 ,9 → 1267,9
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 :104F300039F034F08FEF90E090937704809376040B
 :104F40006091CF0770E080E090E024EC39E040E031
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 :104F900010921C0410921B0480E090E0A0E0B0E0AE
 :104FA00080931F0490932004A0932104B0932204C3
 ,9 → 1286,9
 :1050500030931604209315045093180440931704BA
 :10506000F999FECF24E030E032BD21BDF89A80B539
 :10507000853038F1809152089091530897FF03C012
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 :105090001C0460931B0480913E0890913F0897FF89
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 :1050B00070931A046093190460915C0770915D0706
 :1050C00042C0F999FECF32BD21BDF89A30B5F999A9
 :1050D000FECF85E090E092BD81BDF89A20B5932F78
 ,7 → 1299,7
 :10512000FECF88E090E092BD81BDF89A30B5F99944
 :10513000FECF89E090E092BD81BDF89A20B5732F33
 :1051400060E0620F711D882777FD8095982F0E947F
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 :1051600022041092450410924604109247041092B3
 :1051700048041092490410924A0410924B04109271
 :105180004C0410924D0410924E0410924F04109251
 ,18 → 1313,18
 :10520000600480916104909162049093640480939F
 :1052100063040E94BB4382E390E09093D6038093A3
 :10522000D5036091CF0770E080E090E024EC39E096
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 :1052400060939203709393038093940390939503D8
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 :105270009803909399031092AB031092AA03609144
 :10528000610470916204882777FD8095982F2AEA3F
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 :1052A0004F08809350089093510810926B0410920D
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 :1052C00084608093A60460916104709162048827D1
 :1052D00077FD8095982F2AEA35E040E050E00E9463
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 :105300008F929F92AF92BF92CF92DF92EF92FF92D5
 :105310000F931F93DF93CF93CDB7DEB728970FB6C8
 ,22 → 1405,22
 :1057C0000FB6F894FA9AF99A0FBE109281041092CB
 :1057D000C7041092A5041092A4040E94C32720912C
 :1057E000190430911A04F999FECF1FBA12BD01BDF8
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 :10580000FA9AF99A0FBEF999FECF1FBA85E090E097
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 :105820000FB6F894FA9AF99A0FBE20911B043091A2
 :105830001C04F999FECF1FBA86E090E092BD81BDAD
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 :10585000FA9AF99A0FBEF999FECF1FBA87E090E045
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 :105870000FB6F894FA9AF99A0FBE20911F0430914E
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 :1058F000FA9AF99A0FBE0E94F6020E94042602C08C
 :105900001092C704E091A607F0E0EE0FFF1FEC58DD
 :10591000F84F808191818B5A9F4F0CF0A6C0E09187
 ,7 → 1450,7
 :105A9000111FF801EC58F84F80819181E090B30715
 :105AA000FF24BC016E9DC0016F9D900D7E9D900DE9
 :105AB00011244091B7045091B8049A01220F331F6A
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 :105AD0007093B8046093B7040657184FD8018D919E
 :105AE0009C910091B40710E0FC01E09FC001E19F90
 :105AF000900DF09F900D1124860F971F9093B8047E
 ,7 → 1460,7
 :105B3000F601EC58F84F808191819C012E9DC001A7
 :105B40002F9D900D3E9D900D11244091B5045091D4
 :105B5000B6049A01220F331F240F351F820F931FA3
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 :105B8000E09FC001E19F900DF09F900D1124860FC2
 :105B9000971F9093B6048093B5042091F40430913C
 ,11 → 1470,11
 :105BD0009F4F90937E0480937D04E091A607F0E0B0
 :105BE000EE0FFF1FEC58F84F8081918188589F4F2E
 :105BF0009093800480937F046091A30370E080E021
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 :105C60008AE090E09093D6038093D5038091C5039A
 :105C700082FF09C080915C08482F50E0440F551FF7
 ,13 → 1482,13
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 :105CA0005527481B590B20919A0430919B04C90138
 :105CB000F3E0880F991FFA95E1F7821B930B840F8D
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 :105CD0009A048091C50384FF09C080915C08482F15
 :105CE00050E0440F551F440F551F10C085FD03C0E1
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 :105D0000880F991F44275527481B590B20919C0445
 :105D100030919D04C90163E0880F991F6A95E1F7EE
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 :105D400082E390E004C082FF07C08EEC9FEF909347
 :105D50009F0480939E0404C010929F0410929E049E
 ,9 → 1496,9
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 :105D800009C08091AA039091AB0301979093AB0354
 :105D90008093AA0380919A0490919B0462E070E042
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 :105DF00050917E04480F591F50937E0440937D04B8
 ,14 → 1518,14
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 :105EE000A0E0B0E080932B0890932C08A0932D089D
 :105EF000B0932E0820E030E040E050E06091490887
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 :105F300040E050E060912B0870912C0880912D0872
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 :105F5000A0E0B0E080932B0890932C08A0932D082C
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 :105F9000DCF4842F912F9C0137FF03C030952195AD
 :105FA0003F4FC90195958795959587959093A10445
 ,7 → 1532,7
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 :105FD000A00440917B0410917C04E091A204F09114
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 :10600000842F912F9C0137FF03C0309521953F4F7E
 :10601000C90195958795959587959093A30480934D
 ,27 → 1604,27
 :1064300087041092860480918A04882309F017C18A
 :1064400080918B04882309F012C1E090B807FF24E3
 :1064500000E010E0609125047091260480912704EB
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 :10648000A81AB90ACA0ADB0A60912D0470912E0479
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 :1064B000A095BA2FE81AF90A0A0B1B0BC601B50101
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 :1064D000742E652E822F932FA42FB52F5C016D0192
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 :106590006D01C801B70123E030E040E050E00E9407
-:1065A0004851C901DA017C018D0131E2A316B10421
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 :1065B000C104D10434F040E2A42EB12CC12CD12C62
 :1065C00011C040EEA4164FEFB4064FEFC4064FEFD4
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 ,44 → 1641,44
 :1066800080918A04882309F002C580918B048823B5
 :1066900009F0FDC480916904882309F0F8C4609171
 :1066A0001C0870911D0880911E0890911F0820E021
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 :1066C0001C0830931D0840931E0850931F086091CA
 :1066D000230870912408809125089091260820E0D5
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 ,12 → 1717,12
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 :106B60000A95D1F701969093B4048093B304CA01B7
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 :106BE0008093880406C081E08093B20402C01092B2
 :106BF000B2044091CE045091CF046091D0047091C2
 ,12 → 1731,12
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 :106CC0008093880411C081E08093B1040DC01092BC
 :106CD000B1040AC01092B4041092B30488EE93E099
 ,12 → 1765,12
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 :106EE00081E08093B00402C01092B0044091CA04C3
 :106EF0005091CB046091CC047091CD04403080EF70
 ,12 → 1779,12
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 :106FC00081E08093AF040DC01092AF040AC010920C
 :106FD000B4041092B30488EE93E0909391038093ED
 ,7 → 1801,7
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 :10709000870410928604109289041092880410923A
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 :1070E0001F088093AB049093AC04A093AD04B093BD
 ,7 → 1828,7
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 :1072400090916F0403970CF498C0609116087091A8
 :10725000170880911808909119082AEA35E040E053
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 :1072900034F428593E4F30933608209335088091B6
 ,7 → 1847,7
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 :107370001708109218081092190881E080936C0485
 :10738000609158087091590880915A0890915B0853
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 :1073B00020916104309162042E193F0930930A082C
 :1073C00020930908C9010197833B910590F0243B64
 ,7 → 1859,7
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 :10743000A0935A08B0935B0860915808709159085E
 :1074400080915A0890915B0828E631E040E050E0D6
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 :107470000AC010926C04109216081092170810920D
 :1074800018081092190880916104909162049093F9
 ,11 → 1880,11
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 :10758000F090B507C0907D04D0907E04B6018827A6
 :1075900077FD8095982F2F2D30E040E050E00E943D
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 :10760000DC049093DD0420915504309156044091A0
 :10761000570450915804261B370B480B590B2093E5
 ,7 → 1904,7
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 :107700006C04882341F18091650490916604AC017A
 :10771000249FC001259F900D349F900D112460E29D
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 :10774000371F481F591F2093550430935604409308
 :107750005704509358048091C20481508093C2040E
 ,9 → 1913,9
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 :107790008104882311F0429A01C04298E090B80712
 :1077A000FF2400E010E06091250470912604809190
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 :1077F0001D0780931C078091520890915308909325
 :107800001F0780931E07809144089091450890932C
 ,9 → 1924,9
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 ,34 → 1940,34
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 ,17 → 1991,17
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 :107D6000AD0790E0880F991F880F991FC816D90694
 ,10 → 2011,10
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 :107E300090E0880F991F880F991FAC0148195909C4
 ,14 → 2023,14
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 ,35 → 2042,35
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 /branches/salvo_gps/Basis_v0070d/trunk/GPS.c
 ,8 → 18,10
 Rückstuerz zur Basis Funktion
 Umstellung auf NaviParameter an Flight Version 00.70d
 GPS_V durch gps_gain ersetzt, damit Einstellung durch MK Tool möglich wird
-Stand 10.10.2008
+Stand 20.11.2008
+Aenderung 20.11.2008: gps_gain erhoeht
 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 */
 #include "main.h"
 ,8 → 150,8
         short int n = 1;
         if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist
-        gps_gain        =       Parameter_NaviGpsGain*8/100; //maximal Wert ist 20
-//      debug_gp_0      = (int)gps_gain;  // zum Debuggen
+        gps_gain = (Parameter_NaviGpsGain*8)/75; //maximal Wert ist 255*8/75
+        //      debug_gp_0      = (int)gps_gain;  // zum Debuggen
         if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
         {
 ,11 → 310,11
         signed int              dist_frm_start_east,dist_frm_start_north;
         int                     amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil
         static signed int       int_east,int_north;     //Integrierer
-        long int                speed_east,speed_north; //Aktuelle Geschwindigkeit
-        signed long             int_east1,int_north1;
+        long int        speed_east,speed_north; //Aktuelle Geschwindigkeit
+        signed long int_east1,int_north1;
         int                     dist_east,dist_north;
         int                     diff_p;                 //Vom Modus abhaengige zusaetzliche Verstaerkung
-        long                    ni,ro;                  // Nick und Roll Zwischenwerte
+        long            ni,ro;                  // Nick und Roll Zwischenwerte
         switch (cmd)

 /branches/salvo_gps/Basis_v0070d/trunk/gps.h
 ,7 → 104,7
 // GPS Lageregler
 #define GPS_USR_PAR_FKT         4       //Faktor durch den die Userparameter geteilt werden
-#define GPS_NICKROLL_MAX        50      // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll
+#define GPS_NICKROLL_MAX        60      // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll
 #define GPS_DIST_MAX            400     // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm)
 //#define GPS_V                                 8       // Teilerfaktor Regelabweichung zu Ausgabewert

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