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Ignore whitespace Rev 817 → Rev 818

/branches/V0.68d Code Redesign killagreg/GPS.c
161,8 → 161,8
//Calculate PID-components of the controller (negative sign for compensation)
P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;
P_East = -(GPS_P_Factor * GPSPosDev_East)/2048;
I_North = -(GPS_I_Factor * GPSPosDevIntegral_North)/2048;
I_East = -(GPS_I_Factor * GPSPosDevIntegral_East)/2048;
I_North = -(GPS_I_Factor * GPSPosDevIntegral_North)/8192;
I_East = -(GPS_I_Factor * GPSPosDevIntegral_East)/8192;
D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512;
D_East = -(GPS_D_Factor * GPSInfo.veleast)/512;
// PD-controller
213,16 → 213,16
if(!GPS_Stick_Limited) // prevent further growing of error integrals if control limit is reached
{
// calculate position error integrals
GPSPosDevIntegral_North += GPSPosDev_North/4;
GPSPosDevIntegral_North += GPSPosDev_North/16;
if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT;
else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT;
GPSPosDevIntegral_East += GPSPosDev_East/4;
GPSPosDevIntegral_East += GPSPosDev_East/16;
if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT;
else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT;
}
 
}
else // invalid GPS data
else // invalid GPS data or bad compass reading
{
GPS_Neutral(); // do nothing
// reset error integral
/branches/V0.68d Code Redesign killagreg/Hex-Files/Flight-Ctrl_MEGA644_CMPS03_V0_68d.hex
1858,7 → 1858,7
:107410008A0640918B0650918C06C601B5010E94E8
:107420008F4620E032E040E050E00E9403477901BF
:107430008A012091FB053091FC054091FD0550919A
:10744000FE05C201B1010E948F4620E038E040E015
:10744000FE05C201B1010E948F4620E030E240E01B
:1074500050E00E94034739014A019094809470944F
:107460006094611C711C811C911C6E187F08800A3D
:10747000910A6D817E818F8198852D853E854F850E
1867,7 → 1867,7
:1074A0008E0640918F0650919006C601B5010E944C
:1074B0008F4620E032E040E050E00E94034779012F
:1074C0008A012091F7053091F8054091F905509116
:1074D000FA05C201B1010E948F4620E038E040E089
:1074D000FA05C201B1010E948F4620E030E240E08F
:1074E00050E00E94034759016A01D094C094B094BF
:1074F000A094A11CB11CC11CD11CAE18BF08C00AAD
:10750000D10A69817A818B819C812D853E854F8549
1890,7 → 1890,7
:107610009E971CF08DE290E007C0E989FA89E35D4E
:10762000FF4F3CF483ED9FEF9093CC058093CB0507
:1076300094C0882309F091C06D817E818F819885E7
:1076400024E030E040E050E00E9403478091FB05D9
:1076400020E130E040E050E00E9403478091FB05DC
:107650009091FC05A091FD05B091FE05280F391F02
:107660004A1F5B1F2093FB053093FC054093FD05EB
:107670005093FE0521308DE7380780E0480780E011
1897,7 → 1897,7
:1076800058072CF080E09DE7A0E0B0E009C0205052
:1076900033484F4F5F4F64F480E093E8AFEFBFEFA4
:1076A0008093FB059093FC05A093FD05B093FE0528
:1076B00069817A818B819C8124E030E040E050E058
:1076B00069817A818B819C8120E130E040E050E05B
:1076C0000E9403478091F7059091F805A091F90574
:1076D000B091FA05280F391F4A1F5B1F2093F70549
:1076E0003093F8054093F9055093FA052130ADE742
/branches/V0.68d Code Redesign killagreg/Hex-Files/Flight-Ctrl_MEGA644_MM3_V0_68d.hex
1889,7 → 1889,7
:10760000B5010E94C94A20E032E040E050E00E940B
:107610003D4B79018A012091F7053091F8054091A1
:10762000F9055091FA05C201B1010E94C94A20E052
:1076300038E040E050E00E943D4B39014A0190940F
:1076300030E240E050E00E943D4B39014A01909415
:10764000809470946094611C711C811C911C6E1854
:107650007F08800A910A6D817E818F8198852D85B2
:107660003E854F8558890E94C94A20E038E040E0B5
1898,7 → 1898,7
:10769000B5010E94C94A20E032E040E050E00E947B
:1076A0003D4B79018A012091F3053091F405409119
:1076B000F5055091F605C201B1010E94C94A20E0CA
:1076C00038E040E050E00E943D4B59016A01D094FF
:1076C00030E240E050E00E943D4B59016A01D09405
:1076D000C094B094A094A11CB11CC11CD11CAE18C4
:1076E000BF08C00AD10A69817A818B819C812D856E
:1076F0003E854F8558890E94C94A20E038E040E025
1920,7 → 1920,7
:1077F000A989BA899E971CF08DE290E007C0E989BB
:10780000FA89E35DFF4F3CF483ED9FEF9093C80549
:107810008093C70594C0882309F091C06D817E8153
:107820008F81988524E030E040E050E00E943D4B9D
:107820008F81988520E130E040E050E00E943D4BA0
:107830008091F7059091F805A091F905B091FA05AE
:10784000280F391F4A1F5B1F2093F7053093F80557
:107850004093F9055093FA0521308DE7380780E011
1927,7 → 1927,7
:10786000480780E058072CF080E09DE7A0E0B0E0FA
:1078700009C0205033484F4F5F4F64F480E093E8D5
:10788000AFEFBFEF8093F7059093F805A093F9054C
:10789000B093FA0569817A818B819C8124E030E084
:10789000B093FA0569817A818B819C8120E130E087
:1078A00040E050E00E943D4B8091F3059091F4053B
:1078B000A091F505B091F605280F391F4A1F5B1FEF
:1078C0002093F3053093F4054093F5055093F605A6
/branches/V0.68d Code Redesign killagreg/Hex-Files/Flight-Ctrl_MEGA644p_CMPS03_V0_68d.hex
1863,7 → 1863,7
:107460008B0650918C06C601B5010E943D4720E075
:1074700032E040E050E00E94B14779018A0120915A
:10748000FB053091FC054091FD055091FE05C201C0
:10749000B1010E943D4720E038E040E050E00E940A
:10749000B1010E943D4720E030E240E050E00E9410
:1074A000B14739014A019094809470946094611CB2
:1074B000711C811C911C6E187F08800A910A6D81D5
:1074C0007E818F8198852D853E854F8558890E94C4
1872,7 → 1872,7
:1074F0008F0650919006C601B5010E943D4720E0DD
:1075000032E040E050E00E94B14779018A012091C9
:10751000F7053091F8054091F9055091FA05C2013F
:10752000B1010E943D4720E038E040E050E00E9479
:10752000B1010E943D4720E030E240E050E00E947F
:10753000B14759016A01D094C094B094A094A11CA1
:10754000B11CC11CD11CAE18BF08C00AD10A698188
:107550007A818B819C812D853E854F8558890E943B
1894,7 → 1894,7
:10765000CA058093C90581E0A989BA899E971CF063
:107660008DE290E007C0E989FA89E35DFF4F3CF4C1
:1076700083ED9FEF9093CC058093CB0594C0882336
:1076800009F091C06D817E818F81988524E030E082
:1076800009F091C06D817E818F81988520E130E085
:1076900040E050E00E94B1478091FB059091FC05CD
:1076A000A091FD05B091FE05280F391F4A1F5B1FF1
:1076B0002093FB053093FC054093FD055093FE0598
1902,7 → 1902,7
:1076D00080E09DE7A0E0B0E009C0205033484F4F64
:1076E0005F4F64F480E093E8AFEFBFEF8093FB055A
:1076F0009093FC05A093FD05B093FE0569817A8106
:107700008B819C8124E030E040E050E00E94B14752
:107700008B819C8120E130E040E050E00E94B14755
:107710008091F7059091F805A091F905B091FA05CF
:10772000280F391F4A1F5B1F2093F7053093F80578
:107730004093F9055093FA052130ADE73A07A0E0F0
/branches/V0.68d Code Redesign killagreg/Hex-Files/Flight-Ctrl_MEGA644p_MM3_V0_68d.hex
1893,7 → 1893,7
:1076400086064091870650918806C601B5010E94C2
:10765000774B20E032E040E050E00E94EB4B7901B4
:107660008A012091F7053091F8054091F905509174
:10767000FA05C201B1010E94774B20E038E040E0FA
:10767000FA05C201B1010E94774B20E030E240E000
:1076800050E00E94EB4B39014A0190948094709431
:107690006094611C711C811C911C6E187F08800A0B
:1076A000910A6D817E818F8198852D853E854F85DC
1902,7 → 1902,7
:1076D0008A0640918B0650918C06C601B5010E9426
:1076E000774B20E032E040E050E00E94EB4B790124
:1076F0008A012091F3053091F4054091F5055091F0
:10770000F605C201B1010E94774B20E038E040E06D
:10770000F605C201B1010E94774B20E030E240E073
:1077100050E00E94EB4B59016A01D094C094B094A0
:10772000A094A11CB11CC11CD11CAE18BF08C00A7A
:10773000D10A69817A818B819C812D853E854F8517
1925,7 → 1925,7
:107840009E971CF08DE290E007C0E989FA89E35D1C
:10785000FF4F3CF483ED9FEF9093C8058093C705DD
:1078600094C0882309F091C06D817E818F819885B5
:1078700024E030E040E050E00E94EB4B8091F705BF
:1078700020E130E040E050E00E94EB4B8091F705C2
:107880009091F805A091F905B091FA05280F391FDC
:107890004A1F5B1F2093F7053093F8054093F905C5
:1078A0005093FA0521308DE7380780E0480780E0E3
1932,7 → 1932,7
:1078B00058072CF080E09DE7A0E0B0E009C0205020
:1078C00033484F4F5F4F64F480E093E8AFEFBFEF72
:1078D0008093F7059093F805A093F905B093FA0506
:1078E00069817A818B819C8124E030E040E050E026
:1078E00069817A818B819C8120E130E040E050E029
:1078F0000E94EB4B8091F3059091F405A091F50562
:10790000B091F605280F391F4A1F5B1F2093F3051E
:107910003093F4054093F5055093F6052130ADE71B
/branches/V0.68d Code Redesign killagreg/analog.h
6,7 → 6,7
extern volatile int16_t UBat;
extern volatile int16_t AdValueGyrPitch, AdValueGyrRoll, AdValueGyrYaw;
extern volatile int16_t AdValueAccRoll, AdValueAccPitch, AdValueAccTop;
extern volatile int16_t Current_AccX, Current_AccY, Current_AccZ;
extern volatile int16_t Current_AccZ;
extern volatile int32_t AirPressure;
extern volatile uint16_t MeasurementCounter;
extern uint8_t PressureSensorOffset;
/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