WebSVN - FlightCtrl - Path Comparison - /branches/salvo_gps/ Rev 1061 and /branches/salvo

Ignore whitespace Rev 1061 → Rev 1062

 /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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 ,27 → 718,27
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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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 :1037F00019821882F801EE0FFF1FE858F84F318345
 :103800002083F8013196F0930C04E0930B04E5302B
 ,18 → 911,18
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 :1038F0001004821B930B90930A088093090860912F
 :10390000EA037091EB03882777FD8095982F2CE0D0
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 :10393000731F841F951F22E030E040E050E00E949A
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 :103970005708882777FD8095982F620F731F841F43
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 :103990005708209356086091EC037091ED03882737
 :1039A00077FD8095982F20911608309117084427AD
 :1039B00037FD4095542F620F731F841F951F22E01F
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 :1039E000820F931F880F991F880F991FAA2797FD91
 :1039F000A095BA2F209135043091360440913704B8
 ,10 → 939,10
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 :103AB000E0906007F0906107A0901F04B090200490
 :103AC000C0902104D090220460913D0470913E0486
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 :103B20005C01CC24B7FCC094DC2C809152089091AD
 :103B30005308A0915408B0915508A80EB91ECA1E8A
 ,16 → 968,16
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 :103C80006091A6077091A707E0909804FF2400E0D8
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 :103D6000AF4FBF4F81389105A105B10584F4CB0158
 ,7 → 991,7
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 :103DF000E7048090E8049090E90480919904282ECB
 :103E0000332444245524C201B101A40193010E942A
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 :103E3000FE07442737FD4095542F809151049091FF
 :103E40005204A0915304B0915404820F931FA41FF5
 ,8 → 1022,8
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 :103FE00090910A088619970990930A088093090806
 :103FF0000091090810910A08C201B10129813A8192
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 :104020005F4F020F131F10930A0800930908209195
 :10403000090830910A08442737FD4095542F809194
 :10404000490490914A04A0914B04B0914C04820F12
 ,8 → 1211,8
 :104BA00098F08B3F19F4809170040EC08C3F19F47B
 :104BB0008091720409C08D3F19F48091740404C07F
 :104BC0008E3F21F480917604809360086091A60363
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 :104C0000BA0780930C0808951F93CF93DF93182F52
 :104C1000C4E6D0E00DC0115080918104882351F486
 ,9 → 1232,9
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 :104D0000FD078091E6039091E70390934908809313
 :104D100048086091EA037091EB03882777FD80953E
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 :104D30004308609342086091E8037091E903882773
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 :104D600016088FEE80937A008091AC07E82FF0E070
 :104D7000EE0FFF1FE858F84F808191812091700459
 ,9 → 1267,9
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 :104F300039F034F08FEF90E090937704809376040B
 :104F40006091D30770E080E090E024EC39E040E02D
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 :104F900010921C0410921B0480E090E0A0E0B0E0AE
 :104FA00080931F0490932004A0932104B0932204C3
 ,9 → 1286,9
 :1050500030931604209315045093180440931704BA
 :10506000F999FECF24E030E032BD21BDF89A80B539
 :10507000853038F1809156089091570897FF03C00A
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 :105090001C0460931B04809142089091430897FF81
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 :1050B00070931A04609319046091600770916107FE
 :1050C00042C0F999FECF32BD21BDF89A30B5F999A9
 :1050D000FECF85E090E092BD81BDF89A20B5932F78
 ,7 → 1299,7
 :10512000FECF88E090E092BD81BDF89A30B5F99944
 :10513000FECF89E090E092BD81BDF89A20B5732F33
 :1051400060E0620F711D882777FD8095982F0E947F
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 :1051600022041092450410924604109247041092B3
 :1051700048041092490410924A0410924B04109271
 :105180004C0410924D0410924E0410924F04109251
 ,18 → 1313,18
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 :1052100063040E94BB4382E390E09093D6038093A3
 :10522000D5036091D30770E080E090E024EC39E092
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 :1052400060939203709393038093940390939503D8
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 :1052A0005308809354089093550810926B04109201
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 :105300008F929F92AF92BF92CF92DF92EF92FF92D5
 :105310000F931F93DF93CF93CDB7DEB728970FB6C8
 ,22 → 1405,22
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 :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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 :105900001092C704E091AA07F0E0EE0FFF1FE858DD
 :10591000F84F808191818B5A9F4F0CF0A6C0E09187
 ,7 → 1450,7
 :105A9000111FF801E858F84F80819181E090B70715
 :105AA000FF24BC016E9DC0016F9D900D7E9D900DE9
 :105AB00011244091B7045091B8049A01220F331F6A
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 :105AE0009C910091B80710E0FC01E09FC001E19F8C
 :105AF000900DF09F900D1124860F971F9093B8047E
 ,7 → 1460,7
 :105B3000F601E858F84F808191819C012E9DC001AB
 :105B40002F9D900D3E9D900D11244091B5045091D4
 :105B5000B6049A01220F331F240F351F820F931FA3
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 :105B9000971F9093B6048093B5042091F40430913C
 ,11 → 1470,11
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 :105BE000EE0FFF1FE858F84F8081918188589F4F32
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 :105C700082FF09C080916008482F50E0440F551FF3
 ,13 → 1482,13
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 :105CB000F3E0880F991FFA95E1F7821B930B840F8D
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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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 :105F5000A0E0B0E080932F0890933008A093310820
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 :105FA0003F4FC90195958795959587959093A10445
 ,7 → 1532,7
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 :10600000842F912F9C0137FF03C0309521953F4F7E
 :10601000C90195958795959587959093A30480934D
 ,27 → 1604,27
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 :1064400080918B04882309F012C1E090BC07FF24DF
 :1064500000E010E0609125047091260480912704EB
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 :1064D000742E652E822F932FA42FB52F5C016D0192
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 :106590006D01C801B70123E030E040E050E00E9407
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 ,44 → 1641,44
 :1066800080918A04882309F002C580918B048823B5
 :1066900009F0FDC480916904882309F0F8C4609171
 :1066A000200870912108809122089091230820E011
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 :1066D0002708709128088091290890912A0820E0C5
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 ,12 → 1717,12
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 :106B50004AC0DA01C9010CE0B595A79597958795CC
 :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
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 ,7 → 1801,7
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 :10709000870410928604109289041092880410923A
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 :1070E00023088093AB049093AC04A093AD04B093B9
 ,7 → 1828,7
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 :1072400090916F0403970CF498C060911A087091A4
 :107250001B0880911C0890911D082AEA35E040E047
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 :10728000390B30933A08209339084FEF2C343407E8
 :1072900034F428593E4F30933A08209339088091AE
 ,7 → 1847,7
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 :107370001B0810921C0810921D0881E080936C0479
 :1073800060915C0870915D0880915E0890915F0843
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 :1073B00020916104309162042E193F0930930E0828
 :1073C00020930D08C9010197833B910590F0243B60
 ,7 → 1859,7
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 :10743000A0935E08B0935F0860915C0870915D084E
 :1074400080915E0890915F0828E631E040E050E0CE
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 :107470000AC010926C0410921A0810921B08109205
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 ,11 → 1880,11
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 :10758000F090B907C0907D04D0907E04B6018827A2
 :1075900077FD8095982F2F2D30E040E050E00E943D
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 :10760000DC049093DD0420915504309156044091A0
 :10761000570450915804261B370B480B590B2093E5
 ,7 → 1904,7
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 :107700006C04882341F18091650490916604AC017A
 :10771000249FC001259F900D349F900D112460E29D
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 :10774000371F481F591F2093550430935604409308
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 ,9 → 1913,9
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 :107790008104882311F0429A01C04298E090BC070E
 :1077A000FF2400E010E06091250470912604809190
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 :1077F0002107809320078091560890915708909315
 :10780000230780932207809148089091490890931C
 ,9 → 1924,9
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 ,34 → 1940,34
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 ,17 → 1991,17
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 ,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 → 574,8
                                         amplfy_speed_north = DIFF_Y_F_MAX;
                                         amplfy_speed_east  *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
                                         amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
-                                        speed_east  = (speed_east   * (long)amplfy_speed_east*gps_gain) /500;
-                                        speed_north = (speed_north  * (long)amplfy_speed_north*gps_gain)/500;
+                                        speed_east  = (speed_east   * (long)amplfy_speed_east*gps_gain) /400;
+                                        speed_north = (speed_north  * (long)amplfy_speed_north*gps_gain)/400;
                                         // D Werte begrenzen
                                         #define D_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
                                         if (speed_east  > D_F_MAX) speed_east = D_F_MAX;

 /branches/salvo_gps/Basis_v0070d/trunk/gps.h
 ,7 → 1,7
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Peter Muehlenbrock alias Salvo
 // Definitionen fuer Modul GPS
-// Stand 22.11.2008
+// Stand 7.12.2008
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 extern signed int       GPS_Nick;
 extern signed int       GPS_Roll;
 ,7 → 104,7
 // GPS Lageregler
 #define GPS_USR_PAR_FKT         4       //Faktor durch den die Userparameter geteilt werden
-#define GPS_NICKROLL_MAX        60      // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll
+#define GPS_NICKROLL_MAX        80      // 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
 ,7 → 124,7
 // GPS G2T /Go to Target Regler
 #define GPS_G2T_DIST_MAX_STOP   80      // Ab dieser Entfernung vom Zielpunkt soll die Geschwindigkeit runtergeregelt werden( in 10 cm)
 #define GPS_G2T_DIST_HOLD               50      // Ab dieser Entfernung vom Zielpunkt wird mit Minimaler Geschwindigkeit eingeregelt
-#define GPS_G2T_FAST_TOL                300     // Bei grosser Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht
+#define GPS_G2T_FAST_TOL                200     // Bei grosser Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht
 #define GPS_G2T_NRML_TOL                100     // Bei kleiner Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht
 #define GPS_G2T_V_MAX                   15      // Maximale Geschwindigkeit (in 10cm/0.25 Sekunden) mit der der Sollpunkt geaendert wird.
 #define GPS_G2T_V_RAMP_DWN              10      // Geschwindigkeit (in 10cm/0.25ekunden) in der Naehe der Home Position um abzubremsen

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