| 202,8 → 202,7 |
|---|
| if (pTargetPos->Status != INVALID) // and the position data are valid |
| { |
| // if the target data are updated or the target pointer has changed |
| if ((pTargetPos->Status != PROCESSED) || (pTargetPos |
| != pLastTargetPos)) { |
| if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos)) { |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| 251,8 → 250,7 |
|---|
| // I-Part |
| I_North = ((int32_t) dynamicParams.NaviGpsI * GPSPosDevIntegral_North) |
| / 8192; |
| I_East = ((int32_t) dynamicParams.NaviGpsI * GPSPosDevIntegral_East) |
| / 8192; |
| I_East = ((int32_t) dynamicParams.NaviGpsI * GPSPosDevIntegral_East) / 8192; |
| |
| // combine P & I |
| PID_North = P_North + I_North; |
| 412,8 → 410,8 |
|---|
| // beep if signal is not sufficient |
| if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
| BeepTime = 100; |
| else if (GPSInfo.satnum < staticParams.NaviGpsMinSat |
| && !(beep_rythm % 5)) |
| else if (GPSInfo.satnum < staticParams.NaviGpsMinSat && !(beep_rythm |
| % 5)) |
| BeepTime = 10; |
| } |
| } |