| 119,7 → 119,7 |
|---|
| short int n = 0; |
| n = Get_GPS_data(); |
| if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
| if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
| if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
| if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
| { |
| gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
| 148,23 → 148,26 |
|---|
| { |
| if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
| { |
| actual_status.status = 0; |
| gps_act_position.utm_east = actual_pos.utm_east/10; |
| gps_act_position.utm_north = actual_pos.utm_north/10; |
| gps_act_position.utm_alt = actual_pos.utm_alt/10; |
| gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| gps_act_position.heading = actual_speed.heading/100000; |
| actual_pos.status = 0; //neue ublox Messages anfordern |
| // gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| // gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| // gps_act_position.heading = actual_speed.heading/100000; |
| actual_speed.status = 0; |
| gps_act_position.status = 1; |
| n = 0; //Daten gueltig |
| } |
| else |
| { |
| gps_act_position.status = 0; //Keine gueltigen Daten |
| n = 2; |
| gps_act_position.status = 0; //Keine gueltigen Daten |
| actual_speed.status = 0; |
| actual_status.status = 0; |
| actual_pos.status = 0; //neue ublox Messages anfordern |
| n = 2; |
| } |
| actual_pos.status = 0; //neue ublox Messages anfordern |
| actual_status.status = 0; |
| actual_speed.status = 0; |
| } |
| return (n); |
| } |
| 307,7 → 310,7 |
|---|
| if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
| { |
| cnt++; |
| if (cnt > 500) // erst nach Verzoegerung |
| if (cnt > 200) // erst nach Verzoegerung |
| { |
| // Erst mal initialisieren |
| cnt = 0; |
| 356,7 → 359,7 |
|---|
| if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
| { |
| cnt++; |
| if (cnt > 500) // erst nach Verzoegerung |
| if (cnt > 400) // erst nach Verzoegerung |
| { |
| cnt = 0; |
| // aktuelle positionsdaten abspeichern |
| 554,8 → 557,8 |
|---|
| |
| //I Werte begrenzen |
| #define INT1_MAX (20 * GPS_V) |
| int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
| int_north = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
| int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
| int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; //Fehler behoben am 17.12.2007 vorher int_north= |
| if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
| else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
| if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |