| 1042,7 → 1042,8 |
|---|
| // Salvo 6.10.2007 |
| // GPS Home aktivieren wenn Knueppel in Ruhelage und Hoehenschalter aktiviert ist |
| //GPS Hold Aktiveren wenn Knueppel in Ruhelage sind |
| if ((EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && (abs(StickRoll) < GPS_STICK_HOLDOFF) && (abs(StickNick) < GPS_STICK_HOLDOFF) && (gps_alive_cnt > 0)) |
| if ((EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && (abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]) < GPS_STICK_HOLDOFF) |
| && (abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < GPS_STICK_HOLDOFF) && (gps_alive_cnt > 0)) |
| { |
| if (Parameter_MaxHoehe > 200) |
| { |
| 1119,9 → 1120,13 |
|---|
| DebugOut.Analog[21] = StickNick; |
| DebugOut.Analog[22] = StickRoll; |
| DebugOut.Analog[23] = StickGier; |
| |
| |
| // GPS Debugging |
| // DebugOut.Analog[10] = GPS_dist_2trgt; |
| // DebugOut.Analog[11] = GPS_hdng_rel_2trgt; |
| DebugOut.Analog[10] = Parameter_UserParam1; |
| DebugOut.Analog[11] = Parameter_UserParam3; |
| DebugOut.Analog[24] = GPS_Nick; |
| DebugOut.Analog[25] = GPS_Roll; |
| DebugOut.Analog[26] = gps_rel_act_position.utm_east/10; //in m ausgeben |
| DebugOut.Analog[27] = gps_rel_act_position.utm_north/10; |
| DebugOut.Analog[28] = gps_rel_act_position.utm_alt/10; |
| 1162,8 → 1167,8 |
|---|
| MesswertGier = MesswertGier * (GyroFaktor) + Integral_Gier * IntegralFaktor/2; |
| |
| //DebugOut.Analog[28] = MesswertRoll; |
| DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
| DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
| //DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
| //DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
| |
| // Maximalwerte abfangen |
| #define MAX_SENSOR 2048 |