99,8 → 99,12 |
int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
short int cnt_stickgier_zero =0; |
int gyrogier_kompass; |
// Salvo End |
//Salvo End |
|
//Salvo 2.1.2008 Debugvariablen |
int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; //Allgemeine Debugvariablen |
//Salvo End |
|
float GyroFaktor; |
float IntegralFaktor; |
volatile int DiffNick,DiffRoll; |
385,11 → 389,11 |
if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
} |
|
DebugOut.Analog[12] = Motor_Vorne; |
/* DebugOut.Analog[12] = Motor_Vorne; |
DebugOut.Analog[13] = Motor_Hinten; |
DebugOut.Analog[14] = Motor_Links; |
DebugOut.Analog[15] = Motor_Rechts; |
|
*/ |
//Start I2C Interrupt Mode |
twi_state = 0; |
motor = 0; |
1203,13 → 1207,19 |
DebugOut.Analog[27] = gps_rel_act_position.utm_north; |
DebugOut.Analog[28] = gps_rel_act_position.utm_alt; |
DebugOut.Analog[29] = gps_state + (gps_sub_state*10)+(50*gps_cmd); |
DebugOut.Analog[30] = gps_reg_x; |
DebugOut.Analog[31] = gps_reg_y; |
DebugOut.Analog[30] = debug_gp_0; |
DebugOut.Analog[31] = debug_gp_1; |
DebugOut.Analog[12] = debug_gp_2; |
DebugOut.Analog[13] = debug_gp_3; |
DebugOut.Analog[14] = debug_gp_4; |
DebugOut.Analog[15] = debug_gp_5; |
|
// DebugOut.Analog[30] = dist_flown; |
// DebugOut.Analog[31] = (int) dist_2home; |
// DebugOut.Analog[31] = (int) GPS_hdng_abs_2trgt; |
// DebugOut.Analog[31] = (int) GyroGier_Comp; |
/* DebugOut.Analog[16] = motor_rx[0]; |
/* |
DebugOut.Analog[16] = motor_rx[0]; |
DebugOut.Analog[17] = motor_rx[1]; |
DebugOut.Analog[18] = motor_rx[2]; |
DebugOut.Analog[19] = motor_rx[3]; |