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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // Peter Muehlenbrock ("Salvo") |
2 | // Peter Muehlenbrock ("Salvo") |
| 3 | // Definitionen fuer Modul GPS |
3 | // Definitionen fuer Modul GPS |
| 4 | // Stand 19.9.007 |
4 | // Stand 2.10.007 |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 6 | extern signed int GPS_Nick; |
6 | extern signed int GPS_Nick; |
| 7 | extern signed int GPS_Roll; |
7 | extern signed int GPS_Roll; |
| 8 | extern void GPS_Neutral(void); |
8 | extern void GPS_Neutral(void); |
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| 69 | 69 | ||
| 70 | extern GPS_ABS_POSITION_t gps_act_position; |
70 | extern GPS_ABS_POSITION_t gps_act_position; |
| 71 | extern GPS_ABS_POSITION_t gps_home_position; |
71 | extern GPS_ABS_POSITION_t gps_home_position; |
| 72 | extern GPS_REL_POSITION_t gps_rel_act_position; |
72 | extern GPS_REL_POSITION_t gps_rel_act_position; |
| 73 | extern GPS_REL_POSITION_t gps_rel_hold_position; |
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| 74 | extern unsigned int cnt0,cnt1,cnt2; |
73 | extern GPS_REL_POSITION_t gps_rel_hold_position; |
| 75 | extern short int gps_state; |
74 | extern short int gps_state; |
| 76 | extern signed int GPS_hdng_abs_2trgt; |
75 | extern signed int GPS_hdng_abs_2trgt; |
| 77 | extern signed int GPS_hdng_rel_2trgt; |
76 | extern signed int GPS_hdng_rel_2trgt; |
| 78 | extern signed int GPS_dist_2trgt; |
77 | extern signed int GPS_dist_2trgt; |
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| 96 | #define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt |
95 | #define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt |
| 97 | #define GPS_STST_ERR 2 // Fehler |
96 | #define GPS_STST_ERR 2 // Fehler |
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| 98 | 97 | ||
| 99 | // GPS Lageregler |
98 | // GPS Lageregler |
| 100 | #define GPS_NICKROLL_MAX 30 //Maximaler Einfluss des GPS Lagereglers auf Nick und Roll |
99 | #define GPS_NICKROLL_MAX 30 // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll |
| 101 | #define GPS_DIST_MAX 500 //Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm) |
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| 102 | //Salvo 16.9.2007 GPS_STICK_HOLDOFF *************** |
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| 103 | // Laut Datenblatt sind die Werte ueber Zeit und Temperatur sehr stabil. |
100 | #define GPS_DIST_MAX 300 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm) |