Rev 277 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 277 | Rev 393 | ||
---|---|---|---|
Line 649... | Line 649... | ||
649 | 649 | ||
650 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
650 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
651 | // LED Stuff |
651 | // LED Stuff |
Line 652... | Line 652... | ||
652 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
652 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
Line 653... | Line 653... | ||
653 | 653 | ||
654 | LED1_OFF; |
654 | LED1_OFF; |
655 | 655 | ||
656 | if(blinkcount_LED1 >= Parameter_UserParam4 && Parameter_UserParam4 > 0) |
656 | if(blinkcount_LED1 >= Parameter_UserParam4 && Parameter_UserParam4 > 0) |
657 | { |
657 | { |
Line 658... | Line 658... | ||
658 | LED1_FLASH; |
658 | LED1_FLASH; |
Line 659... | Line 659... | ||
659 | blinkcount_LED1 = 0; |
659 | blinkcount_LED1 = 0; |
660 | } |
660 | } |
661 | 661 | ||
Line 812... | Line 812... | ||
812 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
812 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
Line 813... | Line 813... | ||
813 | 813 | ||
814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
815 | // GPS |
815 | // GPS |
816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
817 | if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
817 | if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
818 | { |
818 | { |
819 | P_GPS_Verstaerkung = Parameter_UserParam1; |
819 | P_GPS_Verstaerkung = Parameter_UserParam1; |
820 | D_GPS_Verstaerkung = Parameter_UserParam2; |
820 | D_GPS_Verstaerkung = Parameter_UserParam2; |
821 | Limit_D_Anteil = Parameter_UserParam3; |
821 | Limit_D_Anteil = Parameter_UserParam3; |
822 | gps_main(); |
822 | gps_main(); |
823 | } |
823 | } |
824 | else |
824 | else |
825 | { |
825 | { |
826 | GPS_Nick = 0; |
826 | GPS_Nick = 0; |
827 | GPS_Roll = 0; |
827 | GPS_Roll = 0; |
828 | } |
- | |
829 | - | ||
830 | 828 | } |
|
831 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
829 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
832 | // Debugwerte zuordnen |
830 | // Debugwerte zuordnen |
833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
831 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
834 | if(!TimerWerteausgabe--) |
832 | if(!TimerWerteausgabe--) |
835 | { |
833 | { |
Line 836... | Line 834... | ||
836 | TimerWerteausgabe = 49; |
834 | TimerWerteausgabe = 49; |
837 | 835 | ||
838 | DebugOut.Analog[0] = actualPos.GPSFix; |
836 | DebugOut.Analog[0] = SenderOkay; |
839 | DebugOut.Analog[1] = GPS_Roll; |
837 | DebugOut.Analog[1] = GPS_Roll; |
840 | DebugOut.Analog[2] = GPS_Nick; |
838 | DebugOut.Analog[2] = GPS_Nick; |
841 | DebugOut.Analog[3] = GPS_Positionsabweichung_North; |
839 | DebugOut.Analog[3] = GPS_Positionsabweichung_North; |
Line 848... | Line 846... | ||
848 | DebugOut.Analog[10] = Soll_Position_East; |
846 | DebugOut.Analog[10] = Soll_Position_East; |
849 | DebugOut.Analog[11] = Parameter_UserParam1; |
847 | DebugOut.Analog[11] = Parameter_UserParam1; |
850 | DebugOut.Analog[12] = Parameter_UserParam2; |
848 | DebugOut.Analog[12] = Parameter_UserParam2; |
851 | DebugOut.Analog[13] = Poti3; |
849 | DebugOut.Analog[13] = Poti3; |
852 | DebugOut.Analog[14] = KompassValue; |
850 | DebugOut.Analog[14] = KompassValue; |
853 | DebugOut.Analog[15] = GPS_Home_North; |
851 | DebugOut.Analog[15] = NORTH_MITTEL; |
854 | DebugOut.Analog[16] = GPS_Home_East; |
852 | DebugOut.Analog[16] = EAST_MITTEL; |
855 | DebugOut.Analog[17] = NORTH_MITTEL; |
853 | DebugOut.Analog[17] = actualPos.altitude; |
856 | DebugOut.Analog[18] = EAST_MITTEL; |
854 | DebugOut.Analog[18] = actualPos.GSpeed; |
857 | DebugOut.Analog[19] = actualPos.northing; |
855 | DebugOut.Analog[19] = actualPos.northing; |
858 | DebugOut.Analog[20] = actualPos.easting; |
856 | DebugOut.Analog[20] = actualPos.easting; |
859 | DebugOut.Analog[21] = actualPos.velNorth; |
857 | DebugOut.Analog[21] = actualPos.velNorth; |
860 | DebugOut.Analog[22] = actualPos.velEast; |
858 | DebugOut.Analog[22] = actualPos.velEast; |
861 | DebugOut.Analog[23] = UBat; |
859 | DebugOut.Analog[23] = UBat; |
Line 865... | Line 863... | ||
865 | DebugOut.Analog[27] = IntegralNick / EE_Parameter.GyroAccFaktor; |
863 | DebugOut.Analog[27] = IntegralNick / EE_Parameter.GyroAccFaktor; |
866 | DebugOut.Analog[28] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
864 | DebugOut.Analog[28] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
867 | DebugOut.Analog[29] = Mittelwert_AccNick; |
865 | DebugOut.Analog[29] = Mittelwert_AccNick; |
868 | DebugOut.Analog[30] = Mittelwert_AccRoll; |
866 | DebugOut.Analog[30] = Mittelwert_AccRoll; |
869 | DebugOut.Analog[31] = StickNick; |
867 | DebugOut.Analog[31] = StickNick; |
- | 868 | //DebugOut.Analog[32] = StickGier; |
|
- | 869 | //DebugOut.Analog[33] = actualPos.GPSFix; |
|
- | 870 | //DebugOut.Analog[34] = motor_rx[0]; //Motorstrom vorne |
|
- | 871 | //DebugOut.Analog[35] = motor_rx[1]; //Motorstrom hinten |
|
- | 872 | //DebugOut.Analog[36] = motor_rx[2]; //Motorstrom links |
|
- | 873 | //DebugOut.Analog[37] = motor_rx[3]; //Motorstrom rechts |
|
- | 874 | //DebugOut.Analog[38] = GPS_Home_North; |
|
- | 875 | //DebugOut.Analog[39] = GPS_Home_East; |
|
- | 876 | //DebugOut.Analog[40] = newData_navPosUtm; |
|
- | 877 | ||
870 | } |
878 | } |
Line 871... | Line 879... | ||
871 | 879 | ||
872 | 880 |