Rev 277 | Go to most recent revision | 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 | ||