Rev 812 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 812 | Rev 813 | ||
|---|---|---|---|
| Line 208... | Line 208... | ||
| 208 | { |
208 | { |
| 209 | GPS_Roll = -GPS_STICK_LIMIT; |
209 | GPS_Roll = -GPS_STICK_LIMIT; |
| 210 | GPS_Stick_Limited = 1; |
210 | GPS_Stick_Limited = 1; |
| 211 | } |
211 | } |
| Line 212... | Line 212... | ||
| 212 | 212 | ||
| 213 | if(!GPS_Stick_Limited) // prevent further growing if error integrals if control limit is reached |
213 | if(!GPS_Stick_Limited) // prevent further growing of error integrals if control limit is reached |
| 214 | { |
214 | { |
| 215 | // calculate position error integrals |
215 | // calculate position error integrals |
| 216 | GPSPosDevIntegral_North += GPSPosDev_North/4; |
216 | GPSPosDevIntegral_North += GPSPosDev_North/4; |
| 217 | if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
217 | if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |