Rev 1227 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1227 | Rev 1237 | ||
|---|---|---|---|
| Line 276... | Line 276... | ||
| 276 | PID_East = P_East + I_East; |
276 | PID_East = P_East + I_East; |
| 277 | if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT)) |
277 | if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT)) |
| 278 | { |
278 | { |
| 279 | GPSPosDevIntegral_North += GPSPosDev_North/16; |
279 | GPSPosDevIntegral_North += GPSPosDev_North/16; |
| 280 | GPSPosDevIntegral_East += GPSPosDev_East/16; |
280 | GPSPosDevIntegral_East += GPSPosDev_East/16; |
| 281 | GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_North, GPS_POSINTEGRAL_LIMIT); |
281 | GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
| 282 | } |
282 | } |
| Line 283... | Line 283... | ||
| 283 | 283 | ||
| 284 | // combine PI- and D-Part |
284 | // combine PI- and D-Part |
| 285 | PID_North += D_North; |
285 | PID_North += D_North; |