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| Rev 615 | Rev 616 | ||
|---|---|---|---|
| Line 521... | Line 521... | ||
| 521 | diff_east_f = (((diff_east_f *2)/3) + ((diff_east *1*10)/3)); //Differenzierer filtern |
521 | diff_east_f = (((diff_east_f *2)/3) + ((diff_east *1*10)/3)); //Differenzierer filtern |
| 522 | diff_north_f = (((diff_north_f *2)/3) + ((diff_north*1*10)/3)); //Differenzierer filtern |
522 | diff_north_f = (((diff_north_f *2)/3) + ((diff_north*1*10)/3)); //Differenzierer filtern |
| 523 | } |
523 | } |
| 524 | else // schwache Filterung |
524 | else // schwache Filterung |
| 525 | { |
525 | { |
| 526 | diff_east_f = (((diff_east_f * 2)/4) + ((diff_east *2*10)/4)); //Differenzierer filtern |
526 | diff_east_f = (((diff_east_f * 3)/4) + ((diff_east *1*10)/4)); //Differenzierer filtern |
| 527 | diff_north_f = (((diff_north_f * 2)/4) + ((diff_north*2*10)/4)); //Differenzierer filtern |
527 | diff_north_f = (((diff_north_f * 3)/4) + ((diff_north*1*10)/4)); //Differenzierer filtern |
| 528 | } |
528 | } |
| Line 529... | Line 529... | ||
| 529 | 529 | ||
| 530 | #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
530 | #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
| 531 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) |
531 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) |
| Line 572... | Line 572... | ||
| 572 | if (diff_v_east > (DIFF_Y_MAX *10)) diff_v_east = DIFF_Y_MAX *10; // Begrenzung |
572 | if (diff_v_east > (DIFF_Y_MAX *10)) diff_v_east = DIFF_Y_MAX *10; // Begrenzung |
| 573 | if (diff_v_north > (DIFF_Y_MAX *10)) diff_v_north = DIFF_Y_MAX *10; // Begrenzung |
573 | if (diff_v_north > (DIFF_Y_MAX *10)) diff_v_north = DIFF_Y_MAX *10; // Begrenzung |
| 574 | diff_v_east *= 2; |
574 | diff_v_east *= 2; |
| 575 | diff_v_north *= 2; |
575 | diff_v_north *= 2; |
| Line 576... | Line 576... | ||
| 576 | 576 | ||
| 577 | debug_gp_2 = diff_v_east; // zum Debuggen |
577 | // debug_gp_2 = diff_v_east; // zum Debuggen |
| 578 | debug_gp_3 = diff_v_north; // zum Debuggen |
578 | // debug_gp_3 = diff_v_north; // zum Debuggen |
| 579 | debug_gp_4 = diff_east_f; // zum Debuggen |
579 | // debug_gp_4 = diff_east_f; // zum Debuggen |
| 580 | debug_gp_5 = diff_north_f; // zum Debuggen |
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| Line 581... | Line 580... | ||
| 581 | 580 | // debug_gp_5 = diff_north_f; // zum Debuggen |
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| 582 | 581 | ||
| 583 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
582 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |