Rev 698 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 698 | Rev 736 | ||
|---|---|---|---|
| Line 546... | Line 546... | ||
| 546 | 546 | ||
| 547 | debug_gp_4 = (int)int_east; // zum Debuggen |
547 | debug_gp_4 = (int)int_east; // zum Debuggen |
| Line 548... | Line 548... | ||
| 548 | debug_gp_5 = (int)int_north; // zum Debuggen |
548 | debug_gp_5 = (int)int_north; // zum Debuggen |
| 549 | 549 | ||
| 550 | //I Werte begrenzen |
550 | //I Werte begrenzen |
| 551 | #define INT1_MAX (GPS_NICKROLL_MAX * GPS_V*2)/10// auf 20 Prozent des maximalen Nick/Rollwert begrenzen |
551 | #define INT1_MAX (GPS_NICKROLL_MAX * GPS_V*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen |
| 552 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
552 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
| 553 | int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
553 | int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
| 554 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
554 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
| Line 599... | Line 599... | ||
| 599 | delta_north = (delta_north * (long)diff_p)/(40); |
599 | delta_north = (delta_north * (long)diff_p)/(40); |
| Line 600... | Line 600... | ||
| 600 | 600 | ||
| 601 | if (hold_fast > 0) //schneller Coming Home Modus |
601 | if (hold_fast > 0) //schneller Coming Home Modus |
| 602 | { |
602 | { |
| 603 | // P Werte begrenzen |
603 | // P Werte begrenzen |
| 604 | #define P1_F_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
604 | #define P1_F_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
| 605 | if (delta_east > P1_F_MAX) delta_east = P1_F_MAX; |
605 | if (delta_east > P1_F_MAX) delta_east = P1_F_MAX; |
| 606 | else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX; |
606 | else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX; |
| 607 | if (delta_north > P1_F_MAX) delta_north = P1_F_MAX; |
607 | if (delta_north > P1_F_MAX) delta_north = P1_F_MAX; |
| 608 | else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX; |
608 | else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX; |