Rev 628 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 628 | Rev 629 | ||
|---|---|---|---|
| Line 49... | Line 49... | ||
| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 52 | // + POSSIBILITY OF SUCH DAMAGE. |
52 | // + POSSIBILITY OF SUCH DAMAGE. |
| 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 54 | // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 6.10.2007 |
54 | // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 9.11.2008 |
| 55 | /* |
55 | /* |
| 56 | Driftkompensation fuer Gyros verbessert |
56 | Driftkompensation fuer Gyros verbessert |
| 57 | Linearsensor mit fixem Neutralwert |
57 | Linearsensor optional mit fixem Neutralwert |
| 58 | Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsunabhaengige Kompassfunktion |
58 | Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsunabhaengige Kompassfunktion |
| 59 | */ |
59 | */ |
| Line 60... | Line 60... | ||
| 60 | 60 | ||
| 61 | #include "main.h" |
61 | #include "main.h" |
| Line 99... | Line 99... | ||
| 99 | int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
99 | int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
| 100 | short int cnt_stickgier_zero =0; |
100 | short int cnt_stickgier_zero =0; |
| 101 | int gyrogier_kompass; |
101 | int gyrogier_kompass; |
| 102 | //Salvo End |
102 | //Salvo End |
| Line 103... | Line 103... | ||
| 103 | 103 | ||
| 104 | //Salvo 2.1.2008 Debugvariablen |
104 | //Salvo 2.1.2008 Allgemeine Debugvariablen |
| 105 | int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; //Allgemeine Debugvariablen |
105 | int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; |
| Line 106... | Line 106... | ||
| 106 | //Salvo End |
106 | //Salvo End |
| 107 | 107 | ||
| 108 | float GyroFaktor; |
108 | float GyroFaktor; |
| Line 386... | Line 386... | ||
| 386 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
386 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| 387 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
387 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| 388 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
388 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| 389 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
389 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| 390 | } |
390 | } |
| 391 | /* |
391 | |
| 392 | DebugOut.Analog[12] = Motor_Vorne; |
392 | DebugOut.Analog[12] = Motor_Vorne; |
| 393 | DebugOut.Analog[13] = Motor_Hinten; |
393 | DebugOut.Analog[13] = Motor_Hinten; |
| 394 | DebugOut.Analog[14] = Motor_Links; |
394 | DebugOut.Analog[14] = Motor_Links; |
| 395 | DebugOut.Analog[15] = Motor_Rechts; |
395 | DebugOut.Analog[15] = Motor_Rechts; |
| 396 | */ |
396 | |
| 397 | //Start I2C Interrupt Mode |
397 | //Start I2C Interrupt Mode |
| 398 | twi_state = 0; |
398 | twi_state = 0; |
| 399 | motor = 0; |
399 | motor = 0; |
| 400 | i2c_start(); |
400 | i2c_start(); |
| 401 | } |
401 | } |
| Line 1207... | Line 1207... | ||
| 1207 | DebugOut.Analog[27] = gps_rel_act_position.utm_north; |
1207 | DebugOut.Analog[27] = gps_rel_act_position.utm_north; |
| 1208 | DebugOut.Analog[28] = gps_rel_act_position.utm_alt; |
1208 | DebugOut.Analog[28] = gps_rel_act_position.utm_alt; |
| 1209 | DebugOut.Analog[29] = gps_state + (gps_sub_state*10)+(50*gps_cmd); |
1209 | DebugOut.Analog[29] = gps_state + (gps_sub_state*10)+(50*gps_cmd); |
| 1210 | DebugOut.Analog[30] = debug_gp_0; |
1210 | DebugOut.Analog[30] = debug_gp_0; |
| 1211 | DebugOut.Analog[31] = debug_gp_1; |
1211 | DebugOut.Analog[31] = debug_gp_1; |
| 1212 | DebugOut.Analog[12] = debug_gp_2; |
1212 | /* DebugOut.Analog[12] = debug_gp_2; |
| 1213 | DebugOut.Analog[13] = debug_gp_3; |
1213 | DebugOut.Analog[13] = debug_gp_3; |
| 1214 | DebugOut.Analog[14] = debug_gp_4; |
1214 | DebugOut.Analog[14] = debug_gp_4; |
| 1215 | DebugOut.Analog[15] = debug_gp_5; |
1215 | DebugOut.Analog[15] = debug_gp_5; |
| 1216 | 1216 | */ |
|
| 1217 | // DebugOut.Analog[30] = dist_flown; |
1217 | // DebugOut.Analog[30] = dist_flown; |
| 1218 | // DebugOut.Analog[31] = (int) dist_2home; |
1218 | // DebugOut.Analog[31] = (int) dist_2home; |
| 1219 | // DebugOut.Analog[31] = (int) GPS_hdng_abs_2trgt; |
1219 | // DebugOut.Analog[31] = (int) GPS_hdng_abs_2trgt; |
| 1220 | // DebugOut.Analog[31] = (int) GyroGier_Comp; |
1220 | // DebugOut.Analog[31] = (int) GyroGier_Comp; |
| 1221 | /* |
1221 | /* |