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| Rev 613 | Rev 615 | ||
|---|---|---|---|
| Line 97... | Line 97... | ||
| 97 | long GyroKomp_Int; |
97 | long GyroKomp_Int; |
| 98 | long int GyroGier_Comp; |
98 | long int GyroGier_Comp; |
| 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 |
| - | 103 | ||
| - | 104 | //Salvo 2.1.2008 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 |
|
| - | 106 | //Salvo End |
|
| Line 103... | Line 107... | ||
| 103 | 107 | ||
| 104 | float GyroFaktor; |
108 | float GyroFaktor; |
| 105 | float IntegralFaktor; |
109 | float IntegralFaktor; |
| 106 | volatile int DiffNick,DiffRoll; |
110 | volatile int DiffNick,DiffRoll; |
| Line 383... | Line 387... | ||
| 383 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
387 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| 384 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
388 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| 385 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
389 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| 386 | } |
390 | } |
| Line 387... | Line 391... | ||
| 387 | 391 | ||
| 388 | DebugOut.Analog[12] = Motor_Vorne; |
392 | /* DebugOut.Analog[12] = Motor_Vorne; |
| 389 | DebugOut.Analog[13] = Motor_Hinten; |
393 | DebugOut.Analog[13] = Motor_Hinten; |
| 390 | DebugOut.Analog[14] = Motor_Links; |
394 | DebugOut.Analog[14] = Motor_Links; |
| 391 | DebugOut.Analog[15] = Motor_Rechts; |
395 | DebugOut.Analog[15] = Motor_Rechts; |
| 392 | 396 | */ |
|
| 393 | //Start I2C Interrupt Mode |
397 | //Start I2C Interrupt Mode |
| 394 | twi_state = 0; |
398 | twi_state = 0; |
| 395 | motor = 0; |
399 | motor = 0; |
| 396 | i2c_start(); |
400 | i2c_start(); |
| Line 1201... | Line 1205... | ||
| 1201 | DebugOut.Analog[25] = GPS_Roll; |
1205 | DebugOut.Analog[25] = GPS_Roll; |
| 1202 | DebugOut.Analog[26] = gps_rel_act_position.utm_east; //in 10cm ausgeben |
1206 | DebugOut.Analog[26] = gps_rel_act_position.utm_east; //in 10cm ausgeben |
| 1203 | DebugOut.Analog[27] = gps_rel_act_position.utm_north; |
1207 | DebugOut.Analog[27] = gps_rel_act_position.utm_north; |
| 1204 | DebugOut.Analog[28] = gps_rel_act_position.utm_alt; |
1208 | DebugOut.Analog[28] = gps_rel_act_position.utm_alt; |
| 1205 | 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); |
| 1206 | DebugOut.Analog[30] = gps_reg_x; |
1210 | DebugOut.Analog[30] = debug_gp_0; |
| 1207 | DebugOut.Analog[31] = gps_reg_y; |
1211 | DebugOut.Analog[31] = debug_gp_1; |
| - | 1212 | DebugOut.Analog[12] = debug_gp_2; |
|
| - | 1213 | DebugOut.Analog[13] = debug_gp_3; |
|
| - | 1214 | DebugOut.Analog[14] = debug_gp_4; |
|
| - | 1215 | DebugOut.Analog[15] = debug_gp_5; |
|
| - | 1216 | ||
| 1208 | // DebugOut.Analog[30] = dist_flown; |
1217 | // DebugOut.Analog[30] = dist_flown; |
| 1209 | // DebugOut.Analog[31] = (int) dist_2home; |
1218 | // DebugOut.Analog[31] = (int) dist_2home; |
| 1210 | // DebugOut.Analog[31] = (int) GPS_hdng_abs_2trgt; |
1219 | // DebugOut.Analog[31] = (int) GPS_hdng_abs_2trgt; |
| 1211 | // DebugOut.Analog[31] = (int) GyroGier_Comp; |
1220 | // DebugOut.Analog[31] = (int) GyroGier_Comp; |
| - | 1221 | /* |
|
| 1212 | /* DebugOut.Analog[16] = motor_rx[0]; |
1222 | DebugOut.Analog[16] = motor_rx[0]; |
| 1213 | DebugOut.Analog[17] = motor_rx[1]; |
1223 | DebugOut.Analog[17] = motor_rx[1]; |
| 1214 | DebugOut.Analog[18] = motor_rx[2]; |
1224 | DebugOut.Analog[18] = motor_rx[2]; |
| 1215 | DebugOut.Analog[19] = motor_rx[3]; |
1225 | DebugOut.Analog[19] = motor_rx[3]; |
| 1216 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1226 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| 1217 | DebugOut.Analog[20] /= 14; |
1227 | DebugOut.Analog[20] /= 14; |