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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 | /* |