Rev 1061 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1061 | Rev 1062 | ||
|---|---|---|---|
| Line 572... | Line 572... | ||
| 572 | { |
572 | { |
| 573 | amplfy_speed_east = DIFF_Y_F_MAX; |
573 | amplfy_speed_east = DIFF_Y_F_MAX; |
| 574 | amplfy_speed_north = DIFF_Y_F_MAX; |
574 | amplfy_speed_north = DIFF_Y_F_MAX; |
| 575 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
575 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
| 576 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
576 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
| 577 | speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /500; |
577 | speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /400; |
| 578 | speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/500; |
578 | speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/400; |
| 579 | // D Werte begrenzen |
579 | // D Werte begrenzen |
| 580 | #define D_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
580 | #define D_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
| 581 | if (speed_east > D_F_MAX) speed_east = D_F_MAX; |
581 | if (speed_east > D_F_MAX) speed_east = D_F_MAX; |
| 582 | else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX; |
582 | else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX; |
| 583 | if (speed_north > D_F_MAX) speed_north = D_F_MAX; |
583 | if (speed_north > D_F_MAX) speed_north = D_F_MAX; |