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| Rev 1052 | Rev 1057 | ||
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| Line 68... | Line 68... | ||
| 68 | static uint8_t *ptr_pac_status; |
68 | static uint8_t *ptr_pac_status; |
| 69 | static int dist_flown; |
69 | static int dist_flown; |
| 70 | //static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
70 | //static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
| 71 | static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen |
71 | static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen |
| 72 | static long int limit_gain; // Teilerfaktor Regelabweichung zu Ausgabewert |
72 | static long int limit_gain; // Teilerfaktor Regelabweichung zu Ausgabewert |
| 73 | static long int gps_gain ; // Verstaerkunsgfaktor*10 |
73 | static int gps_gain ; // Verstaerkunsgfaktor*10 |
| Line 74... | Line 74... | ||
| 74 | 74 | ||
| Line 75... | Line 75... | ||
| 75 | short int Get_GPS_data(void); |
75 | short int Get_GPS_data(void); |
| 76 | 76 | ||
| Line 148... | Line 148... | ||
| 148 | short int Get_GPS_data(void) |
148 | short int Get_GPS_data(void) |
| 149 | { |
149 | { |
| 150 | short int n = 1; |
150 | short int n = 1; |
| Line 151... | Line 151... | ||
| 151 | 151 | ||
| 152 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
152 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
| 153 | gps_gain = Parameter_NaviGpsGain/10; |
153 | gps_gain = Parameter_NaviGpsGain/5; |
| 154 | limit_gain = 8; |
154 | limit_gain = 8; |
| Line 155... | Line 155... | ||
| 155 | // debug_gp_0 = (int)limit_gain; // zum Debuggen |
155 | // debug_gp_0 = (int)limit_gain; // zum Debuggen |
| 156 | 156 | ||