Rev 291 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
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| 14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 15 | Peter Muehlenbrock |
15 | Peter Muehlenbrock |
| 16 | Auswertung der Daten vom GPS im ublox Format |
16 | Auswertung der Daten vom GPS im ublox Format |
| 17 | Hold Modus mit PID Regler |
17 | Hold Modus mit PID Regler |
| 18 | Rückstuerz zur Basis Funktion |
18 | Rückstuerz zur Basis Funktion |
| 19 | Stand 12.10.2007 |
19 | Stand 13.10.2007 |
| 20 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 21 | */ |
21 | */ |
| 22 | #include "main.h" |
22 | #include "main.h" |
| 23 | //#include "gps.h" |
23 | //#include "gps.h" |
| Line 504... | Line 504... | ||
| 504 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
504 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
| 505 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
505 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
| Line 506... | Line 506... | ||
| 506 | 506 | ||
| 507 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
507 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
| 508 | { |
508 | { |
| 509 | diff_east_f = ((diff_east_f *3)/4) + (diff_east *1/4); //Differenzierer filtern |
509 | diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
| 510 | diff_north_f = ((diff_north_f *3)/4) + (diff_north*1/4); //Differenzierer filtern |
510 | diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
| 511 | } |
511 | } |
| 512 | else // schwache Filterung |
512 | else // schwache Filterung |
| 513 | { |
- | |
| 514 | // diff_east_f = diff_east; |
- | |
| 515 | // diff_north_f = diff_north; |
513 | { |
| 516 | diff_east_f = ((diff_east_f *2)/4) + (diff_east *2/4); //Differenzierer filtern |
514 | diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
| 517 | diff_north_f = ((diff_north_f *2)/4) + (diff_north*2/4); //Differenzierer filtern |
515 | diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
| Line 518... | Line 516... | ||
| 518 | } |
516 | } |
| 519 | 517 | ||
| 520 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
518 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |