Rev 156 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 156 | Rev 157 | ||
---|---|---|---|
Line 11... | Line 11... | ||
11 | */ |
11 | */ |
12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | Peter Muehlenbrock |
13 | Peter Muehlenbrock |
14 | Auswertung der Daten vom GPS im ublox Format |
14 | Auswertung der Daten vom GPS im ublox Format |
15 | Regelung fuer GPS noch nicht implementiert |
15 | Regelung fuer GPS noch nicht implementiert |
16 | Stand 14.9.2007 |
16 | Stand 15.9.2007 |
17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | */ |
18 | */ |
19 | #include "main.h" |
19 | #include "main.h" |
20 | //#include "gps.h" |
20 | //#include "gps.h" |
Line 63... | Line 63... | ||
63 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
63 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
Line 64... | Line 64... | ||
64 | 64 | ||
65 | // Initialisierung |
65 | // Initialisierung |
66 | void GPS_Neutral(void) |
66 | void GPS_Neutral(void) |
67 | { |
67 | { |
68 | ublox_msg_state = UBLOX_IDLE; |
68 | ublox_msg_state = UBLOX_IDLE; |
69 | actual_pos.status = 0; |
69 | actual_pos.status = 0; |
70 | actual_speed.status = 0; |
70 | actual_speed.status = 0; |
71 | actual_status.status = 0; |
71 | actual_status.status = 0; |
- | 72 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
|
- | 73 | gps_act_position.status = 0; |
|
- | 74 | gps_rel_act_position.status = 0; |
|
72 | gps_home_position.status= 0; // Noch keine gueltige Home Position |
75 | |
Line 73... | Line 76... | ||
73 | } |
76 | } |
74 | 77 | ||
75 | // Home Position sichern falls Daten verfuegbar sind. |
78 | // Home Position sichern falls Daten verfuegbar sind. |
76 | void GPS_Save_Home(void) |
79 | void GPS_Save_Home(void) |
77 | { |
80 | { |
78 | short int n; |
81 | short int n; |
79 | n = Get_GPS_data(); |
82 | n = Get_GPS_data(); |
80 | if (n == 0) // Gueltige und aktuelle Daten ? |
83 | if (n == 0) // Gueltige und aktuelle Daten ? |
81 | { |
- | |
82 | // Neue GPS Daten liegen vor |
- | |
83 | // beeptime = 500; // Piepsen um korrekte Home Position anzuzeigen |
84 | { |
84 | // gps_act_position.status = 0; |
85 | // Neue GPS Daten liegen vor |
85 | gps_home_position.utm_east = gps_act_position.utm_east; |
86 | gps_home_position.utm_east = gps_act_position.utm_east; |
86 | gps_home_position.utm_north = gps_act_position.utm_north; |
87 | gps_home_position.utm_north = gps_act_position.utm_north; |
87 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
88 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
88 | gps_home_position.status = 1; // Home Position gueltig |
89 | gps_home_position.status = 1; // Home Position gueltig |
Line 89... | Line 90... | ||
89 | } |
90 | } |
90 | } |
91 | } |