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| 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 | Hold Modus mit PID Regler |
15 | Hold Modus mit PID Regler |
| 16 | Stand 27.9.2007 |
16 | Stand 28.9.2007 |
| 17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 18 | */ |
18 | */ |
| 19 | #include "main.h" |
19 | #include "main.h" |
| 20 | //#include "gps.h" |
20 | //#include "gps.h" |
| Line 21... | Line 21... | ||
| 21 | 21 | ||
| 22 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
22 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
| 23 | #define UBLOX_IDLE 0 |
23 | #define UBLOX_IDLE 0 |
| 24 | #define UBLOX_SYNC1 1 |
24 | #define UBLOX_SYNC1 1 |
| 25 | #define UBLOX_SYNC2 2 |
25 | #define UBLOX_SYNC2 2 |
| 26 | #define UBLOX_CLASS 3 |
26 | #define UBLOX_CLASS 3 |
| 27 | #define UBLOX_ID 4 |
27 | #define UBLOX_ID 4 |
| 28 | #define UBLOX_LEN1 5 |
28 | #define UBLOX_LEN1 5 |
| 29 | #define UBLOX_LEN2 6 |
29 | #define UBLOX_LEN2 6 |
| 30 | #define UBLOX_CKA 7 |
30 | #define UBLOX_CKA 7 |
| 31 | #define UBLOX_CKB 8 |
31 | #define UBLOX_CKB 8 |
| Line 32... | Line 32... | ||
| 32 | #define UBLOX_PAYLOAD 9 |
32 | #define UBLOX_PAYLOAD 9 |
| 33 | 33 | ||
| 34 | // ublox Protokoll Identifier |
34 | // ublox Protokoll Identifier |
| Line 411... | Line 411... | ||
| 411 | } |
411 | } |
| 412 | if (dist > 200) dist = 200; |
412 | if (dist > 200) dist = 200; |
| 413 | GPS_dist_2trgt = (int )dist; |
413 | GPS_dist_2trgt = (int )dist; |
| Line 414... | Line 414... | ||
| 414 | 414 | ||
| 415 | // Winkel und Distanz in Nick und Roll groessen umrechnen |
- | |
| 416 | long int a,b; |
415 | // Winkel und Distanz in Nick und Roll groessen umrechnen |
| 417 | GPS_Roll = (int) +((dist * sin_i(GPS_hdng_rel_2trgt))/(1000*8)); |
416 | GPS_Roll = (int) +((dist * sin_i(GPS_hdng_rel_2trgt))/(1000*8)); |
| Line 418... | Line 417... | ||
| 418 | GPS_Nick = (int) -((dist * cos_i(GPS_hdng_rel_2trgt))/(1000*8)); |
417 | GPS_Nick = (int) -((dist * cos_i(GPS_hdng_rel_2trgt))/(1000*8)); |
| 419 | 418 | ||