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| Rev 130 | Rev 131 | ||
|---|---|---|---|
| Line 496... | Line 496... | ||
| 496 | // GPS Coordinates are in 1-E7 deg, i.e. 1 counts is 1E-7°/360°*40E+8cm = 1.11 cm |
496 | // GPS Coordinates are in 1-E7 deg, i.e. 1 counts is 1E-7°/360°*40E+8cm = 1.11 cm |
| 497 | // normal manual activtion threshold is 8 counts that results in a change of the hold position |
497 | // normal manual activtion threshold is 8 counts that results in a change of the hold position |
| 498 | // of min 8*1.11cm * 5Hz = 8.88 = 44.4cm/s an max 127*1.11cm *5Hz = 705cm/s |
498 | // of min 8*1.11cm * 5Hz = 8.88 = 44.4cm/s an max 127*1.11cm *5Hz = 705cm/s |
| 499 | GPS_HoldPosition.Latitude += (s32)(cos_h*FC.StickNick + sin_h*FC.StickRoll); |
499 | GPS_HoldPosition.Latitude += (s32)(cos_h*FC.StickNick + sin_h*FC.StickRoll); |
| 500 | GPS_HoldPosition.Longitude += (s32)((sin_h*FC.StickNick - cos_h*FC.StickRoll) / cos(RadiansFromGPS(GPS_HoldPosition.Latitude)) ); |
500 | GPS_HoldPosition.Longitude += (s32)((sin_h*FC.StickNick - cos_h*FC.StickRoll) / cos(RadiansFromGPS(GPS_HoldPosition.Latitude)) ); |
| 501 | GPS_HoldPosition.Status = NEWDATA; |
- | |
| 502 | } |
501 | } |
| 503 | GPS_pTargetPosition = &GPS_HoldPosition; |
502 | GPS_pTargetPosition = &GPS_HoldPosition; |
| 504 | GPS_TargetRadius = 100; // 1 meter |
503 | GPS_TargetRadius = 100; // 1 meter |
| 505 | } |
504 | } |
| 506 | break; |
505 | break; |