projects:ukhas_glider_project:code
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Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
projects:ukhas_glider_project:code [2007/12/08 16:36] – Zagi code laurenceb | projects:ukhas_glider_project:code [2008/07/19 23:33] (current) – external edit 127.0.0.1 | ||
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Line 151: | Line 151: | ||
|| gpsGetInfo()-> | || gpsGetInfo()-> | ||
{ | { | ||
- | nmeaProcess(Rxbuff0); | + | nmeaProcess(Rxbuff0); |
- | updatecounterLLA=gpsGetInfo()-> | + | |
- | updatecounterENU=gpsGetInfo()-> | + | |
- | updatecounterHS=gpsGetInfo()-> | + | |
- | | + | |
} | } | ||
Line 267: | Line 267: | ||
} | } | ||
| | ||
- | | + | if (bit_is_set(PIND, |
+ | {printf(" | ||
| | ||
| | ||
Line 281: | Line 282: | ||
<code c> | <code c> | ||
- | // this is under construction | + | // initialisation code |
// - Laurenceb | // - Laurenceb | ||
#include " | #include " | ||
Line 320: | Line 321: | ||
{ | { | ||
char teststr[15]; | char teststr[15]; | ||
- | sbi(DDRD, | + | sbi(DDRD, |
sbi(DDRB, | sbi(DDRB, | ||
sbi(DDRB, | sbi(DDRB, | ||
+ | sbi(DDRG, | ||
+ | sbi(DDRG, | ||
+ | sbi(DDRD, | ||
+ | sbi(DDRD, | ||
+ | sbi(PORTD, | ||
uartInit(); | uartInit(); | ||
uartSetBaudRate(0, | uartSetBaudRate(0, | ||
Line 377: | Line 383: | ||
printf(" | printf(" | ||
} | } | ||
+ | |||
Line 598: | Line 605: | ||
} | } | ||
pwmpitch=(pitchrunningaverage*PP)+(deltapitchrunningaverage*DP)+(pitchintegral*IP); | pwmpitch=(pitchrunningaverage*PP)+(deltapitchrunningaverage*DP)+(pitchintegral*IP); | ||
- | pwmroll=(rollrunningaverage*PR)+(rollrunningaverage*DR)+(rollintegral*IR)+tweakfactor; | + | pwmroll=(rollrunningaverage*PR)+(deltarollrunningaverage*DR)+(rollintegral*IR)+tweakfactor; |
servoa=trimAgain*(pwmpitch+pwmroll)+trimAbias; | servoa=trimAgain*(pwmpitch+pwmroll)+trimAbias; | ||
if (servoa> | if (servoa> |
projects/ukhas_glider_project/code.1197131761.txt.gz · Last modified: 2008/07/19 23:32 (external edit)