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--- 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
@@ Line 151: / Line 151: @@
  || gpsGetInfo()->VelHS.updates<=updatecounterHS)                     //while we still have some old data
  {
-  nmeaProcess(Rxbuff0);                                               //look for new data
+  nmeaProcess(Rxbuff0);
-  updatecounterLLA=gpsGetInfo()->PosLLA.updates;
+ }                                             //look for new data
-  updatecounterENU=gpsGetInfo()->VelENU.updates;
+ updatecounterLLA=gpsGetInfo()->PosLLA.updates; //set the update counters correctly
-  updatecounterHS=gpsGetInfo()->VelHS.updates;
+ updatecounterENU=gpsGetInfo()->VelENU.updates;
- }
+ updatecounterHS=gpsGetInfo()->VelHS.updates;
 }
@@ Line 267: / Line 267: @@
  }
  stdout=&mystdio0;
- printf("UKHAS, %s\r\n",datastring(K,Target,getattitude()));
+ if (bit_is_set(PIND,4))                             //CTS from radio
+ {printf("UKHAS, %s\r\n",datastring(K,Target,getattitude()));}
  stdout=&mystdio1;
  printf("UKHAS, %s\r\n",datastring(K,Target,getattitude()));
@@ Line 281: / Line 282: @@
 <code c>
-// this is under construction
+// initialisation code
 // - Laurenceb
 #include "init.h"
@@ Line 320: / Line 321: @@
 {
  char teststr[15];
-sbi(DDRD,5);                      //lcd is output
+sbi(DDRD,5);                      //led is output
 sbi(DDRB,5);
 sbi(DDRB,6);                      //pwm outputs
+sbi(DDRG,3);                      //direction led
+sbi(DDRG,4);
+sbi(DDRD,6);                      //cutdowns
+sbi(DDRD,7);
+sbi(PORTD,4);
 uartInit();                       //init uarts
 uartSetBaudRate(0,4800);          //GPS+radio
@@ Line 377: / Line 383: @@
 printf("initialisation complete, bye\r\n");
 }
@@ Line 598: / Line 605: @@
   }
   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;                                    // V tail mixing in SW
   if (servoa>(trimAbias+limitA))