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projects:ukhas_glider_project:code [2007/12/08 16:56] – Zagi code laurencebprojects:ukhas_glider_project:code [2008/07/19 23:33] (current) – external edit 127.0.0.1
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  || gpsGetInfo()->VelHS.updates<=updatecounterHS)                     //while we still have some old data  || 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;
  
  
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   }   }
   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;                                    // V tail mixing in SW   servoa=trimAgain*(pwmpitch+pwmroll)+trimAbias;                                    // V tail mixing in SW
   if (servoa>(trimAbias+limitA))   if (servoa>(trimAbias+limitA))
projects/ukhas_glider_project/code.1197132968.txt.gz · Last modified: 2008/07/19 23:32 (external edit)

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