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--- projects:ukhas_glider_project:code [2007/12/08 16:56] – 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 605: / 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))