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 16:56] – 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 605: | 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.1197132968.txt.gz · Last modified: 2008/07/19 23:32 (external edit)