WebSVN - FlightCtrl - Blame - Rev 1102 - /branches/salvo_gps/Basis

Rev	Author	Line No.	Line
1086	salvo	1	/*
		2	This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify
		3	it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
		4	either version 3 of the License, or (at your option) any later version.
		5	This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
		6	without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		7	GNU General Public License and GNU Lesser General Public License for more details.
		8	You should have received a copy of GNU General Public License (License_GPL.txt) and
		9	GNU Lesser General Public License (License_LGPL.txt) along with this program.
		10	If not, see <http://www.gnu.org/licenses/>.
		11
		12	Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de
		13	*/
		14	/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		15	von Peter Muehlenbrock alias Salvo
		16	Auswertung der Daten vom GPS im ublox Format
		17	Hold Modus mit PID Regler
		18	R�ckstuerz zur Basis Funktion
		19	Umstellung auf NaviParameter an Flight Version 00.70d
		20	GPS_V durch gps_gain ersetzt, damit Einstellung durch MK Tool m�glich wird
		21
		22	Stand 7.12.2008
		23
		24	Aenderung 7.12.2008: an Coming Home geschraubt
		25	Aenderung 27.11.2008: gps_gain erhoeht
		26	++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		27	*/
1	ingob	28	#include "main.h"
1086	salvo	29	#include "math.h"
		30	//#include "gps.h"
1	ingob	31
1086	salvo	32	// Defines fuer ublox Messageformat um Auswertung zu steuern
		33	#define UBLOX_IDLE 0
		34	#define UBLOX_SYNC1 1
		35	#define UBLOX_SYNC2 2
		36	#define UBLOX_CLASS 3
		37	#define UBLOX_ID 4
		38	#define UBLOX_LEN1 5
		39	#define UBLOX_LEN2 6
		40	#define UBLOX_CKA 7
		41	#define UBLOX_CKB 8
		42	#define UBLOX_PAYLOAD 9
		43
		44	// ublox Protokoll Identifier
		45	#define UBLOX_NAV_POSUTM 0x08
		46	#define UBLOX_NAV_STATUS 0x03
		47	#define UBLOX_NAV_VELED 0x12
		48	#define UBLOX_NAV_CLASS 0x01
		49	#define UBLOX_SYNCH1_CHAR 0xB5
		50	#define UBLOX_SYNCH2_CHAR 0x62
		51
		52	signed int GPS_Nick = 0;
		53	signed int GPS_Roll = 0;
		54	signed int GPS_Nick2 = 0;
		55	signed int GPS_Roll2 = 0;
		56	short int ublox_msg_state = UBLOX_IDLE;
		57	static uint8_t chk_a =0; //Checksum
		58	static uint8_t chk_b =0;
		59	short int gps_state,gps_sub_state; //Zustaende der Statemachine
		60	short int gps_updte_flag;
		61	static long signed gps_reg_x,gps_reg_y;
		62	static unsigned int rx_len;
		63	static unsigned int ptr_payload_data_end;
		64	unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt
		65	static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position
		66	static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt
		67	static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler
		68	static uint8_t *ptr_payload_data;
		69	static uint8_t *ptr_pac_status;
		70	static int dist_flown;
		71	//static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators
		72	static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen
		73	static long int limit_gain; // Teilerfaktor Regelabweichung zu Ausgabewert
		74	static int gps_gain ; // Verstaerkunsgfaktor*10
		75
		76	short int Get_GPS_data(void);
		77
		78	NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt
		79	NAV_STATUS_t actual_status; // Aktueller Nav Status
		80	NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten
		81
		82	GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst
		83	GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt
		84	GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
		85	GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode
		86	GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode
		87
		88	// Initialisierung
1	ingob	89	void GPS_Neutral(void)
		90	{
1086	salvo	91	ublox_msg_state = UBLOX_IDLE;
		92	gps_state = GPS_CRTL_IDLE;
		93	gps_sub_state = GPS_CRTL_IDLE;
		94	actual_pos.status = 0;
		95	actual_speed.status = 0;
		96	actual_status.status = 0;
		97	gps_home_position.status = 0; // Noch keine gueltige Home Position
		98	gps_act_position.status = 0;
		99	gps_rel_act_position.status = 0;
		100	GPS_Nick = 0;
		101	GPS_Roll = 0;
		102	gps_updte_flag = 0;
		103	gps_alive_cnt = 0;
		104
1	ingob	105	}
		106
1086	salvo	107	// Home Position sichern falls Daten verfuegbar sind.
		108	void GPS_Save_Home(void)
1	ingob	109	{
1086	salvo	110	short int n;
		111	n = Get_GPS_data();
		112	if (n == 0) // Gueltige und aktuelle Daten ?
		113	{
		114	// Neue GPS Daten liegen vor
		115	gps_home_position.utm_east = gps_act_position.utm_east;
		116	gps_home_position.utm_north = gps_act_position.utm_north;
		117	gps_home_position.utm_alt = gps_act_position.utm_alt;
		118	gps_home_position.status = 1; // Home Position gueltig
		119	}
1	ingob	120	}
		121
1086	salvo	122	// Relative Position zur Home Position bestimmen
		123	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		124	short int Get_Rel_Position(void)
		125	{
		126	short int n = 0;
		127	n = Get_GPS_data();
		128	if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
		129	if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
		130	if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
		131	{
		132	gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
		133	gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
		134	gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt);
		135	gps_rel_act_position.status = 1; // gueltige Positionsdaten
		136	n = 0;
		137	gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
		138	}
		139	else
		140	{
		141	n = 2; //keine gueltigen Daten vorhanden
		142	gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
		143	}
		144	return (n);
		145	}
1	ingob	146
1086	salvo	147	// Daten aus aktuellen ublox Messages extrahieren
		148	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		149	short int Get_GPS_data(void)
		150	{
		151	short int n = 1;
1	ingob	152
1086	salvo	153	if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist
		154	gps_gain = Parameter_NaviGpsGain/5;
		155	limit_gain = 8;
		156	// debug_gp_0 = (int)limit_gain; // zum Debuggen
1	ingob	157
1086	salvo	158	if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
		159	{
		160	if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
		161	{
		162	actual_status.status = 0;
		163	gps_act_position.utm_east = actual_pos.utm_east/10;
		164	gps_act_position.utm_north = actual_pos.utm_north/10;
		165	gps_act_position.utm_alt = actual_pos.utm_alt/10;
		166	actual_pos.status = 0; //neue ublox Messages anfordern
		167	gps_act_position.speed_gnd = actual_speed.speed_gnd;
		168	gps_act_position.speed_gnd = actual_speed.speed_gnd;
		169	gps_act_position.heading = actual_speed.heading/100000;
		170	actual_speed.status = 0;
		171	gps_act_position.status = 1;
		172	n = 0; //Daten gueltig
		173	}
		174	else
		175	{
		176	gps_act_position.status = 0; //Keine gueltigen Daten
		177	actual_speed.status = 0;
		178	actual_status.status = 0;
		179	actual_pos.status = 0; //neue ublox Messages anfordern
		180	n = 2;
		181	}
		182	}
		183	return (n);
		184	}
		185
		186	/*
		187	Daten vom GPS im ublox MSG Format auswerten
		188	Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
		189	// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
		190	*/
		191	void Get_Ublox_Msg(uint8_t rx)
		192	{
		193	switch (ublox_msg_state)
		194	{
		195	case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
		196	if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
		197	else ublox_msg_state = UBLOX_IDLE;
		198	break;
		199
		200	case UBLOX_SYNC1:
		201
		202	if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
		203	else ublox_msg_state = UBLOX_IDLE;
		204	chk_a = 0,chk_b = 0;
		205	break;
		206
		207	case UBLOX_SYNC2:
		208	if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
		209	else ublox_msg_state = UBLOX_IDLE;
		210	break;
		211
		212	case UBLOX_CLASS: // Nur NAV Meldungen auswerten
		213	switch (rx)
		214	{
		215	case UBLOX_NAV_POSUTM:
		216	ptr_pac_status = &actual_pos.status;
		217	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
		218	else
		219	{
		220	ptr_payload_data = &actual_pos;
		221	ptr_payload_data_end = &actual_pos.status;
		222	ublox_msg_state = UBLOX_LEN1;
		223	}
		224	break;
		225
		226	case UBLOX_NAV_STATUS:
		227	ptr_pac_status = &actual_status.status;
		228	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		229	else
		230	{
		231	ptr_payload_data = &actual_status;
		232	ptr_payload_data_end = &actual_status.status;
		233	ublox_msg_state = UBLOX_LEN1;
		234	}
		235	break;
		236
		237	case UBLOX_NAV_VELED:
		238	ptr_pac_status = &actual_speed.status;
		239	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		240	else
		241	{
		242	ptr_payload_data = &actual_speed;
		243	ptr_payload_data_end = &actual_speed.status;
		244	ublox_msg_state = UBLOX_LEN1;
		245	}
		246	break;
		247
		248	default:
		249	ublox_msg_state = UBLOX_IDLE;
		250	break;
		251	}
		252	chk_a = UBLOX_NAV_CLASS + rx;
		253	chk_b = UBLOX_NAV_CLASS + chk_a;
		254	break;
		255
		256	case UBLOX_LEN1: // Laenge auswerten
		257	rx_len = rx;
		258	chk_a += rx;
		259	chk_b += chk_a;
		260	ublox_msg_state = UBLOX_LEN2;
		261	break;
		262
		263
		264	case UBLOX_LEN2: // Laenge auswerten
		265	rx_len = rx_len + (rx *256); // Laenge ermitteln
		266	chk_a += rx;
		267	chk_b += chk_a;
		268	ublox_msg_state = UBLOX_PAYLOAD;
		269	break;
		270
		271	case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
		272	if (rx_len > 0)
		273	{
		274	*ptr_payload_data = rx;
		275	chk_a += rx;
		276	chk_b += chk_a;
		277	--rx_len;
		278	if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
		279	{
		280	ptr_payload_data++;
		281	ublox_msg_state = UBLOX_PAYLOAD;
		282	}
		283	else ublox_msg_state = UBLOX_CKA;
		284	}
		285	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		286	break;
		287
		288	case UBLOX_CKA: // Checksum pruefen
		289	if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
		290	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		291	break;
		292
		293	case UBLOX_CKB: // Checksum pruefen
		294	if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
		295	ublox_msg_state = UBLOX_IDLE;
		296	break;
		297
		298	default:
		299	ublox_msg_state = UBLOX_IDLE;
		300	break;
		301	}
		302	}
		303
		304	//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
		305	short int GPS_CRTL(short int cmd)
		306	{
		307	static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen
		308	static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition
		309	signed int n;
		310	static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
		311	signed int dist_frm_start_east,dist_frm_start_north;
		312	int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil
		313	static signed int int_east,int_north; //Integrierer
		314	long int speed_east,speed_north; //Aktuelle Geschwindigkeit
		315	signed long int_east1,int_north1;
		316	int dist_east,dist_north;
		317	int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung
		318	long ni,ro; // Nick und Roll Zwischenwerte
		319
		320
		321	switch (cmd)
		322	{
		323
		324	case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
		325	if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
		326	{
		327	cnt++;
		328	if (cnt > 100) // erst nach Verzoegerung
		329	{
		330	// Erst mal initialisieren
		331	cnt = 0;
		332	gps_tick = 0;
		333	hold_fast = 0;
		334	hold_reset_int = 0; // Integrator enablen
		335	int_east = 0, int_north = 0;
		336	gps_reg_x = 0, gps_reg_y = 0;
		337	delta_east = 0, delta_north = 0;
		338	dist_flown = 0;
		339	gps_g2t_act_v = 0;
		340	gps_sub_state = GPS_CRTL_IDLE;
		341	// aktuelle positionsdaten abspeichern
		342	if (gps_rel_act_position.status > 0)
		343	{
		344	gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
		345	gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
		346	gps_rel_start_position.status = 1; // gueltige Positionsdaten
		347	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		348	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		349	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		350	//Richtung zur Home Position bezogen auf Nordpol bestimmen
		351	hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
		352	// in Winkel 0...360 Grad umrechnen
		353	if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
		354	else hdng_2home = (270 - hdng_2home);
		355	dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen
		356	gps_state = GPS_CRTL_HOME_ACTIVE;
		357	return (GPS_STST_OK);
		358	}
		359	else
		360	{
		361	gps_rel_start_position.status = 0; //Keine Daten verfuegbar
		362	gps_state = GPS_CRTL_IDLE;
		363	return(GPS_STST_ERR); // Keine Daten da
		364	}
		365	}
		366	else return(GPS_STST_PEND); // noch warten
		367	}
		368	break;
		369	// ******************************
		370
		371	case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
		372	if (gps_state != GPS_CRTL_HOLD_ACTIVE)
		373	{
		374	cnt++;
		375	if (cnt > 600) // erst nach Verzoegerung
		376	{
		377	cnt = 0;
		378	// aktuelle positionsdaten abspeichern
		379	if (gps_rel_act_position.status > 0)
		380	{
		381	hold_fast = 0;
		382	hold_reset_int = 0; // Integrator enablen
		383	int_east = 0, int_north = 0;
		384	gps_reg_x = 0, gps_reg_y = 0;
		385	delta_east = 0, delta_north = 0;
		386	speed_east = 0; speed_north= 0;
		387	// int_ovfl_cnt = 0;
		388	gps_quiet_cnt = 0;
		389	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		390	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		391	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		392	gps_state = GPS_CRTL_HOLD_ACTIVE;
		393	return (GPS_STST_OK);
		394	}
		395	else
		396	{
		397	gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
		398	gps_state = GPS_CRTL_IDLE;
		399	return(GPS_STST_ERR); // Keine Daten da
		400	}
		401	}
		402	else return(GPS_STST_PEND); // noch warten
		403	}
		404	break;
		405
		406	case GPS_CMD_STOP: // Lageregelung beenden
		407	cnt = 0;
		408	GPS_Nick = 0;
		409	GPS_Roll = 0;
		410	gps_sub_state = GPS_CRTL_IDLE;
		411	gps_state = GPS_CRTL_IDLE;
		412	return (GPS_STST_OK);
		413	break;
		414
		415	default:
		416	return (GPS_STST_ERR);
		417	break;
		418	}
		419
		420	switch (gps_state)
		421	{
		422	case GPS_CRTL_IDLE:
		423	cnt = 0;
		424	return (GPS_STST_OK);
		425	break;
		426
		427	case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis
		428	//Der Sollwert des Lagereglers wird der Homeposition angenaehert
		429	if (gps_rel_start_position.status >0)
		430	{
		431	if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist
		432	{
		433	gps_tick++;
		434	int d1,d2,d3;
		435	d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east );
		436	d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north );
		437	d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel
		438
		439	if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel
		440	{
		441	if ((d1 < (GPS_G2T_FAST_TOL/2)) && (d2 < (GPS_G2T_FAST_TOL/2))) //voll Stoff weiter wenn Lage gut innerhalb der Toleranz
		442	{
		443	if (gps_g2t_act_v < GPS_G2T_V_MAX-1) gps_g2t_act_v += 2; //Geschwindigkeit erhoehen
		444	dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
		445	gps_sub_state = GPS_HOME_FAST_IN_TOL;
		446	}
		447	else if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz
		448	{
		449	if (gps_g2t_act_v > (GPS_G2T_V_MAX/2)) gps_g2t_act_v -= 1; //Geschwindigkeit auf Haelfte runter oder rauffahren
		450	else if (gps_g2t_act_v < (GPS_G2T_V_MAX/2)) gps_g2t_act_v += 1;
		451	dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
		452	gps_sub_state = GPS_HOME_FAST_IN_TOL;
		453	}
		454	else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz
		455	{
		456	if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren
		457	// dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		458	gps_sub_state = GPS_HOME_FAST_OUTOF_TOL;
		459	}
		460	hold_reset_int = 1; // Integrator aussschalten
		461	hold_fast = 1; // Regler fuer schnellen Flug
		462	dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000);
		463	dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000);
		464	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		465	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		466	}
		467	else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen
		468	{
		469	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL))
		470	{
		471	dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit
		472	gps_sub_state = GPS_HOME_RMPDWN_IN_TOL;
		473	}
		474	else
		475	{
		476	dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		477	gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL;
		478	}
		479	hold_reset_int = 0; // Integrator einsschalten
		480	hold_fast = 1; // Regler fuer schnellen Flug
		481	dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000);
		482	dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000);
		483	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		484	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		485	}
		486	else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt)
		487	{
		488	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln
		489	{
		490	gps_sub_state = GPS_HOME_IN_TOL;
		491	hold_fast = 0; // Wieder normal regeln
		492	hold_reset_int = 0; // Integrator einsschalten
		493	if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN;
		494	else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN;
		495	if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN;
		496	else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN;
		497	if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN))
		498	{
		499	gps_rel_hold_position.utm_east = 0;
		500	gps_rel_hold_position.utm_north = 0;
		501	gps_sub_state = GPS_HOME_FINISHED;
		502	}
		503	}
		504	else gps_sub_state = GPS_HOME_OUTOF_TOL;
		505	}
		506	}
		507	gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung
		508	return (GPS_STST_OK);
		509	}
		510	else // Keine GPS Daten verfuegbar, deswegen Abbruch
		511	{
		512	gps_state = GPS_CRTL_IDLE;
		513	return (GPS_STST_ERR);
		514	}
		515	break;
		516
		517
		518	case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet
		519	if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen
		520	{
		521	gps_quiet_cnt++;
		522	// ab hier wird geregelt
		523	delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east);
		524	delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north);
		525	int_east += (int)(delta_east*gps_gain)/10;
		526	int_north += (int)(delta_north*gps_gain)/10;
		527	speed_east = actual_speed.speed_e;
		528	speed_north = actual_speed.speed_n;
		529	gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden
		530	dist_east = (int)delta_east; //merken
		531	dist_north = (int)delta_north;
		532
		533
		534	// #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow
		535	long int gpsintmax;
		536	if (Parameter_NaviGpsI > 0)
		537	{
		538	gpsintmax = (GPS_NICKROLL_MAX * limit_gain * GPS_USR_PAR_FKT * ((32*3)/10))/(long)Parameter_NaviGpsI; //auf ungefeahren Maximalwert begrenzen
		539	if ((abs(int_east) > (int)gpsintmax) \|\| (abs(int_north)> (int)gpsintmax))
		540	{
		541	// // = 1; // Zahl der Overflows zaehlen
		542	// int_ovfl_cnt -= 1;
		543	int_east = (int_east * 6)/8; // Wert reduzieren
		544	int_north = (int_north* 6)/8;
		545	}
		546
		547	if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten
		548	{
		549	int_east = 0;
		550	int_north = 0;
		551	}
		552	}
		553	else // Integrator deaktiviert
		554	{
		555	int_east = 0;
		556	int_north = 0;
		557	}
		558
		559	debug_gp_4 = (int)int_east; // zum Debuggen
		560	debug_gp_5 = (int)int_north; // zum Debuggen
		561
		562	//I Werte begrenzen
		563	#define INT1_MAX (GPS_NICKROLL_MAX * limit_gain*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen
		564	int_east1 = ((((long)int_east) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT;
		565	int_north1 = ((((long)int_north) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT;
		566	if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen
		567	else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX;
		568	if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen
		569	else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX;
		570
		571	if (hold_fast > 0) //schneller Coming Home Modus
		572	{
		573	amplfy_speed_east = DIFF_Y_F_MAX;
		574	amplfy_speed_north = DIFF_Y_F_MAX;
		575	amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
		576	amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
		577	speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /400;
		578	speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/400;
		579	// D Werte begrenzen
		580	#define D_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
		581	if (speed_east > D_F_MAX) speed_east = D_F_MAX;
		582	else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX;
		583	if (speed_north > D_F_MAX) speed_north = D_F_MAX;
		584	else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX;
		585
		586	diff_p = (Parameter_NaviGpsP * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil
		587	}
		588	else //langsamer Holdmodus
		589	{
		590	amplfy_speed_east = DIFF_Y_N_MAX;
		591	amplfy_speed_north = DIFF_Y_N_MAX;
		592	amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
		593	amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
		594	speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /250;
		595	speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/250;
		596	// D Werte begrenzen
		597	#define D_N_MAX (GPS_NICKROLL_MAX * limit_gain*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen
		598	if (speed_east > D_N_MAX) speed_east = D_N_MAX;
		599	else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX;
		600	if (speed_north > D_N_MAX) speed_north = D_N_MAX;
		601	else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX;
		602
		603	diff_p = (Parameter_NaviGpsP * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil
		604	}
		605
		606	// debug_gp_4 = (int)speed_east; // zum Debuggen
		607	// debug_gp_5 = (int)speed_north; // zum Debuggen
		608
		609	//P-Werte verstaerken
		610	delta_east = (delta_east * (long)diff_p*gps_gain)/(400);
		611	delta_north = (delta_north * (long)diff_p*gps_gain)/(400);
		612
		613	if (hold_fast > 0) //schneller Coming Home Modus
		614	{
		615	// P Werte begrenzen
		616	#define P1_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
		617	if (delta_east > P1_F_MAX) delta_east = P1_F_MAX;
		618	else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX;
		619	if (delta_north > P1_F_MAX) delta_north = P1_F_MAX;
		620	else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX;
		621	}
		622	else // Hold modus
		623	{
		624	// P Werte begrenzen
		625	#define P1_N_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
		626	if (delta_east > P1_N_MAX) delta_east = P1_N_MAX;
		627	else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX;
		628	if (delta_north > P1_N_MAX) delta_north = P1_N_MAX;
		629	else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX;
		630	}
		631
		632	debug_gp_2 = (int)delta_east; // zum Debuggen
		633	debug_gp_3 = (int)delta_north; // zum Debuggen
		634
		635
		636	//PID Regler Werte aufsummieren
		637	gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse
		638	gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse
		639	debug_gp_0 = (int)gps_reg_x; // zum Debuggen
		640	debug_gp_1 = (int)gps_reg_y; // zum Debuggen
		641
		642	// Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen
		643	n = GyroKomp_Int/GIER_GRAD_FAKTOR; //Ausrichtung Kopter
		644	ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000L*(long)limit_gain);
		645	ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000L*(long)limit_gain);
		646
		647	if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX);
		648	else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX );
		649	if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX );
		650	else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX );
		651
		652	if ((abs(dist_east) > GPS_DIST_MAX) \|\| (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen
		653	{
		654	GPS_Roll = 0;
		655	GPS_Nick = 0;
		656	gps_state = GPS_CRTL_IDLE;
		657	return (GPS_STST_ERR);
		658	break;
		659	}
1102	salvo	660	/* else if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen
1086	salvo	661	{
		662	gps_quiet_cnt++;
		663	GPS_Roll = 0;
		664	GPS_Nick = 0;
		665	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		666	return (GPS_STST_OK);
		667	}
		668	else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4))
		669	{
		670	gps_quiet_cnt = 0;
		671	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		672	return (GPS_STST_OK);
		673	}
1102	salvo	674	*/ else
1086	salvo	675	{
		676	GPS_Roll = (int)ro;
		677	GPS_Nick = (int)ni;
		678	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		679	return (GPS_STST_OK);
		680	}
		681	}
		682	else
		683	{
		684	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		685	return (GPS_STST_OK);
		686	}
		687	break;
		688
		689	default:
		690	gps_state = GPS_CRTL_IDLE;
		691	return (GPS_STST_ERR);
		692	break;
		693	}
		694	return (GPS_STST_ERR);
		695
		696	}
		697

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_V0071h/trunk/GPS.c - Rev 1102