WebSVN - FlightCtrl - Blame - Rev 1052 - /branches/salvo_gps/Basis

Rev	Author	Line No.	Line
1003	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
1052	salvo	22	Stand 27.11.2008
1039	salvo	23
1052	salvo	24	Aenderung 27.11.2008: gps_gain erhoeht
1003	salvo	25	++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		26	*/
1	ingob	27	#include "main.h"
1003	salvo	28	#include "math.h"
		29	//#include "gps.h"
1	ingob	30
1003	salvo	31	// Defines fuer ublox Messageformat um Auswertung zu steuern
		32	#define UBLOX_IDLE 0
		33	#define UBLOX_SYNC1 1
		34	#define UBLOX_SYNC2 2
		35	#define UBLOX_CLASS 3
		36	#define UBLOX_ID 4
		37	#define UBLOX_LEN1 5
		38	#define UBLOX_LEN2 6
		39	#define UBLOX_CKA 7
		40	#define UBLOX_CKB 8
		41	#define UBLOX_PAYLOAD 9
		42
		43	// ublox Protokoll Identifier
		44	#define UBLOX_NAV_POSUTM 0x08
		45	#define UBLOX_NAV_STATUS 0x03
		46	#define UBLOX_NAV_VELED 0x12
		47	#define UBLOX_NAV_CLASS 0x01
		48	#define UBLOX_SYNCH1_CHAR 0xB5
		49	#define UBLOX_SYNCH2_CHAR 0x62
		50
		51	signed int GPS_Nick = 0;
		52	signed int GPS_Roll = 0;
		53	signed int GPS_Nick2 = 0;
		54	signed int GPS_Roll2 = 0;
		55	short int ublox_msg_state = UBLOX_IDLE;
		56	static uint8_t chk_a =0; //Checksum
		57	static uint8_t chk_b =0;
		58	short int gps_state,gps_sub_state; //Zustaende der Statemachine
		59	short int gps_updte_flag;
		60	static long signed gps_reg_x,gps_reg_y;
		61	static unsigned int rx_len;
		62	static unsigned int ptr_payload_data_end;
		63	unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt
		64	static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position
		65	static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt
		66	static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler
		67	static uint8_t *ptr_payload_data;
		68	static uint8_t *ptr_pac_status;
		69	static int dist_flown;
		70	//static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators
1052	salvo	71	static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen
		72	static long int limit_gain; // Teilerfaktor Regelabweichung zu Ausgabewert
		73	static long int gps_gain ; // Verstaerkunsgfaktor*10
1003	salvo	74
		75	short int Get_GPS_data(void);
		76
		77	NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt
		78	NAV_STATUS_t actual_status; // Aktueller Nav Status
		79	NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten
		80
		81	GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst
		82	GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt
		83	GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
		84	GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode
		85	GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode
		86
		87	// Initialisierung
1	ingob	88	void GPS_Neutral(void)
		89	{
1052	salvo	90	ublox_msg_state = UBLOX_IDLE;
		91	gps_state = GPS_CRTL_IDLE;
		92	gps_sub_state = GPS_CRTL_IDLE;
		93	actual_pos.status = 0;
		94	actual_speed.status = 0;
1003	salvo	95	actual_status.status = 0;
		96	gps_home_position.status = 0; // Noch keine gueltige Home Position
		97	gps_act_position.status = 0;
		98	gps_rel_act_position.status = 0;
1052	salvo	99	GPS_Nick = 0;
		100	GPS_Roll = 0;
		101	gps_updte_flag = 0;
		102	gps_alive_cnt = 0;
1003	salvo	103
1	ingob	104	}
		105
1003	salvo	106	// Home Position sichern falls Daten verfuegbar sind.
		107	void GPS_Save_Home(void)
1	ingob	108	{
1003	salvo	109	short int n;
		110	n = Get_GPS_data();
		111	if (n == 0) // Gueltige und aktuelle Daten ?
		112	{
		113	// Neue GPS Daten liegen vor
		114	gps_home_position.utm_east = gps_act_position.utm_east;
		115	gps_home_position.utm_north = gps_act_position.utm_north;
		116	gps_home_position.utm_alt = gps_act_position.utm_alt;
		117	gps_home_position.status = 1; // Home Position gueltig
		118	}
1	ingob	119	}
		120
1003	salvo	121	// Relative Position zur Home Position bestimmen
		122	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		123	short int Get_Rel_Position(void)
		124	{
		125	short int n = 0;
		126	n = Get_GPS_data();
		127	if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
		128	if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
		129	if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
		130	{
		131	gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
		132	gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
		133	gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt);
		134	gps_rel_act_position.status = 1; // gueltige Positionsdaten
		135	n = 0;
		136	gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
		137	}
		138	else
		139	{
		140	n = 2; //keine gueltigen Daten vorhanden
		141	gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
		142	}
		143	return (n);
		144	}
1	ingob	145
1003	salvo	146	// Daten aus aktuellen ublox Messages extrahieren
		147	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		148	short int Get_GPS_data(void)
		149	{
		150	short int n = 1;
1	ingob	151
1003	salvo	152	if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist
1052	salvo	153	gps_gain = Parameter_NaviGpsGain/10;
		154	limit_gain = 8;
		155	// debug_gp_0 = (int)limit_gain; // zum Debuggen
1	ingob	156
1003	salvo	157	if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
		158	{
		159	if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
		160	{
		161	actual_status.status = 0;
		162	gps_act_position.utm_east = actual_pos.utm_east/10;
		163	gps_act_position.utm_north = actual_pos.utm_north/10;
		164	gps_act_position.utm_alt = actual_pos.utm_alt/10;
		165	actual_pos.status = 0; //neue ublox Messages anfordern
		166	gps_act_position.speed_gnd = actual_speed.speed_gnd;
		167	gps_act_position.speed_gnd = actual_speed.speed_gnd;
		168	gps_act_position.heading = actual_speed.heading/100000;
		169	actual_speed.status = 0;
		170	gps_act_position.status = 1;
		171	n = 0; //Daten gueltig
		172	}
		173	else
		174	{
		175	gps_act_position.status = 0; //Keine gueltigen Daten
		176	actual_speed.status = 0;
		177	actual_status.status = 0;
		178	actual_pos.status = 0; //neue ublox Messages anfordern
		179	n = 2;
		180	}
		181	}
		182	return (n);
		183	}
		184
		185	/*
		186	Daten vom GPS im ublox MSG Format auswerten
		187	Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
		188	// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
		189	*/
		190	void Get_Ublox_Msg(uint8_t rx)
		191	{
		192	switch (ublox_msg_state)
		193	{
		194	case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
		195	if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
		196	else ublox_msg_state = UBLOX_IDLE;
		197	break;
		198
		199	case UBLOX_SYNC1:
		200
		201	if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
		202	else ublox_msg_state = UBLOX_IDLE;
		203	chk_a = 0,chk_b = 0;
		204	break;
		205
		206	case UBLOX_SYNC2:
		207	if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
		208	else ublox_msg_state = UBLOX_IDLE;
		209	break;
		210
		211	case UBLOX_CLASS: // Nur NAV Meldungen auswerten
		212	switch (rx)
		213	{
		214	case UBLOX_NAV_POSUTM:
		215	ptr_pac_status = &actual_pos.status;
		216	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
		217	else
		218	{
		219	ptr_payload_data = &actual_pos;
		220	ptr_payload_data_end = &actual_pos.status;
		221	ublox_msg_state = UBLOX_LEN1;
		222	}
		223	break;
		224
		225	case UBLOX_NAV_STATUS:
		226	ptr_pac_status = &actual_status.status;
		227	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		228	else
		229	{
		230	ptr_payload_data = &actual_status;
		231	ptr_payload_data_end = &actual_status.status;
		232	ublox_msg_state = UBLOX_LEN1;
		233	}
		234	break;
		235
		236	case UBLOX_NAV_VELED:
		237	ptr_pac_status = &actual_speed.status;
		238	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		239	else
		240	{
		241	ptr_payload_data = &actual_speed;
		242	ptr_payload_data_end = &actual_speed.status;
		243	ublox_msg_state = UBLOX_LEN1;
		244	}
		245	break;
		246
		247	default:
		248	ublox_msg_state = UBLOX_IDLE;
		249	break;
		250	}
		251	chk_a = UBLOX_NAV_CLASS + rx;
		252	chk_b = UBLOX_NAV_CLASS + chk_a;
		253	break;
		254
		255	case UBLOX_LEN1: // Laenge auswerten
		256	rx_len = rx;
		257	chk_a += rx;
		258	chk_b += chk_a;
		259	ublox_msg_state = UBLOX_LEN2;
		260	break;
		261
		262
		263	case UBLOX_LEN2: // Laenge auswerten
		264	rx_len = rx_len + (rx *256); // Laenge ermitteln
		265	chk_a += rx;
		266	chk_b += chk_a;
		267	ublox_msg_state = UBLOX_PAYLOAD;
		268	break;
		269
		270	case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
		271	if (rx_len > 0)
		272	{
		273	*ptr_payload_data = rx;
		274	chk_a += rx;
		275	chk_b += chk_a;
		276	--rx_len;
		277	if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
		278	{
		279	ptr_payload_data++;
		280	ublox_msg_state = UBLOX_PAYLOAD;
		281	}
		282	else ublox_msg_state = UBLOX_CKA;
		283	}
		284	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		285	break;
		286
		287	case UBLOX_CKA: // Checksum pruefen
		288	if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
		289	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		290	break;
		291
		292	case UBLOX_CKB: // Checksum pruefen
		293	if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
		294	ublox_msg_state = UBLOX_IDLE;
		295	break;
		296
		297	default:
		298	ublox_msg_state = UBLOX_IDLE;
		299	break;
		300	}
		301	}
		302
		303	//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
		304	short int GPS_CRTL(short int cmd)
		305	{
		306	static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen
		307	static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition
1052	salvo	308	signed int n;
1003	salvo	309	static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
1052	salvo	310	signed int dist_frm_start_east,dist_frm_start_north;
		311	int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil
1003	salvo	312	static signed int int_east,int_north; //Integrierer
1052	salvo	313	long int speed_east,speed_north; //Aktuelle Geschwindigkeit
		314	signed long int_east1,int_north1;
		315	int dist_east,dist_north;
		316	int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung
		317	long ni,ro; // Nick und Roll Zwischenwerte
1003	salvo	318
		319
		320	switch (cmd)
		321	{
		322
		323	case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
		324	if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
		325	{
		326	cnt++;
		327	if (cnt > 100) // erst nach Verzoegerung
		328	{
		329	// Erst mal initialisieren
		330	cnt = 0;
		331	gps_tick = 0;
		332	hold_fast = 0;
		333	hold_reset_int = 0; // Integrator enablen
		334	int_east = 0, int_north = 0;
		335	gps_reg_x = 0, gps_reg_y = 0;
		336	delta_east = 0, delta_north = 0;
		337	dist_flown = 0;
		338	gps_g2t_act_v = 0;
		339	gps_sub_state = GPS_CRTL_IDLE;
		340	// aktuelle positionsdaten abspeichern
		341	if (gps_rel_act_position.status > 0)
		342	{
		343	gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
		344	gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
		345	gps_rel_start_position.status = 1; // gueltige Positionsdaten
		346	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		347	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		348	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		349	//Richtung zur Home Position bezogen auf Nordpol bestimmen
		350	hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
		351	// in Winkel 0...360 Grad umrechnen
		352	if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
		353	else hdng_2home = (270 - hdng_2home);
		354	dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen
		355	gps_state = GPS_CRTL_HOME_ACTIVE;
		356	return (GPS_STST_OK);
		357	}
		358	else
		359	{
		360	gps_rel_start_position.status = 0; //Keine Daten verfuegbar
		361	gps_state = GPS_CRTL_IDLE;
		362	return(GPS_STST_ERR); // Keine Daten da
		363	}
		364	}
		365	else return(GPS_STST_PEND); // noch warten
		366	}
		367	break;
		368	// ******************************
		369
		370	case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
		371	if (gps_state != GPS_CRTL_HOLD_ACTIVE)
		372	{
		373	cnt++;
		374	if (cnt > 600) // erst nach Verzoegerung
		375	{
		376	cnt = 0;
		377	// aktuelle positionsdaten abspeichern
		378	if (gps_rel_act_position.status > 0)
		379	{
		380	hold_fast = 0;
		381	hold_reset_int = 0; // Integrator enablen
		382	int_east = 0, int_north = 0;
		383	gps_reg_x = 0, gps_reg_y = 0;
		384	delta_east = 0, delta_north = 0;
		385	speed_east = 0; speed_north= 0;
		386	// int_ovfl_cnt = 0;
		387	gps_quiet_cnt = 0;
		388	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		389	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		390	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		391	gps_state = GPS_CRTL_HOLD_ACTIVE;
		392	return (GPS_STST_OK);
		393	}
		394	else
		395	{
		396	gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
		397	gps_state = GPS_CRTL_IDLE;
		398	return(GPS_STST_ERR); // Keine Daten da
		399	}
		400	}
		401	else return(GPS_STST_PEND); // noch warten
		402	}
		403	break;
		404
		405	case GPS_CMD_STOP: // Lageregelung beenden
		406	cnt = 0;
		407	GPS_Nick = 0;
		408	GPS_Roll = 0;
		409	gps_sub_state = GPS_CRTL_IDLE;
		410	gps_state = GPS_CRTL_IDLE;
		411	return (GPS_STST_OK);
		412	break;
		413
		414	default:
		415	return (GPS_STST_ERR);
		416	break;
		417	}
		418
		419	switch (gps_state)
		420	{
		421	case GPS_CRTL_IDLE:
		422	cnt = 0;
		423	return (GPS_STST_OK);
		424	break;
		425
		426	case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis
		427	//Der Sollwert des Lagereglers wird der Homeposition angenaehert
		428	if (gps_rel_start_position.status >0)
		429	{
		430	if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist
		431	{
		432	gps_tick++;
		433	int d1,d2,d3;
		434	d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east );
		435	d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north );
		436	d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel
		437
		438	if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel
		439	{
		440	if ((d1 < (GPS_G2T_FAST_TOL/2)) && (d2 < (GPS_G2T_FAST_TOL/2))) //voll Stoff weiter wenn Lage gut innerhalb der Toleranz
		441	{
		442	if (gps_g2t_act_v < GPS_G2T_V_MAX-3) gps_g2t_act_v += 4; //Geschwindigkeit erhoehen
		443	dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
		444	gps_sub_state = GPS_HOME_FAST_IN_TOL;
		445	}
		446	else if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz
		447	{
		448	if (gps_g2t_act_v > (GPS_G2T_V_MAX/2)) gps_g2t_act_v -= 1; //Geschwindigkeit auf Haelfte runter oder rauffahren
		449	else if (gps_g2t_act_v < (GPS_G2T_V_MAX/2)) gps_g2t_act_v += 1;
		450	dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
		451	gps_sub_state = GPS_HOME_FAST_IN_TOL;
		452	}
		453	else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz
		454	{
		455	if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren
		456	// dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		457	gps_sub_state = GPS_HOME_FAST_OUTOF_TOL;
		458	}
		459	hold_reset_int = 0; // Integrator einsschalten
		460	hold_fast = 1; // Regler fuer schnellen Flug
		461	dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000);
		462	dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000);
		463	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		464	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		465	}
		466	else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen
		467	{
		468	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL))
		469	{
		470	dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit
		471	gps_sub_state = GPS_HOME_RMPDWN_IN_TOL;
		472	}
		473	else
		474	{
		475	dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		476	gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL;
		477	}
		478	hold_reset_int = 0; // Integrator einsschalten
		479	hold_fast = 1; // Regler fuer schnellen Flug
		480	dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000);
		481	dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000);
		482	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		483	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		484	}
		485	else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt)
		486	{
		487	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln
		488	{
		489	gps_sub_state = GPS_HOME_IN_TOL;
		490	hold_fast = 0; // Wieder normal regeln
		491	hold_reset_int = 0; // Integrator einsschalten
		492	if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN;
		493	else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN;
		494	if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN;
		495	else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN;
		496	if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN))
		497	{
		498	gps_rel_hold_position.utm_east = 0;
		499	gps_rel_hold_position.utm_north = 0;
		500	gps_sub_state = GPS_HOME_FINISHED;
		501	}
		502	}
		503	else gps_sub_state = GPS_HOME_OUTOF_TOL;
		504	}
		505	}
		506	gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung
		507	return (GPS_STST_OK);
		508	}
		509	else // Keine GPS Daten verfuegbar, deswegen Abbruch
		510	{
		511	gps_state = GPS_CRTL_IDLE;
		512	return (GPS_STST_ERR);
		513	}
		514	break;
		515
		516
		517	case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet
		518	if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen
		519	{
		520	gps_quiet_cnt++;
		521	// ab hier wird geregelt
		522	delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east);
		523	delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north);
1052	salvo	524	int_east += (int)(delta_east*gps_gain)/10;
		525	int_north += (int)(delta_north*gps_gain)/10;
1003	salvo	526	speed_east = actual_speed.speed_e;
		527	speed_north = actual_speed.speed_n;
		528	gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden
		529	dist_east = (int)delta_east; //merken
		530	dist_north = (int)delta_north;
		531
		532
		533	// #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow
		534	long int gpsintmax;
		535	if (Parameter_NaviGpsI > 0)
		536	{
1052	salvo	537	gpsintmax = (GPS_NICKROLL_MAX * limit_gain * GPS_USR_PAR_FKT * ((32*3)/10))/(long)Parameter_NaviGpsI; //auf ungefeahren Maximalwert begrenzen
1003	salvo	538	if ((abs(int_east) > (int)gpsintmax) \|\| (abs(int_north)> (int)gpsintmax))
		539	{
		540	// // = 1; // Zahl der Overflows zaehlen
		541	// int_ovfl_cnt -= 1;
		542	int_east = (int_east * 6)/8; // Wert reduzieren
		543	int_north = (int_north* 6)/8;
		544	}
		545
		546	if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten
		547	{
		548	int_east = 0;
		549	int_north = 0;
		550	}
		551	}
		552	else // Integrator deaktiviert
		553	{
		554	int_east = 0;
		555	int_north = 0;
		556	}
		557
		558	debug_gp_4 = (int)int_east; // zum Debuggen
		559	debug_gp_5 = (int)int_north; // zum Debuggen
		560
		561	//I Werte begrenzen
1052	salvo	562	#define INT1_MAX (GPS_NICKROLL_MAX * limit_gain*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen
1003	salvo	563	int_east1 = ((((long)int_east) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT;
		564	int_north1 = ((((long)int_north) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT;
		565	if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen
		566	else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX;
		567	if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen
		568	else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX;
		569
		570	if (hold_fast > 0) //schneller Coming Home Modus
		571	{
		572	amplfy_speed_east = DIFF_Y_F_MAX;
		573	amplfy_speed_north = DIFF_Y_F_MAX;
		574	amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
		575	amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
1052	salvo	576	speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /500;
		577	speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/500;
1003	salvo	578	// D Werte begrenzen
1052	salvo	579	#define D_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
1003	salvo	580	if (speed_east > D_F_MAX) speed_east = D_F_MAX;
		581	else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX;
		582	if (speed_north > D_F_MAX) speed_north = D_F_MAX;
		583	else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX;
		584
		585	diff_p = (Parameter_NaviGpsP * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil
		586	}
		587	else //langsamer Holdmodus
		588	{
		589	amplfy_speed_east = DIFF_Y_N_MAX;
		590	amplfy_speed_north = DIFF_Y_N_MAX;
		591	amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
		592	amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
1052	salvo	593	speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /250;
		594	speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/250;
1003	salvo	595	// D Werte begrenzen
1052	salvo	596	#define D_N_MAX (GPS_NICKROLL_MAX * limit_gain*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen
1003	salvo	597	if (speed_east > D_N_MAX) speed_east = D_N_MAX;
		598	else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX;
		599	if (speed_north > D_N_MAX) speed_north = D_N_MAX;
		600	else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX;
		601
		602	diff_p = (Parameter_NaviGpsP * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil
		603	}
		604
		605	// debug_gp_4 = (int)speed_east; // zum Debuggen
		606	// debug_gp_5 = (int)speed_north; // zum Debuggen
		607
		608	//P-Werte verstaerken
1052	salvo	609	delta_east = (delta_east * (long)diff_p*gps_gain)/(400);
		610	delta_north = (delta_north * (long)diff_p*gps_gain)/(400);
1003	salvo	611
		612	if (hold_fast > 0) //schneller Coming Home Modus
		613	{
		614	// P Werte begrenzen
1052	salvo	615	#define P1_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
1003	salvo	616	if (delta_east > P1_F_MAX) delta_east = P1_F_MAX;
		617	else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX;
		618	if (delta_north > P1_F_MAX) delta_north = P1_F_MAX;
		619	else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX;
		620	}
		621	else // Hold modus
		622	{
		623	// P Werte begrenzen
1052	salvo	624	#define P1_N_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
1003	salvo	625	if (delta_east > P1_N_MAX) delta_east = P1_N_MAX;
		626	else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX;
		627	if (delta_north > P1_N_MAX) delta_north = P1_N_MAX;
		628	else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX;
		629	}
		630
		631	debug_gp_2 = (int)delta_east; // zum Debuggen
		632	debug_gp_3 = (int)delta_north; // zum Debuggen
		633
		634
		635	//PID Regler Werte aufsummieren
		636	gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse
		637	gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse
		638	debug_gp_0 = (int)gps_reg_x; // zum Debuggen
		639	debug_gp_1 = (int)gps_reg_y; // zum Debuggen
		640
		641	// Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen
		642	n = GyroKomp_Int/GIER_GRAD_FAKTOR; //Ausrichtung Kopter
1052	salvo	643	ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000L*(long)limit_gain);
		644	ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000L*(long)limit_gain);
1003	salvo	645
		646	if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX);
		647	else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX );
		648	if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX );
		649	else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX );
		650
		651	if ((abs(dist_east) > GPS_DIST_MAX) \|\| (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen
		652	{
		653	GPS_Roll = 0;
		654	GPS_Nick = 0;
		655	gps_state = GPS_CRTL_IDLE;
		656	return (GPS_STST_ERR);
		657	break;
		658	}
		659	else if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen
		660	{
		661	gps_quiet_cnt++;
		662	GPS_Roll = 0;
		663	GPS_Nick = 0;
		664	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		665	return (GPS_STST_OK);
		666	}
		667	else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4))
		668	{
		669	gps_quiet_cnt = 0;
		670	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		671	return (GPS_STST_OK);
		672	}
		673	else
		674	{
		675	GPS_Roll = (int)ro;
		676	GPS_Nick = (int)ni;
		677	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		678	return (GPS_STST_OK);
		679	}
		680	}
		681	else
		682	{
		683	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		684	return (GPS_STST_OK);
		685	}
		686	break;
		687
		688	default:
		689	gps_state = GPS_CRTL_IDLE;
		690	return (GPS_STST_ERR);
		691	break;
		692	}
		693	return (GPS_STST_ERR);
		694
		695	}
		696

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_v0070d/trunk/GPS.c - Rev 1052