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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 143 | salvo | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 161 | salvo | 2 | // Peter Muehlenbrock ("Salvo") |
| 143 | salvo | 3 | // Definitionen fuer Modul GPS |
| 209 | salvo | 4 | // Stand 2.10.007 |
| 143 | salvo | 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 6 | extern signed int GPS_Nick; |
| 7 | extern signed int GPS_Roll; |
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| 8 | extern void GPS_Neutral(void); |
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| 143 | salvo | 9 | |
| 10 | extern void Get_Ublox_Msg(uint8_t rx) ; |
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| 156 | salvo | 11 | //extern short int Get_GPS_data(void); |
| 12 | extern short int Get_Rel_Position(void); |
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| 13 | extern void GPS_Save_Home(void); |
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| 158 | salvo | 14 | extern short int GPS_CRTL(short int cmd); |
| 143 | salvo | 15 | |
| 16 | typedef struct { |
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| 17 | unsigned long utm_itow; // time of week |
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| 18 | long utm_east; // UTM Ost in cm |
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| 19 | long utm_north; // UTM Nord in cm |
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| 20 | long utm_alt; // hoehe in cm |
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| 21 | uint8_t utm_zone; // |
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| 22 | uint8_t utm_hem; // Hemisphere Indicator |
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| 23 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
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| 24 | } NAV_POSUTM_t; |
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| 25 | |||
| 26 | typedef struct { |
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| 27 | unsigned long itow; // time of week |
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| 28 | uint8_t gpsfix_type;// 3=3D Fix |
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| 29 | uint8_t nav_status_flag; |
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| 30 | uint8_t nav_diff_status; |
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| 31 | uint8_t nav_resevd; |
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| 32 | long nav_tff; // Time to First Fix in ms |
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| 33 | long nav_msss; // ms since startup |
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| 34 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
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| 35 | } NAV_STATUS_t; |
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| 36 | |||
| 37 | typedef struct { |
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| 38 | unsigned long itow; |
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| 39 | long speed_n; // in cm/s |
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| 40 | long speed_e; // in cm/s |
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| 41 | long speed_alt; // in cm/s |
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| 42 | unsigned long speed_3d; // in cm/s |
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| 43 | unsigned long speed_gnd; // V ueber Grund in cm/s |
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| 44 | long heading; // Richtung in deg/10000 |
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| 45 | unsigned long sacc; // Speed Genauigkeit in cm/s |
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| 46 | unsigned long cacc; // Richtungsgenauigkeit in deg |
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| 47 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
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| 48 | } NAV_VELNED_t; |
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| 49 | |||
| 50 | |||
| 51 | typedef struct { |
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| 52 | long utm_east; // UTM Ost in 10 cm |
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| 53 | long utm_north; // UTM Nord in 10 cm |
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| 54 | long utm_alt; // hoehe in 10 cm |
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| 55 | unsigned long speed_gnd; // V ueber Grund in 10cm/s |
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| 56 | unsigned heading; // Richtung in Grad |
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| 57 | uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
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| 58 | |||
| 156 | salvo | 59 | } GPS_ABS_POSITION_t; |
| 143 | salvo | 60 | |
| 61 | |||
| 156 | salvo | 62 | typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position) |
| 63 | int utm_east; // UTM Ost in m |
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| 64 | int utm_north; // UTM Nord in m |
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| 65 | uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
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| 143 | salvo | 66 | |
| 156 | salvo | 67 | } GPS_REL_POSITION_t; |
| 68 | |||
| 69 | |||
| 70 | extern GPS_ABS_POSITION_t gps_act_position; |
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| 71 | extern GPS_ABS_POSITION_t gps_home_position; |
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| 72 | extern GPS_REL_POSITION_t gps_rel_act_position; |
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| 158 | salvo | 73 | extern GPS_REL_POSITION_t gps_rel_hold_position; |
| 74 | extern short int gps_state; |
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| 75 | extern signed int GPS_hdng_abs_2trgt; |
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| 76 | extern signed int GPS_hdng_rel_2trgt; |
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| 77 | extern signed int GPS_dist_2trgt; |
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| 159 | salvo | 78 | extern signed int gps_reg_x,gps_reg_y; |
| 160 | salvo | 79 | extern signed int GPS_dist_2trgt; |
| 190 | salvo | 80 | extern unsigned int gps_alive_cnt; |
| 158 | salvo | 81 | |
| 82 | // Zustaende der zentralen GPS statemachine |
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| 83 | #define GPS_CRTL_IDLE 0 // |
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| 162 | salvo | 84 | #define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv |
| 85 | #define GPS_CRTL_HOME_ACTIVE 2 // Rueckglug zur Basis Aktiv |
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| 158 | salvo | 86 | |
| 87 | // Kommandokonstanten fuer die zentrale GPS statemachine |
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| 88 | #define GPS_CMD_REQ_INIT 0 // Initialisierung |
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| 162 | salvo | 89 | #define GPS_CMD_STOP 1 // Lageregelung soll deaktiviert werden |
| 90 | #define GPS_CMD_REQ_HOLD 3 // Lageregelung soll aktiviert werden |
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| 91 | #define GPS_CMD_REQ_HOME 4 // Das Heimfliegen soll aktiviert werden |
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| 158 | salvo | 92 | |
| 93 | // Statusmeldungen der zentralen GPS statemachine |
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| 209 | salvo | 94 | #define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen |
| 95 | #define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt |
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| 96 | #define GPS_STST_ERR 2 // Fehler |
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| 159 | salvo | 97 | |
| 98 | // GPS Lageregler |
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| 209 | salvo | 99 | #define GPS_NICKROLL_MAX 30 // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll |
| 100 | #define GPS_DIST_MAX 300 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm) |
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| 101 | #define GPS_STICK_HOLDOFF 25 // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert |