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| Rev | Author | Line No. | Line |
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| 41 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 516 | holgerb | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 41 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 516 | holgerb | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 360 | holgerb | 22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 41 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 32 | // + Software LICENSING TERMS |
| 41 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 516 | holgerb | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| 360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 37 | // + The Software may only be used with the Licensor's products. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 41 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 490 | killagreg | 56 | #include <ctype.h> |
| 57 | #include <stdio.h> |
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| 516 | holgerb | 58 | #include <stdlib.h> |
| 41 | ingob | 59 | #include <string.h> |
| 60 | #include "91x_lib.h" |
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| 61 | #include "waypoints.h" |
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| 62 | #include "uart1.h" |
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| 490 | killagreg | 63 | #include "fat16.h" |
| 504 | holgerb | 64 | #include "main.h" |
| 513 | killagreg | 65 | #include "spi_slave.h" |
| 41 | ingob | 66 | |
| 496 | killagreg | 67 | |
| 68 | WPL_Store_t WPL_Store; |
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| 69 | |||
| 280 | killagreg | 70 | Point_t PointList[MAX_LIST_LEN]; |
| 71 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
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| 72 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
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| 73 | u8 WPCount = 0; // number of waypoints |
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| 491 | killagreg | 74 | u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
| 75 | u8 POICount = 0; // number of point of interest in the list |
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| 601 | holgerb | 76 | u8 FsPointCnt = 0; |
| 517 | holgerb | 77 | s16 HeadingOld = -1; |
| 577 | holgerb | 78 | u32 SD_WaypointTimeout = 5; // Setting on SD-Card |
| 41 | ingob | 79 | |
| 296 | killagreg | 80 | u8 WPActive = FALSE; |
| 280 | killagreg | 81 | |
| 82 | u8 PointList_Init(void) |
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| 41 | ingob | 83 | { |
| 516 | holgerb | 84 | return PointList_Clear(); |
| 41 | ingob | 85 | } |
| 86 | |||
| 280 | killagreg | 87 | u8 PointList_Clear(void) |
| 41 | ingob | 88 | { |
| 89 | u8 i; |
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| 227 | killagreg | 90 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 91 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
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| 280 | killagreg | 92 | WPCount = 0; // no waypoints |
| 601 | holgerb | 93 | FsPointCnt = 0; |
| 516 | holgerb | 94 | POICount = 0; |
| 280 | killagreg | 95 | PointCount = 0; // no contents |
| 296 | killagreg | 96 | WPActive = FALSE; |
| 280 | killagreg | 97 | NaviData.WaypointNumber = WPCount; |
| 98 | NaviData.WaypointIndex = 0; |
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| 99 | for(i = 0; i < MAX_LIST_LEN; i++) |
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| 41 | ingob | 100 | { |
| 280 | killagreg | 101 | PointList[i].Position.Status = INVALID; |
| 102 | PointList[i].Position.Latitude = 0; |
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| 103 | PointList[i].Position.Longitude = 0; |
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| 104 | PointList[i].Position.Altitude = 0; |
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| 105 | PointList[i].Heading = 361; // invalid value |
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| 106 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
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| 107 | PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
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| 490 | killagreg | 108 | PointList[i].Event_Flag = 0; // future implementation |
| 109 | PointList[i].Index = 0; |
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| 286 | killagreg | 110 | PointList[i].Type = POINT_TYPE_INVALID; |
| 490 | killagreg | 111 | PointList[i].WP_EventChannelValue = 0; |
| 286 | killagreg | 112 | PointList[i].AltitudeRate = 0; // no change of setpoint |
| 490 | killagreg | 113 | PointList[i].Speed = 0; |
| 114 | PointList[i].CamAngle = 0; |
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| 115 | PointList[i].Name[0] = 0; |
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| 41 | ingob | 116 | } |
| 504 | holgerb | 117 | ClearWLP_Name(); |
| 516 | holgerb | 118 | return TRUE; |
| 41 | ingob | 119 | } |
| 120 | |||
| 280 | killagreg | 121 | u8 PointList_GetCount(void) |
| 41 | ingob | 122 | { |
| 280 | killagreg | 123 | return PointCount; // number of points in the list |
| 41 | ingob | 124 | } |
| 125 | |||
| 295 | killagreg | 126 | Point_t* PointList_GetAt(u8 index) |
| 41 | ingob | 127 | { |
| 295 | killagreg | 128 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 129 | else return(NULL); |
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| 130 | } |
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| 131 | |||
| 132 | u8 PointList_SetAt(Point_t* pPoint) |
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| 133 | { |
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| 134 | // if index is in range |
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| 296 | killagreg | 135 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
| 41 | ingob | 136 | { |
| 295 | killagreg | 137 | // check list entry before update |
| 138 | switch(PointList[pPoint->Index-1].Type) |
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| 277 | killagreg | 139 | { |
| 295 | killagreg | 140 | case POINT_TYPE_INVALID: // was invalid |
| 141 | switch(pPoint->Type) |
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| 142 | { |
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| 143 | default: |
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| 144 | case POINT_TYPE_INVALID: |
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| 145 | // nothing to do |
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| 146 | break; |
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| 147 | |||
| 148 | case POINT_TYPE_WP: |
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| 149 | WPCount++; |
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| 150 | PointCount++; |
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| 151 | break; |
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| 516 | holgerb | 152 | |
| 295 | killagreg | 153 | case POINT_TYPE_POI: |
| 154 | POICount++; |
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| 155 | PointCount++; |
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| 156 | break; |
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| 601 | holgerb | 157 | case POINT_TYPE_FS: |
| 158 | FsPointCnt++; |
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| 159 | PointCount++; |
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| 160 | break; |
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| 295 | killagreg | 161 | } |
| 516 | holgerb | 162 | break; |
| 163 | |||
| 490 | killagreg | 164 | case POINT_TYPE_WP: // was a waypoint |
| 295 | killagreg | 165 | switch(pPoint->Type) |
| 166 | { |
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| 167 | case POINT_TYPE_INVALID: |
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| 168 | WPCount--; |
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| 169 | PointCount--; |
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| 170 | break; |
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| 277 | killagreg | 171 | |
| 295 | killagreg | 172 | default: |
| 173 | case POINT_TYPE_WP: |
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| 174 | //nothing to do |
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| 175 | break; |
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| 601 | holgerb | 176 | case POINT_TYPE_FS: |
| 177 | FsPointCnt++; |
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| 178 | WPCount--; |
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| 179 | break; |
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| 295 | killagreg | 180 | case POINT_TYPE_POI: |
| 181 | POICount++; |
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| 182 | WPCount--; |
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| 183 | break; |
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| 184 | } |
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| 185 | break; |
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| 516 | holgerb | 186 | |
| 295 | killagreg | 187 | case POINT_TYPE_POI: // was a poi |
| 188 | switch(pPoint->Type) |
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| 189 | { |
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| 190 | case POINT_TYPE_INVALID: |
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| 191 | POICount--; |
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| 192 | PointCount--; |
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| 193 | break; |
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| 194 | |||
| 195 | case POINT_TYPE_WP: |
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| 196 | WPCount++; |
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| 197 | POICount--; |
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| 198 | break; |
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| 601 | holgerb | 199 | |
| 200 | case POINT_TYPE_FS: |
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| 201 | FsPointCnt++; |
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| 202 | POICount--; |
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| 203 | break; |
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| 516 | holgerb | 204 | |
| 295 | killagreg | 205 | case POINT_TYPE_POI: |
| 206 | default: |
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| 207 | // nothing to do |
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| 208 | break; |
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| 209 | } |
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| 601 | holgerb | 210 | case POINT_TYPE_FS: // was a Failsafe |
| 211 | switch(pPoint->Type) |
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| 212 | { |
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| 213 | case POINT_TYPE_INVALID: |
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| 214 | FsPointCnt--; |
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| 215 | PointCount--; |
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| 216 | break; |
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| 217 | |||
| 218 | case POINT_TYPE_WP: |
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| 219 | WPCount++; |
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| 220 | FsPointCnt--; |
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| 221 | break; |
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| 222 | |||
| 223 | case POINT_TYPE_POI: |
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| 224 | POICount++; |
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| 225 | FsPointCnt--; |
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| 226 | break; |
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| 227 | |||
| 228 | case POINT_TYPE_FS: |
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| 229 | break; |
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| 230 | default: |
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| 231 | // nothing to do |
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| 232 | break; |
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| 233 | } |
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| 516 | holgerb | 234 | break; |
| 277 | killagreg | 235 | } |
| 516 | holgerb | 236 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
| 295 | killagreg | 237 | NaviData.WaypointNumber = WPCount; |
| 238 | return pPoint->Index; |
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| 41 | ingob | 239 | } |
| 296 | killagreg | 240 | else return(0); |
| 41 | ingob | 241 | } |
| 242 | |||
| 227 | killagreg | 243 | // returns the pointer to the first waypoint within the list |
| 280 | killagreg | 244 | Point_t* PointList_WPBegin(void) |
| 41 | ingob | 245 | { |
| 277 | killagreg | 246 | u8 i; |
| 227 | killagreg | 247 | WPIndex = 0; // set list position invalid |
| 295 | killagreg | 248 | |
| 283 | holgerb | 249 | if(WPActive == FALSE) return(NULL); |
| 295 | killagreg | 250 | |
| 277 | killagreg | 251 | POIIndex = 0; // set invalid POI |
| 516 | holgerb | 252 | if(PointCount > 0) |
| 152 | killagreg | 253 | { |
| 225 | killagreg | 254 | // search for first wp in list |
| 295 | killagreg | 255 | for(i = 0; i <MAX_LIST_LEN; i++) |
| 225 | killagreg | 256 | { |
| 601 | holgerb | 257 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
| 225 | killagreg | 258 | { |
| 227 | killagreg | 259 | WPIndex = i + 1; |
| 225 | killagreg | 260 | break; |
| 261 | } |
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| 601 | holgerb | 262 | /* |
| 263 | else |
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| 264 | if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) |
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| 265 | { |
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| 266 | GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
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| 267 | } |
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| 268 | */ |
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| 225 | killagreg | 269 | } |
| 277 | killagreg | 270 | if(WPIndex) // found a WP in the list |
| 271 | { |
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| 280 | killagreg | 272 | NaviData.WaypointIndex = 1; |
| 549 | holgerb | 273 | NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
| 277 | killagreg | 274 | // update index to POI |
| 280 | killagreg | 275 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 516 | holgerb | 276 | else POIIndex = 0; |
| 277 | killagreg | 277 | } |
| 278 | else // some points in the list but no WP found |
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| 279 | { |
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| 280 | killagreg | 280 | NaviData.WaypointIndex = 0; |
| 277 | killagreg | 281 | //Check for an existing POI |
| 295 | killagreg | 282 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 277 | killagreg | 283 | { |
| 280 | killagreg | 284 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 277 | killagreg | 285 | { |
| 286 | POIIndex = i + 1; |
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| 287 | break; |
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| 288 | } |
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| 289 | } |
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| 290 | } |
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| 152 | killagreg | 291 | } |
| 277 | killagreg | 292 | else // no point in the list |
| 152 | killagreg | 293 | { |
| 516 | holgerb | 294 | POIIndex = 0; |
| 295 | NaviData.WaypointIndex = 0; |
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| 227 | killagreg | 296 | } |
| 295 | killagreg | 297 | |
| 298 | if(WPIndex) return(&(PointList[WPIndex-1])); |
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| 299 | else return(NULL); |
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| 41 | ingob | 300 | } |
| 301 | |||
| 225 | killagreg | 302 | // returns the last waypoint |
| 280 | killagreg | 303 | Point_t* PointList_WPEnd(void) |
| 151 | killagreg | 304 | { |
| 516 | holgerb | 305 | |
| 277 | killagreg | 306 | u8 i; |
| 227 | killagreg | 307 | WPIndex = 0; // set list position invalid |
| 277 | killagreg | 308 | POIIndex = 0; // set invalid |
| 283 | holgerb | 309 | |
| 280 | killagreg | 310 | if(WPActive == FALSE) return(NULL); |
| 277 | killagreg | 311 | |
| 280 | killagreg | 312 | if(PointCount > 0) |
| 151 | killagreg | 313 | { |
| 227 | killagreg | 314 | // search backward! |
| 295 | killagreg | 315 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 225 | killagreg | 316 | { |
| 295 | killagreg | 317 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 516 | holgerb | 318 | { |
| 295 | killagreg | 319 | WPIndex = MAX_LIST_LEN - i + 1; |
| 225 | killagreg | 320 | break; |
| 321 | } |
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| 322 | } |
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| 277 | killagreg | 323 | if(WPIndex) // found a WP within the list |
| 324 | { |
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| 280 | killagreg | 325 | NaviData.WaypointIndex = WPCount; |
| 326 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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| 516 | holgerb | 327 | else POIIndex = 0; |
| 277 | killagreg | 328 | } |
| 278 | killagreg | 329 | else // list contains some points but no WP in the list |
| 277 | killagreg | 330 | { |
| 331 | // search backward for a POI! |
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| 295 | killagreg | 332 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 277 | killagreg | 333 | { |
| 295 | killagreg | 334 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 516 | holgerb | 335 | { |
| 295 | killagreg | 336 | POIIndex = MAX_LIST_LEN - i + 1; |
| 277 | killagreg | 337 | break; |
| 338 | } |
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| 339 | } |
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| 516 | holgerb | 340 | NaviData.WaypointIndex = 0; |
| 277 | killagreg | 341 | } |
| 151 | killagreg | 342 | } |
| 277 | killagreg | 343 | else // no point in the list |
| 227 | killagreg | 344 | { |
| 280 | killagreg | 345 | POIIndex = 0; |
| 346 | NaviData.WaypointIndex = 0; |
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| 227 | killagreg | 347 | } |
| 295 | killagreg | 348 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 349 | else return(NULL); |
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| 151 | killagreg | 350 | } |
| 351 | |||
| 41 | ingob | 352 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 280 | killagreg | 353 | Point_t* PointList_WPNext(void) |
| 41 | ingob | 354 | { |
| 227 | killagreg | 355 | u8 wp_found = 0; |
| 280 | killagreg | 356 | if(WPActive == FALSE) return(NULL); |
| 516 | holgerb | 357 | |
| 295 | killagreg | 358 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| 41 | ingob | 359 | { |
| 227 | killagreg | 360 | u8 i; |
| 295 | killagreg | 361 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| 225 | killagreg | 362 | { |
| 601 | holgerb | 363 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
| 225 | killagreg | 364 | { |
| 227 | killagreg | 365 | wp_found = i+1; |
| 225 | killagreg | 366 | break; |
| 367 | } |
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| 601 | holgerb | 368 | /* |
| 369 | else |
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| 370 | if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
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| 371 | { |
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| 372 | GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
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| 373 | } |
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| 374 | */ |
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| 225 | killagreg | 375 | } |
| 41 | ingob | 376 | } |
| 227 | killagreg | 377 | if(wp_found) |
| 378 | { |
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| 379 | WPIndex = wp_found; // update list position |
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| 280 | killagreg | 380 | NaviData.WaypointIndex++; |
| 381 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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| 227 | killagreg | 382 | else POIIndex = 0; |
| 280 | killagreg | 383 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 227 | killagreg | 384 | } |
| 516 | holgerb | 385 | else |
| 280 | killagreg | 386 | { // no next wp found |
| 516 | holgerb | 387 | NaviData.WaypointIndex = 0; |
| 277 | killagreg | 388 | POIIndex = 0; |
| 389 | return(NULL); |
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| 390 | } |
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| 516 | holgerb | 391 | } |
| 280 | killagreg | 392 | |
| 393 | void PointList_WPActive(u8 set) |
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| 394 | { |
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| 295 | killagreg | 395 | if(set) |
| 516 | holgerb | 396 | { |
| 295 | killagreg | 397 | WPActive = TRUE; |
| 491 | killagreg | 398 | PointList_WPBegin(); // updates POI index |
| 295 | killagreg | 399 | } |
| 400 | else |
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| 401 | { |
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| 402 | WPActive = FALSE; |
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| 403 | POIIndex = 0; // disable POI also |
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| 404 | } |
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| 280 | killagreg | 405 | } |
| 516 | holgerb | 406 | |
| 280 | killagreg | 407 | Point_t* PointList_GetPOI(void) |
| 224 | killagreg | 408 | { |
| 516 | holgerb | 409 | return PointList_GetAt(POIIndex); |
| 224 | killagreg | 410 | } |
| 411 | |||
| 513 | killagreg | 412 | |
| 490 | killagreg | 413 | #define LINE_MAX 70 |
| 414 | #define WP_FILE_VERSION_COMPATIBLE 3 |
||
| 513 | killagreg | 415 | |
| 416 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
||
| 490 | killagreg | 417 | { |
| 418 | File_t *fp; |
||
| 495 | killagreg | 419 | s8 wpline[LINE_MAX]; |
| 420 | u8 retval = WPL_ERROR; |
||
| 513 | killagreg | 421 | |
| 767 | holgerb | 422 | UART1_PutString("\r\n Save WPL..."); |
| 490 | killagreg | 423 | |
| 424 | if(Fat16_IsValid()) |
||
| 425 | { // check if wpl file is existing |
||
| 513 | killagreg | 426 | if(fexist_(filename)) |
| 495 | killagreg | 427 | { //file is existent |
| 516 | holgerb | 428 | if(!(overwride)) |
| 495 | killagreg | 429 | { |
| 430 | UART1_PutString("Error: file exist!\r\n"); |
||
| 431 | return(WPL_FILEEXIST); |
||
| 516 | holgerb | 432 | } |
| 495 | killagreg | 433 | } |
| 513 | killagreg | 434 | fp = fopen_(filename, 'w'); // try to open the file |
| 490 | killagreg | 435 | if(fp == NULL) |
| 436 | { |
||
| 437 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
||
| 438 | return(retval); |
||
| 439 | } |
||
| 440 | // Create general section and key entries |
||
| 441 | fputs_("[General]\r\n", fp); |
||
| 516 | holgerb | 442 | sprintf(wpline, "Name=%s\r\n", listname); |
| 494 | killagreg | 443 | fputs_(wpline, fp); |
| 516 | holgerb | 444 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
| 490 | killagreg | 445 | fputs_(wpline, fp); |
| 446 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
||
| 447 | fputs_(wpline, fp); |
||
| 448 | // dump all points if existent |
||
| 449 | if(PointCount) |
||
| 450 | { |
||
| 451 | u8 i, u8_1; |
||
| 452 | s32 i32_1, i32_2; |
||
| 504 | holgerb | 453 | NewWPL_Name = 1; |
| 490 | killagreg | 454 | for (i = 0; i < PointCount; i++) |
| 455 | { |
||
| 456 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
||
| 457 | fputs_(wpline, fp); |
||
| 458 | // write latitude in deg |
||
| 459 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
||
| 460 | else u8_1 = '+'; |
||
| 461 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
||
| 462 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
||
| 463 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
| 464 | fputs_(wpline, fp); |
||
| 465 | // write longitude in deg |
||
| 466 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
||
| 467 | else u8_1 = '+'; |
||
| 468 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
||
| 469 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
||
| 470 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
| 471 | fputs_(wpline, fp); |
||
| 472 | // write tolerace radius in m |
||
| 473 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
||
| 474 | fputs_(wpline, fp); |
||
| 475 | // write altitude in m |
||
| 476 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
||
| 477 | else u8_1 = '+'; |
||
| 478 | if(PointList[i].Type == POINT_TYPE_POI) |
||
| 479 | { |
||
| 480 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
||
| 481 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
||
| 482 | } |
||
| 483 | else |
||
| 484 | { |
||
| 485 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
||
| 486 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
||
| 487 | } |
||
| 488 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
||
| 489 | fputs_(wpline, fp); |
||
| 490 | // write climb rate in 0.1 m/s |
||
| 491 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
||
| 492 | fputs_(wpline, fp); |
||
| 493 | // write hold time in s |
||
| 494 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
||
| 495 | fputs_(wpline, fp); |
||
| 496 | // write event channel value |
||
| 497 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
||
| 498 | fputs_(wpline, fp); |
||
| 499 | // write heading in deg (0= nothing, neg. values index to poi) |
||
| 500 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
||
| 501 | fputs_(wpline, fp); |
||
| 502 | // write speed in 0.1 m/s |
||
| 503 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
||
| 504 | fputs_(wpline, fp); |
||
| 505 | // write cam angle in degree (255 -> POI-Automatic) |
||
| 506 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
||
| 507 | fputs_(wpline, fp); |
||
| 508 | // write point type |
||
| 509 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
||
| 516 | holgerb | 510 | fputs_(wpline, fp); |
| 511 | // write prefix |
||
| 490 | killagreg | 512 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
| 513 | fputs_(wpline, fp); |
||
| 642 | holgerb | 514 | sprintf(wpline, "AutoTrigger=%d\r\n", PointList[i].AutoPhotoDistance); |
| 515 | fputs_(wpline, fp); |
||
| 490 | killagreg | 516 | } // EOF loop over all points |
| 517 | } // EOF if(PointCount) |
||
| 518 | if(EOF == fclose_(fp)) |
||
| 519 | { |
||
| 520 | UART1_PutString("failed!\r\n"); |
||
| 521 | } |
||
| 522 | else |
||
| 523 | { |
||
| 524 | UART1_PutString("ok\r\n"); |
||
| 495 | killagreg | 525 | retval = WPL_OK; |
| 516 | holgerb | 526 | } |
| 490 | killagreg | 527 | } // EOF if(Fat16_IsValid()) |
| 516 | holgerb | 528 | else |
| 497 | killagreg | 529 | { |
| 530 | UART1_PutString("no file system found!\r\n"); |
||
| 531 | retval = WPL_NO_SDCARD_FOUND; |
||
| 532 | } |
||
| 490 | killagreg | 533 | return(retval); |
| 534 | } |
||
| 535 | |||
| 519 | holgerb | 536 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
| 490 | killagreg | 537 | { |
| 538 | File_t *fp; |
||
| 496 | killagreg | 539 | s8 wpline[LINE_MAX]; |
| 540 | u8 retval = WPL_ERROR; |
||
| 516 | holgerb | 541 | |
| 490 | killagreg | 542 | s8 *name, *value; |
| 543 | u8 i; |
||
| 544 | |||
| 545 | u8 IsGeneralSection = 0; |
||
| 546 | u8 IsPointSection = 0; |
||
| 547 | u8 WPNumber = 0; |
||
| 498 | killagreg | 548 | |
| 549 | // clear point list first |
||
| 550 | PointList_Clear(); |
||
| 517 | holgerb | 551 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
| 767 | holgerb | 552 | UART1_PutString("\r\n Read "); |
| 516 | holgerb | 553 | UART1_PutString(filename); |
| 490 | killagreg | 554 | UART1_PutString("..."); |
| 555 | |||
| 556 | if(Fat16_IsValid()) |
||
| 557 | { // check if wpl file is existing |
||
| 513 | killagreg | 558 | fp = fopen_(filename, 'r'); // try to open the file |
| 490 | killagreg | 559 | if(fp == NULL) |
| 560 | { |
||
| 561 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
||
| 496 | killagreg | 562 | return(retval); |
| 490 | killagreg | 563 | } |
| 564 | // read all lines from file |
||
| 565 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
||
| 566 | { |
||
| 567 | if ( // ignorelines starting with \r,\n,' ',';','#' |
||
| 568 | (wpline[0] != '\n') && |
||
| 569 | (wpline[0] != '\r') && |
||
| 570 | (wpline[0] != ' ' ) && |
||
| 571 | (wpline[0] != ';' ) && |
||
| 572 | (wpline[0] != '#' ) |
||
| 573 | ) |
||
| 574 | { |
||
| 575 | // check for section line found |
||
| 576 | if(wpline[0] == '[') |
||
| 577 | { |
||
| 578 | // next section found |
||
| 579 | IsGeneralSection = 0; |
||
| 580 | IsPointSection = 0; |
||
| 581 | |||
| 582 | name = strtok(&wpline[1], "]"); |
||
| 583 | if(name != NULL) // if section name |
||
| 584 | { |
||
| 585 | // check section type |
||
| 586 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
| 587 | |||
| 588 | if(strncmp(name, "POINT", 5) == 0) |
||
| 589 | { |
||
| 590 | IsPointSection = (u8)atoi(&name[5]); |
||
| 591 | PointCount++; |
||
| 592 | } |
||
| 593 | else if(strcmp(name, "GENERAL") == 0) |
||
| 594 | { |
||
| 595 | IsGeneralSection = 1; |
||
| 596 | } |
||
| 597 | else |
||
| 598 | { |
||
| 599 | UART1_PutString("Unknown section: "); |
||
| 600 | UART1_PutString(name); |
||
| 601 | UART1_PutString("\r\n"); |
||
| 602 | } |
||
| 603 | } |
||
| 604 | } // EOF section line |
||
| 605 | else |
||
| 606 | { // look for key entrys of each sections |
||
| 607 | name = strtok(wpline, "="); // get name |
||
| 608 | value = strtok(NULL, "="); // get value |
||
| 609 | if ((name != NULL) && (value != NULL)) |
||
| 610 | { |
||
| 611 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
| 612 | if(IsPointSection && (IsPointSection <= WPNumber)) |
||
| 613 | { |
||
| 614 | if(strcmp(name, "LATITUDE") == 0) |
||
| 615 | { |
||
| 616 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
||
| 617 | } |
||
| 618 | else if(strcmp(name, "LONGITUDE") == 0) |
||
| 619 | { |
||
| 620 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
||
| 621 | } |
||
| 622 | else if(strcmp(name, "RADIUS") == 0) |
||
| 623 | { |
||
| 624 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
||
| 625 | } |
||
| 626 | else if(strcmp(name, "ALTITUDE") == 0) |
||
| 627 | { |
||
| 628 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
||
| 629 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
||
| 630 | } |
||
| 631 | else if(strcmp(name, "CLIMBRATE") == 0) |
||
| 632 | { |
||
| 633 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
||
| 634 | } |
||
| 635 | else if(strcmp(name, "DELAYTIME") == 0) |
||
| 636 | { |
||
| 637 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
||
| 638 | } |
||
| 639 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
||
| 640 | { |
||
| 641 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
||
| 642 | } |
||
| 643 | else if(strcmp(name, "HEADING") == 0) |
||
| 644 | { |
||
| 645 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
||
| 646 | } |
||
| 647 | else if(strcmp(name, "SPEED") == 0) |
||
| 648 | { |
||
| 519 | holgerb | 649 | if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
| 650 | else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
||
| 490 | killagreg | 651 | } |
| 652 | else if(strcmp(name, "CAM-NICK") == 0) |
||
| 653 | { |
||
| 654 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
||
| 655 | } |
||
| 656 | else if(strcmp(name, "TYPE") == 0) |
||
| 657 | { |
||
| 658 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
||
| 659 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
||
| 660 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
||
| 516 | holgerb | 661 | |
| 490 | killagreg | 662 | switch(PointList[IsPointSection-1].Type) |
| 663 | { |
||
| 664 | case POINT_TYPE_WP: |
||
| 665 | // this works only if altitude key is set before point type key in WPL file !! |
||
| 516 | holgerb | 666 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
| 490 | killagreg | 667 | WPCount++; |
| 668 | break; |
||
| 601 | holgerb | 669 | case POINT_TYPE_FS: |
| 670 | FsPointCnt++; |
||
| 671 | break; |
||
| 490 | killagreg | 672 | case POINT_TYPE_POI: |
| 673 | POICount++; |
||
| 674 | break; |
||
| 675 | } |
||
| 676 | } |
||
| 677 | else if(strcmp(name, "PREFIX") == 0) |
||
| 678 | { |
||
| 679 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
||
| 680 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
||
| 681 | } |
||
| 642 | holgerb | 682 | else if(strcmp(name, "AUTOTRIGGER") == 0) |
| 683 | { |
||
| 684 | PointList[IsPointSection-1].AutoPhotoDistance = (u8)atoi(value); |
||
| 685 | } |
||
| 490 | killagreg | 686 | else |
| 687 | { |
||
| 688 | UART1_PutString("Unknown key: "); |
||
| 689 | UART1_PutString(name); |
||
| 690 | UART1_PutString("\r\n"); |
||
| 516 | holgerb | 691 | } |
| 490 | killagreg | 692 | } // EOF point section |
| 693 | else if(IsGeneralSection) |
||
| 694 | { |
||
| 695 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
||
| 516 | holgerb | 696 | { |
| 490 | killagreg | 697 | WPNumber = (u8)atoi(value); |
| 698 | if(!WPNumber) // no waypoints in file |
||
| 699 | { |
||
| 516 | holgerb | 700 | return(WPL_NO_WAYPOINTS); // we are done here |
| 490 | killagreg | 701 | } |
| 702 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
||
| 703 | { |
||
| 514 | holgerb | 704 | UART1_PutString("To many points!"); |
| 497 | killagreg | 705 | return(WPL_ERROR); |
| 516 | holgerb | 706 | } |
| 490 | killagreg | 707 | } |
| 708 | else if (strcmp(name, "FILEVERSION") == 0) |
||
| 709 | { |
||
| 710 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
||
| 711 | { |
||
| 496 | killagreg | 712 | PointList_Clear(); |
| 490 | killagreg | 713 | UART1_PutString("Bad file version!\r\n"); |
| 516 | holgerb | 714 | return(WPL_ERROR); |
| 490 | killagreg | 715 | } |
| 716 | } |
||
| 495 | killagreg | 717 | else if (strcmp(name, "NAME") == 0) |
| 718 | { |
||
| 513 | killagreg | 719 | if(listname) |
| 498 | killagreg | 720 | { |
| 513 | killagreg | 721 | u8 len = strlen(value); |
| 722 | if(len) |
||
| 723 | { |
||
| 724 | if(value[len-1] == '\r') |
||
| 725 | { |
||
| 726 | value[len-1] = 0; |
||
| 540 | holgerb | 727 | // len--; |
| 513 | killagreg | 728 | } |
| 729 | } |
||
| 730 | if(len > listnamelen) len = listnamelen; |
||
| 731 | if(len) |
||
| 732 | { |
||
| 733 | value[len-1] = 0; // terminate string |
||
| 734 | if(listname) memcpy(listname, value, len); |
||
| 735 | } |
||
| 736 | NewWPL_Name = 1; |
||
| 498 | killagreg | 737 | } |
| 495 | killagreg | 738 | } |
| 490 | killagreg | 739 | else |
| 740 | { |
||
| 741 | UART1_PutString("Unknown key: "); |
||
| 742 | UART1_PutString(name); |
||
| 743 | UART1_PutString("\r\n"); |
||
| 744 | } |
||
| 745 | } // EOF general section |
||
| 746 | } // EOF valid key entry |
||
| 747 | } // EOF key entry line |
||
| 748 | } // valid line |
||
| 749 | } // EOF loop over all lines |
||
| 750 | fclose_(fp); |
||
| 751 | NaviData.WaypointNumber = WPCount; |
||
| 516 | holgerb | 752 | retval = WPL_OK; |
| 753 | UART1_PutString("ok\r\n"); |
||
| 490 | killagreg | 754 | } // EOF if(Fat16_IsValid()) |
| 516 | holgerb | 755 | else |
| 497 | killagreg | 756 | { |
| 757 | UART1_PutString("no file system found!\r\n"); |
||
| 758 | retval = WPL_NO_SDCARD_FOUND; |
||
| 516 | holgerb | 759 | } |
| 490 | killagreg | 760 | return(retval); |
| 491 | killagreg | 761 | } |
| 490 | killagreg | 762 | |
| 513 | killagreg | 763 | // load actual point list from SD card |
| 764 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
||
| 765 | { |
||
| 516 | holgerb | 766 | u8 filename[30]; |
| 513 | killagreg | 767 | |
| 768 | pWPL_Store->Name[0] = 0; // clear current list name |
||
| 769 | |||
| 770 | // user absolute path, i.e. leading / |
||
| 771 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
||
| 772 | { |
||
| 516 | holgerb | 773 | sprintf(filename, "/default.wpl"); |
| 513 | killagreg | 774 | } |
| 775 | else |
||
| 776 | { |
||
| 777 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
| 778 | } |
||
| 519 | holgerb | 779 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
| 513 | killagreg | 780 | } |
| 781 | |||
| 782 | // save actual point list to SD card |
||
| 783 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
||
| 784 | { |
||
| 785 | u8 filename[30]; |
||
| 516 | holgerb | 786 | |
| 787 | |||
| 513 | killagreg | 788 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
| 516 | holgerb | 789 | // user absolute path, i.e. leading / |
| 513 | killagreg | 790 | if(pWPL_Store->Index == 0) |
| 791 | { |
||
| 792 | sprintf(filename, "/default.wpl"); |
||
| 793 | } |
||
| 794 | else |
||
| 795 | { |
||
| 796 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
| 797 | } |
||
| 798 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
||
| 799 | } |
||
| 800 | |||
| 801 | |||
| 516 | holgerb | 802 | // save actual gps positiin and heading to file |
| 513 | killagreg | 803 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
| 804 | { |
||
| 805 | u8 retval = WPL_ERROR; |
||
| 806 | u8 filename[30]; |
||
| 807 | Point_t WP; |
||
| 808 | |||
| 767 | holgerb | 809 | UART1_PutString("\r\n write single point\r\n"); |
| 516 | holgerb | 810 | if(GPSData.Position.Status == INVALID) |
| 811 | { |
||
| 767 | holgerb | 812 | UART1_PutString("ERROR: No GPS - Fix\r\n"); |
| 514 | holgerb | 813 | return(retval); |
| 516 | holgerb | 814 | } |
| 513 | killagreg | 815 | |
| 816 | // clear current point list |
||
| 817 | PointList_Clear(); |
||
| 818 | // prepare WP at current position |
||
| 519 | holgerb | 819 | |
| 737 | holgerb | 820 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance_dm > 7*10) |
| 519 | holgerb | 821 | { // take actual position |
| 822 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
||
| 823 | } |
||
| 824 | else |
||
| 825 | { // take last target position |
||
| 826 | GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
||
| 827 | } |
||
| 828 | |||
| 513 | killagreg | 829 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
| 830 | // set heading |
||
| 545 | holgerb | 831 | WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
| 513 | killagreg | 832 | if(WP.Heading == 0) WP.Heading = 360; |
| 519 | holgerb | 833 | WP.ToleranceRadius = 120; // 12m |
| 834 | WP.HoldTime = 2; |
||
| 513 | killagreg | 835 | WP.Index = 1; |
| 836 | WP.Type = POINT_TYPE_WP; |
||
| 695 | holgerb | 837 | WP.WP_EventChannelValue = 100; |
| 576 | holgerb | 838 | if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
| 516 | holgerb | 839 | { |
| 519 | holgerb | 840 | WP.AltitudeRate = 255; // Auto |
| 841 | WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
||
| 516 | holgerb | 842 | } |
| 843 | else |
||
| 514 | holgerb | 844 | { |
| 516 | holgerb | 845 | WP.AltitudeRate = 0; |
| 846 | WP.Position.Altitude = 0; |
||
| 514 | holgerb | 847 | } |
| 519 | holgerb | 848 | WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
| 513 | killagreg | 849 | WP.CamAngle = 0; |
| 521 | holgerb | 850 | WP.Name[0] = 'S'; |
| 851 | WP.Name[1] = 'P'; |
||
| 852 | WP.Name[2] = 'T'; |
||
| 853 | WP.Name[3] = 0; |
||
| 513 | killagreg | 854 | // add this point to wp list |
| 855 | PointList_SetAt(&WP); |
||
| 514 | holgerb | 856 | |
| 857 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
||
| 516 | holgerb | 858 | UART1_PutString(filename); |
| 514 | holgerb | 859 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
| 513 | killagreg | 860 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
| 514 | holgerb | 861 | |
| 862 | // clear current point list |
||
| 519 | holgerb | 863 | if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
| 549 | holgerb | 864 | else // es ist gearde ein Wegpunktflug aktiv -> updaten |
| 519 | holgerb | 865 | { |
| 866 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
| 867 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
| 868 | } |
||
| 869 | |||
| 513 | killagreg | 870 | return(retval); |
| 871 | } |
||
| 872 | // load target gps posititon and heading from file |
||
| 873 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
||
| 874 | { |
||
| 519 | holgerb | 875 | u8 filename[30], result = 0; |
| 516 | holgerb | 876 | |
| 514 | holgerb | 877 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| 513 | killagreg | 878 | pWPL_Store->Name[0] = 0; // clear current list name |
| 519 | holgerb | 879 | result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
| 880 | if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
||
| 881 | return(result); |
||
| 513 | killagreg | 882 | } |
| 883 | |||
| 884 | |||
| 516 | holgerb | 885 | |
| 504 | holgerb | 886 | void ClearWLP_Name(void) |
| 887 | { |
||
| 513 | killagreg | 888 | u8 i; |
| 889 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
||
| 890 | NewWPL_Name = 1; |
||
| 504 | holgerb | 891 | } |
| 513 | killagreg | 892 | |
| 491 | killagreg | 893 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
| 503 | holgerb | 894 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
| 491 | killagreg | 895 | { |
| 896 | u8 retval = 0; |
||
| 513 | killagreg | 897 | s32 altitude; |
| 898 | GPS_Pos_t OldRefPos; |
||
| 491 | killagreg | 899 | GPS_Pos_Deviation_t RefDeviation; |
| 516 | holgerb | 900 | |
| 491 | killagreg | 901 | // check inputs for plausibility; |
| 516 | holgerb | 902 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
| 491 | killagreg | 903 | if(pRefPos == NULL) return(retval); |
| 904 | if(pRefPos->Status == INVALID) return(retval); |
||
| 905 | |||
| 513 | killagreg | 906 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
| 491 | killagreg | 907 | { |
| 908 | u8 i; |
||
| 513 | killagreg | 909 | // iterate the position list |
| 491 | killagreg | 910 | for(i = 0; i < PointCount; i++) |
| 911 | { |
||
| 912 | retval = 0; |
||
| 513 | killagreg | 913 | // backup altitude of this point |
| 914 | altitude = PointList[i].Position.Altitude; |
||
| 915 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
||
| 916 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
||
| 491 | killagreg | 917 | // copy of the new reference position into this list place |
| 918 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
||
| 516 | holgerb | 919 | // restore former altitude |
| 513 | killagreg | 920 | PointList[i].Position.Altitude = altitude; |
| 491 | killagreg | 921 | // move new reference according to the deviation of the old reference |
| 513 | killagreg | 922 | if(RotationAngle > 0) |
| 923 | { |
||
| 737 | holgerb | 924 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance_cm ); |
| 513 | killagreg | 925 | // Now rotate the heading positions if they are fixed angles |
| 926 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
||
| 927 | } |
||
| 928 | else // no rotation |
||
| 929 | { |
||
| 930 | // move new reference according to the deviation of the old reference |
||
| 931 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
||
| 932 | } |
||
| 516 | holgerb | 933 | if(!retval) break; |
| 491 | killagreg | 934 | } |
| 935 | } // else ref pos old not copied! |
||
| 936 | if(!retval) PointList_Clear(); |
||
| 937 | return(retval); |
||
| 938 | } |
||
| 939 | |||
| 516 | holgerb | 940 | |
| 491 | killagreg | 941 |