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| /* |
| * FollowMe.c |
| * |
| * Created on: 18.05.2012 |
| * Author: cebra |
| */ |
| /***************************************************************************** |
| * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU General Public License as published by * |
| * the Free Software Foundation; either version 2 of the License. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU General Public License * |
| * along with this program; if not, write to the * |
| * Free Software Foundation, Inc., * |
| * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| * * |
| * * |
| * Credits to: * |
| * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
| * http://www.mikrokopter.de * |
| * Gregor "killagreg" Stobrawa for his version of the MK code * |
| * Thomas Kaiser "thkais" for the original project. See * |
| * http://www.ft-fanpage.de/mikrokopter/ * |
| * http://forum.mikrokopter.de/topic-4061-1.html * |
| * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
| * http://www.mylifesucks.de/oss/c-osd/ * |
| * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
| *****************************************************************************/ |
| //############################################################################ |
| //# HISTORY followme.c |
| //# |
| //# 03.08.2015 Cebra |
| //# - add: void Debug_GPS (void) hinzugefügt zur Test der GPS Berechnung FollowMe |
| //# |
| //# 20.07.2015 CB |
| //# - chg: FollowMe Datensatz an NC.211 angepasst |
| //# |
| //# 27.06.2014 OG |
| //# - chg: Anzeige von Satfix und Satanzahl auf MINVERSX, MNORMALX |
| //# |
| //# 26.06.2014 OG |
| //# - chg: angepasst auf neue NMEA-Datenstruktur (gps_nmea.h) |
| //# |
| //# 24.06.2014 OG |
| //# - chg: FollowMe() angepasst auf geaendertes GPSMouse_ShowData() |
| //# |
| //# 22.06.2014 OG |
| //# - chg: FollowMe() umgestellt auf GPSMouse_ShowData() (in gps/gpsmouse.c) |
| //# - del: Variable CheckGPS |
| //# |
| //# 21.06.2014 OG |
| //# - chg: verschiedene Layoutaenderungen am Anzeigescreen und Anzeige der |
| //# Entfernung zwischen Kopter und Target |
| //# - chg: MK-Timeoutout Erkennung verbessert/angepasst |
| //# |
| //# 19.06.2014 OG |
| //# - erster Prototyp der Follow Me zum Kopter sendet |
| //# - etliche Aenderungen im Codeaufbau |
| //# |
| //# 01.06.2014 OG |
| //# - chg: FollowMe() - verschiedene Anzeigefunktionen auskommentiert und |
| //# als DEPRICATED Klassifiziert wegen Cleanup der alten OSD Screens |
| //# - chg: FollowMe() - Check bzgl. NC-Hardware entfernt da das bereits durch das |
| //# Hauptmenue erledigt wird |
| //# |
| //# 13.05.2014 OG |
| //# - chg: FollowMe() - Variable 'flag' auskommentiert |
| //# wegen Warning: variable set but not used |
| //# - chg: FollowMe() - Variable 'old_FCFlags' auskommentiert |
| //# wegen Warning: variable set but not used |
| //# - chg: FollowMe() - den Bereich in dem FC-Settings geladen werdeb |
| //# auskommentiert weil man das a) vorallem nicht benoetigt |
| //# und b) die load_setting() so nicht mehr existiert |
| //# (der Codebereich kann meines erachtens geloescht werden) |
| //# - del: verschiedene Verweise auf 'mk_param_struct' entfernt, weil es |
| //# das a) nicht mehr gibt und b) hier gar nicht benoetigt wird |
| //# - chg: FollowMe() - OSD_Timeout() entfernt (weil es das nicht mehr gibt) |
| //# und erstmal durch ein PKT_Message_P() ersetzt |
| //# * ACHTUNG: UNGETESTET! * (bei Bedarf anpassen, followme hat niedrige Prio) |
| //# - add: #include "../pkt/pkt.h" |
| //# |
| //# 05.05.2013 Cebra |
| //# - chg: #ifdef USE_FOLLOWME |
| //# |
| //############################################################################ |
| |
| #include "../cpu.h" |
| #include <avr/io.h> |
| #include <inttypes.h> |
| #include <stdlib.h> |
| #include <avr/pgmspace.h> |
| #include <util/delay.h> |
| |
| #include <string.h> |
| #include <stdarg.h> |
| #include <stdio.h> |
| |
| #include "../main.h" |
| |
| #ifdef USE_FOLLOWME |
| |
| #include "../followme/followme.h" |
| #include "../osd/osd.h" |
| #include "../lcd/lcd.h" |
| #include "../timer/timer.h" |
| #include "../uart/usart.h" |
| #include "../eeprom/eeprom.h" |
| #include "../messages.h" |
| #include "../bluetooth/bluetooth.h" |
| #include "../setup/setup.h" |
| #include "../uart/uart1.h" |
| #include "../mk-data-structs.h" |
| #include "../pkt/pkt.h" |
| #include "../gps/gps.h" |
| //#include "../gps/gps_nmea.h" |
| #include "../avr-nmea-gps-library/nmea.h" |
| #include "../gps/gpsmouse.h" |
| |
| |
| //####################################################################################################################### |
| |
| |
| //-------------------- |
| // Timings |
| //-------------------- |
| //#define MK_TIMEOUT 300 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (3 sec) |
| #define MK_TIMEOUT 400 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (4 sec) |
| |
| |
| |
| //-------------------- |
| #define COSD_WASFLYING 4 |
| |
| // global definitions and global vars |
| NaviData_t *naviData; |
| unsigned char Element; |
| uint16_t heading_home; |
| |
| // Hier Höhenanzeigefehler Korrigieren |
| #define AltimeterAdjust 1.5 |
| |
| |
| |
| // Flags |
| //uint8_t COSD_FLAGS2 = 0; |
| // |
| //GPS_Pos_t last5pos[7]; |
| uint8_t FM_error = 0; |
| |
| |
| //--------------------- |
| // Waypoint Types |
| // TODO OG: verschieben nach: mk-data-structs.h |
| //--------------------- |
| #define POINT_TYPE_INVALID 255 |
| #define POINT_TYPE_WP 0 |
| #define POINT_TYPE_POI 1 |
| |
| |
| //--------------------- |
| // Status |
| // GPS_Pos_t |
| // aus MK source |
| // |
| // TODO OG: verschieben nach: mk-data-structs.h |
| //--------------------- |
| #define INVALID 0x00 |
| #define NEWDATA 0x01 |
| #define PROCESSED 0x02 |
| |
| |
| |
| //-------------------------------------------------------------- |
| //-------------------------------------------------------------- |
| void FollowMe( void ) |
| { |
| //uint8_t status; |
| GPS_Pos_t currpos; |
| uint8_t tmp_dat; |
| uint8_t redraw; |
| uint8_t drawmode; |
| uint32_t NMEA_GPGGA_counter_old; // Merker: zaehlt empfangene GPGGA-Pakete |
| uint32_t send_followme_counter; |
| |
| int8_t ok; |
| int8_t xoffs; |
| int8_t yoffs; |
| Point_t FollowMe; |
| uint8_t mktimeout = false; |
| |
| |
| |
| GPS_PosDev_t targetdev; |
| |
| |
| //--------------------- |
| // 1. Daten GPS-Maus |
| //--------------------- |
| ok = GPSMouse_ShowData( GPSMOUSE_SHOW_WAITSATFIX, 500 ); // 500 = 5 Sekunden Verzoegerung nach Satfix |
| if( ok <= 0 ) |
| { |
| return; // Fehler bzgl. BT GPS-Maus -> exit |
| } |
| |
| |
| |
| //--------------------- |
| // 2. Follow Me |
| //--------------------- |
| set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
| |
| lcd_cls (); |
| |
| SwitchToNC(); |
| |
| mode = 'O'; |
| |
| // disable debug... |
| // RS232_request_mk_data (0, 'd', 0); |
| tmp_dat = 0; |
| SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
| |
| // request OSD Data from NC every 100ms |
| // RS232_request_mk_data (1, 'o', 100); |
| tmp_dat = 10; |
| SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
| |
| //OSD_active = true; // benötigt für Navidata Ausgabe an SV2 |
| |
| //------------------------- |
| // Init: Timer & Flags |
| //------------------------- |
| timer_mk_timeout = MK_TIMEOUT; |
| |
| abo_timer = ABO_TIMEOUT; |
| |
| |
| MKLiPoCells_Init(); |
| |
| redraw = true; |
| |
| NMEA.Counter = 0; |
| NMEA_GPGGA_counter_old = 0; |
| send_followme_counter = 0; |
| |
| |
| while( (receiveNMEA) ) |
| { |
| //----------------------------------------- |
| // Screen redraw |
| //----------------------------------------- |
| if( redraw ) |
| { |
| lcd_cls(); |
| |
| lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("FollowMe") ); // Titel: oben, mitte |
| |
| lcd_line( (6*6-3), 0, (6*6-3), 11, 1); // Linie Vertikal links |
| lcd_line( (15*6+5), 0, (15*6+5), 11, 1); // Linie Vertikal rechts |
| lcd_line( 0, 12, 127, 12, 1); // Linie Horizontal |
| |
| //lcd_line( 0, 39, 127, 39, 1); // Linie Horizontal Mitte |
| lcd_line( 66, 39, 127, 39, 1); // Linie Horizontal Mitte |
| |
| lcd_rect_round( 0, 33, 66, 12, 1, R1); // Rahmen fuer "Di" (Distance) |
| |
| lcdx_printf_at_P( 3, 2, MNORMAL, 3,-1, PSTR("Al:") ); // Label: "Al:" |
| |
| draw_icon_mk( 1, 18); |
| draw_icon_target_round( 1, 50); |
| |
| redraw = false; |
| } |
| |
| |
| |
| //----------------------------------------- |
| // neue MK Daten vorhanden |
| //----------------------------------------- |
| if( rxd_buffer_locked ) // neue MK Daten |
| { |
| Decode64 (); |
| naviData = (NaviData_t *) pRxData; |
| |
| if( mktimeout ) redraw = true; |
| mktimeout = false; |
| |
| FM_error = 0; // noch benoetigt? |
| |
| currpos.Latitude = naviData->CurrentPosition.Latitude; |
| currpos.Longitude = naviData->CurrentPosition.Longitude; |
| |
| //---------------------------------- |
| // speichere letzte GPS-Positionen |
| //---------------------------------- |
| Config.LastLatitude = naviData->CurrentPosition.Latitude; // speichere letzte Position in Config |
| Config.LastLongitude = naviData->CurrentPosition.Longitude; // speichere letzte Position in Config |
| |
| |
| //---------------------------------- |
| // LiPo Cell Check |
| //---------------------------------- |
| MKLiPoCells_Check(); // ggf. Zellenzahl ermitteln |
| |
| |
| //################# |
| //# MK |
| //################# |
| |
| //----------------- |
| // Oben: MK-Batt Level (Volt) |
| //----------------- |
| OSD_Element_BattLevel2( 0, 0, 0,0 ); |
| |
| //----------------- |
| // Oben: Batt Level Bar |
| //----------------- |
| OSD_Element_Battery_Bar( 0, 9, 30, 1, ORIENTATION_H); |
| |
| //----------------- |
| // Oben: MK-Flugzeit |
| //----------------- |
| writex_time(16, 0, naviData->FlyingTime, MNORMAL, 2,0); |
| |
| //----------------- |
| // Hoehe |
| //----------------- |
| xoffs = 3; |
| yoffs = -1; |
| writex_altimeter( 7, 2, naviData->Altimeter, MNORMAL, xoffs,yoffs ); |
| |
| //----------------- |
| // MK: Sat Anzahl |
| //----------------- |
| yoffs = -27; |
| if( naviData->SatsInUse > 5 ) drawmode = MNORMALX; |
| else drawmode = MINVERSX; |
| writex_ndigit_number_u( 17, 5, naviData->SatsInUse, 2, 0,drawmode, 3,2+yoffs); |
| draw_icon_satmini( 116+3, 42+yoffs); |
| |
| |
| //----------------- |
| // MK: GPS |
| //----------------- |
| writex_gpspos( 3, 4, currpos.Latitude , MNORMAL,-3,-8 ); // Line 4 L: Latitude |
| writex_gpspos(12, 4, currpos.Longitude, MNORMAL, 1,-8 ); // Line 4 R: Longitude |
| // lcdx_printf_at_P( 1, 4, MNORMAL, -3,-8 , PSTR("%d"), NMEA.Latitude); |
| // lcdx_printf_at_P( 10, 4, MNORMAL, -1,-8 , PSTR("%d"), NMEA.Longitude); |
| |
| |
| |
| //################# |
| //# DISTANCE TO TARGET |
| //################# |
| |
| //----------------- |
| // Target: Distance to Target |
| //----------------- |
| xoffs = 7; |
| yoffs = 4; |
| //GPS_PosDev_t gps_Deviation( GPS_Pos_t pos1, GPS_Pos_t pos2 ) |
| targetdev = gps_Deviation( FollowMe.Position, naviData->CurrentPosition); |
| lcdx_printf_at_P( 0, 4, MNORMAL, xoffs,yoffs , PSTR("Di: %3d m"), (targetdev.Distance / 10) ); |
| |
| |
| //################# |
| //# TARGET (GPS Maus) |
| //################# |
| |
| yoffs = 8; |
| |
| //----------------- |
| // Send Counter |
| //----------------- |
| //lcdx_printf_at_P(4, 5, MNORMAL, 0,5, PSTR("S: %ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
| lcdx_printf_at_P( 4, 5, MNORMAL, -3,yoffs, PSTR("Tx:%5ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
| |
| |
| //----------------- |
| // Target: Fix |
| //----------------- |
| if( NMEA.SatFix == 1 || NMEA.SatFix == 2 ) |
| drawmode = MNORMALX; |
| else |
| drawmode = MINVERSX; |
| |
| lcdx_printf_at_P( 14, 5, drawmode, 1,yoffs, PSTR("F:%1d"), NMEA.SatFix ); // GPS-Maus: Satfix |
| |
| |
| //----------------- |
| // Target: Sat Anzahl |
| //----------------- |
| if( NMEA.SatsInUse > 5 ) |
| drawmode = MNORMALX; |
| else |
| drawmode = MINVERSX; |
| |
| writex_ndigit_number_u( 17, 5, NMEA.SatsInUse, 2, 0,drawmode, 4,yoffs); |
| draw_icon_satmini( 116+4, 40+yoffs); |
| |
| |
| //----------------- |
| // Target: Lat / Long |
| //----------------- |
| writex_gpspos( 3, 7, NMEA.Latitude , MNORMAL,-3,1 ); // GPS-Maus: Latitude |
| writex_gpspos(12, 7, NMEA.Longitude, MNORMAL, 1,1 ); // GPS-Maus: Longitude |
| |
| |
| rxd_buffer_locked = FALSE; |
| |
| timer_mk_timeout = MK_TIMEOUT; |
| } |
| |
| //----------------------------------------- |
| // if( !NMEA_receiveBT() ) |
| // { |
| // receiveNMEA = false; |
| // } |
| // else |
| // { |
| // NMEA_GetNewData(); |
| // } |
| |
| |
| |
| // Sourcecode aus NaviCtrl/V2.10e/uart1.c |
| // FOLLOW_ME |
| // else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
| // { |
| // if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
| // { |
| // TransmitAlsoToFC = 1; |
| // // update FollowMe content |
| // FollowMe.Position.Longitude = GPSData.Position.Longitude; |
| // FollowMe.Position.Latitude = GPSData.Position.Latitude; |
| // FollowMe.Position.Status = NEWDATA; |
| // FollowMe.Position.Altitude = 1; |
| // // 0 -> no Orientation |
| // // 1-360 -> CompassCourse Setpoint |
| // // -1 -> points to WP1 -> itself |
| // FollowMe.Heading = -1; |
| // FollowMe.ToleranceRadius = 1; |
| // FollowMe.HoldTime = 60; |
| // FollowMe.Event_Flag = 1; |
| // FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
| // FollowMe.Type = POINT_TYPE_WP; |
| // FollowMe.WP_EventChannelValue = 100; // set servo value |
| // FollowMe.AltitudeRate = 0; // do not change height |
| // FollowMe.Speed = 0; // rate to change the Position (0 = max) |
| // FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
| // FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
| // FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
| // FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
| // FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
| // FollowMe.reserve[0] = 0; // reserve |
| // FollowMe.reserve[1] = 0; // reserve |
| // MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
| // } |
| // UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
| // } |
| // |
| |
| |
| |
| |
| |
| //----------------------------------------- |
| // neue NMEA Daten? |
| //----------------------------------------- |
| if(NMEA_isdataready() && receiveNMEA) |
| { |
| if( NMEA.Counter > NMEA_GPGGA_counter_old ) |
| { |
| if( (NMEA.SatsInUse > 5) && (NMEA.SatFix == 1 || NMEA.SatFix == 2) ) |
| { |
| //Config.FM_Refresh |
| |
| FollowMe.Position.Status = NEWDATA; |
| FollowMe.Position.Longitude = NMEA.Longitude; |
| FollowMe.Position.Latitude = NMEA.Latitude; |
| FollowMe.Position.Altitude = 1; // 20.7.2015 CB |
| // FollowMe.Position.Altitude = NMEA.Altitude; // ist das wirklich ok? NEIN C.B. |
| |
| FollowMe.Heading = -1; // invalid heading |
| FollowMe.ToleranceRadius = Config.FM_Radius; // 5 meter default |
| FollowMe.HoldTime = 60; // ????? go home after 60s without any update ?????? |
| // FollowMe.Event_Flag = 0; // no event |
| FollowMe.Event_Flag = 1; // 20.7.2015 CB |
| FollowMe.Index = 1; // 2st wp, 0 = Delete List, 1 place at first entry in the list |
| FollowMe.Type = POINT_TYPE_WP; // Typ des Wegpunktes |
| FollowMe.Name[0] = 'F'; // Name des Wegpunktes (ASCII) |
| FollowMe.Name[1] = 'O'; |
| FollowMe.Name[2] = 'L'; |
| FollowMe.Name[3] = 'L'; |
| // FollowMe.WP_EventChannelValue = 0; // Will be transferred to the FC and can be used as Poti value there |
| FollowMe.WP_EventChannelValue = 100; // set servo value 20.7.2015 |
| FollowMe.AltitudeRate = 0; // rate to change the Aetpoint |
| FollowMe.Speed = Config.FM_Speed; // rate to change the Position |
| FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
| FollowMe.reserve[0] = 0; // reserve |
| FollowMe.reserve[1] = 0; // reserve |
| |
| SendOutData( 's', ADDRESS_NC, 1, &FollowMe, sizeof(FollowMe) ); //'s' = target Position 'w' = Waypoint |
| send_followme_counter++; |
| |
| //void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
| // SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
| //SendOutData( 's', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); //'s' = target Position 'w' = Waypoint |
| |
| } |
| |
| NMEA_GPGGA_counter_old = NMEA.Counter; |
| } |
| } |
| |
| //----------------------------------------- |
| // TASTEN |
| //----------------------------------------- |
| if( get_key_press(1 << KEY_ESC) ) |
| { |
| break; |
| } |
| |
| if( get_key_press(1 << KEY_ENTER) ) |
| { |
| break; |
| } |
| |
| |
| //----------------------------------------- |
| //----------------------------------------- |
| if( !abo_timer ) |
| { |
| // renew abo every 3 sec |
| // request OSD Data from NC every 100ms |
| // RS232_request_mk_data (1, 'o', 100); |
| tmp_dat = 10; |
| SendOutData ( 'o', ADDRESS_NC, 1, &tmp_dat, 1); |
| |
| abo_timer = ABO_TIMEOUT; |
| } |
| |
| |
| |
| //-------------------------- |
| // Daten Timeout vom MK? |
| //-------------------------- |
| if( timer_mk_timeout == 0 ) |
| { |
| if( !mktimeout ) OSD_MK_ShowTimeout(); // nur anzeigen wenn noch nicht im mktimeout-Modus |
| set_beep ( 200, 0x0080, BeepNormal); // Beep |
| mktimeout = true; |
| timer_mk_timeout = MK_TIMEOUT; |
| //OSDScreenRefresh = OSD_SCREEN_REDRAW; |
| // OSD_MK_Connect( MK_CONNECT ); |
| } |
| |
| } // end: while( (receiveNMEA) ); |
| |
| |
| |
| //--------------------- |
| // BEENDEN |
| //--------------------- |
| OSD_active = false; |
| |
| |
| //--------------------- |
| // GPS beenden |
| //--------------------- |
| GPSMouse_Disconnect(); |
| } |
| |
| |
| #ifdef DEBUG_GPS |
| |
| |
| |
| void Debug_GPS (void) |
| |
| { |
| |
| uint8_t redraw; |
| //char printbuff[100]; |
| // |
| double l1; |
| |
| set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
| redraw = true; |
| |
| |
| while( true ) |
| { |
| |
| //######## Quell Koordinaten ############################## |
| //# |
| // NMEApos.lat = 0x0FB51D1F; //# |
| // NMEApos.lon = 0xE2CF4105; //# |
| //# |
| NMEApos.lat = 0x1f1db5fb; //# |
| NMEApos.lon = 0x0541cfe2; //# |
| |
| // l1 = NMEApos.lat; |
| //# |
| //######################################################### |
| |
| |
| |
| //----------------------------------------- |
| // Screen redraw |
| //----------------------------------------- |
| if( redraw ) |
| { |
| lcd_cls(); |
| |
| lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("GPS Test") ); // Titel: oben, mitte |
| lcdx_printf_center_P( 4, MNORMAL, 1,0, PSTR(" Source Lat/Lon") ); |
| lcdx_printf_center_P( 6, MNORMAL, 1,0, PSTR(" Target Lat/Lon") ); |
| |
| |
| // sprintf(printbuff, "\r\nLat_Source: %ld", NMEA.Latitude); |
| // uart1_puts(printbuff); |
| // |
| // sprintf(printbuff, "\r\nLon_Source: %ld", NMEA.Longitude); |
| // uart1_puts(printbuff); |
| // |
| // |
| // writex_gpspos( 1, 6, NMEA.Latitude , MNORMAL, 0,6 ); // unten links: Latitude |
| // writex_gpspos(12, 6, NMEA.Longitude, MNORMAL, 0,6 ); |
| |
| redraw = false; |
| } |
| |
| //################# |
| //# DISTANCE TO TARGET |
| //################# |
| |
| lcdx_printf_at_P( 0, 1, MNORMAL,0,0, PSTR("Distance: %3d Meter"), Config.FM_Distance ); |
| |
| //################# |
| //# TARGET Azimuth |
| //################# |
| lcdx_printf_at_P( 0, 2, MNORMAL, 0,0, PSTR(" Azimuth: %3d Grad"), Config.FM_Azimuth); |
| |
| |
| |
| |
| //----------------- |
| // Original: Lat / Long |
| //----------------- |
| writex_gpspos( 1, 5, NMEApos.lat , MNORMAL,0,0 ); // GPS-Maus: Latitude |
| writex_gpspos(10, 5, NMEApos.lon, MNORMAL, 0,0 ); // GPS-Maus: Longitude |
| |
| |
| //############################## Test GPS Offset |
| |
| |
| nmea_move_horz(&NMEApos,&NMEATarget, Config.FM_Azimuth, Config.FM_Distance/1000); // neues Ziel berechnen |
| // neues Ziel berechnen |
| |
| writex_gpspos( 1, 7, (int32_t)NMEATarget.lat , MNORMAL,0,0 ); // Ziel Latitude |
| writex_gpspos(10, 7, (int32_t)NMEATarget.lon , MNORMAL, 0,0 ); // Ziel Longitude |
| |
| |
| |
| //############################## End Test GPS Offset |
| |
| |
| |
| //----------------------------------------- |
| // TASTEN |
| //----------------------------------------- |
| if( get_key_press(1 << KEY_ESC) ) |
| { |
| break; |
| } |
| |
| if( get_key_press(1 << KEY_ENTER) ) |
| { |
| redraw = true; |
| // break; |
| } |
| } |
| } |
| |
| #endif |
| |
| #endif // #ifdef USE_FOLLOWME |
| |
| |
| Property changes: |
|---|
| Added: svn:mime-type |
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| +text/plain |
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| \ No newline at end of property |
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