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| - | 1 | /* |
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| - | 2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
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| - | 3 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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| - | 4 | either version 3 of the License, or (at your option) any later version. |
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| - | 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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| - | 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| - | 7 | GNU General Public License and GNU Lesser General Public License for more details. |
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| - | 8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
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| - | 9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
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| - | 10 | If not, see <http://www.gnu.org/licenses/>. |
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| - | 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 |
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| - | 13 | */ |
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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
15 | Peter Muehlenbrock |
| 3 | // + only for non-profit use |
16 | Auswertung der Daten vom GPS im ublox Format |
| 4 | // + www.MikroKopter.com |
17 | Hold Modus mit PID Regler |
| 5 | // + see the File "License.txt" for further Informations |
18 | Rückstuerz zur Basis Funktion |
| - | 19 | Stand 13.10.2007 |
|
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 21 | */ |
|
| 7 | #include "main.h" |
22 | #include "main.h" |
| - | 23 | //#include "gps.h" |
|
| - | 24 | ||
| - | 25 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
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| - | 26 | #define UBLOX_IDLE 0 |
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| - | 27 | #define UBLOX_SYNC1 1 |
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| - | 28 | #define UBLOX_SYNC2 2 |
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| - | 29 | #define UBLOX_CLASS 3 |
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| - | 30 | #define UBLOX_ID 4 |
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| - | 31 | #define UBLOX_LEN1 5 |
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| - | 32 | #define UBLOX_LEN2 6 |
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| - | 33 | #define UBLOX_CKA 7 |
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| - | 34 | #define UBLOX_CKB 8 |
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| - | 35 | #define UBLOX_PAYLOAD 9 |
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| - | 36 | ||
| - | 37 | // ublox Protokoll Identifier |
|
| - | 38 | #define UBLOX_NAV_POSUTM 0x08 |
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| - | 39 | #define UBLOX_NAV_STATUS 0x03 |
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| - | 40 | #define UBLOX_NAV_VELED 0x12 |
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| - | 41 | #define UBLOX_NAV_CLASS 0x01 |
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| - | 42 | #define UBLOX_SYNCH1_CHAR 0xB5 |
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| - | 43 | #define UBLOX_SYNCH2_CHAR 0x62 |
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| - | 44 | ||
| - | 45 | signed int GPS_Nick = 0; |
|
| - | 46 | signed int GPS_Roll = 0; |
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| - | 47 | short int ublox_msg_state = UBLOX_IDLE; |
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| - | 48 | static uint8_t chk_a =0; //Checksum |
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| - | 49 | static uint8_t chk_b =0; |
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| - | 50 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
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| - | 51 | short int gps_updte_flag; |
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| - | 52 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
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| - | 53 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
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| - | 54 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
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| - | 55 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
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| - | 56 | static unsigned int rx_len; |
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| - | 57 | static unsigned int ptr_payload_data_end; |
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| - | 58 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
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| - | 59 | signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
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| - | 60 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
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| - | 61 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
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| - | 62 | static uint8_t *ptr_payload_data; |
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| - | 63 | static uint8_t *ptr_pac_status; |
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| - | 64 | long int dist_flown; |
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| - | 65 | ||
| - | 66 | short int Get_GPS_data(void); |
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| - | 67 | ||
| - | 68 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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| - | 69 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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| - | 70 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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| - | 71 | ||
| - | 72 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
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| - | 73 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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| - | 74 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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| - | 75 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
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| - | 76 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
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| Line 8... | Line -... | ||
| 8 | - | ||
| 9 | signed int GPS_Nick = 0; |
- | |
| 10 | signed int GPS_Roll = 0; |
- | |
| 11 | long GpsAktuell_X = 0; |
- | |
| 12 | long GpsAktuell_Y = 0; |
- | |
| 13 | long GpsZiel_X = 0; |
77 | |
| 14 | long GpsZiel_Y = 0; |
- | |
| 15 | 78 | // Initialisierung |
|
| 16 | void GPS_Neutral(void) |
79 | void GPS_Neutral(void) |
| - | 80 | { |
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| - | 81 | ublox_msg_state = UBLOX_IDLE; |
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| - | 82 | gps_state = GPS_CRTL_IDLE; |
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| - | 83 | gps_sub_state = GPS_CRTL_IDLE; |
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| - | 84 | actual_pos.status = 0; |
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| - | 85 | actual_speed.status = 0; |
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| - | 86 | actual_status.status = 0; |
|
| 17 | { |
87 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
| 18 | GpsZiel_X = GpsAktuell_X; |
88 | gps_act_position.status = 0; |
| - | 89 | gps_rel_act_position.status = 0; |
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| - | 90 | GPS_Nick = 0; |
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| - | 91 | GPS_Roll = 0; |
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| - | 92 | gps_updte_flag = 0; |
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| - | 93 | gps_int_x = 0; |
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| - | 94 | gps_int_y = 0; |
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| - | 95 | gps_alive_cnt = 0; |
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| - | 96 | } |
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| - | 97 | ||
| - | 98 | // Home Position sichern falls Daten verfuegbar sind. |
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| - | 99 | void GPS_Save_Home(void) |
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| - | 100 | { |
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| - | 101 | short int n; |
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| - | 102 | n = Get_GPS_data(); |
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| - | 103 | if (n == 0) // Gueltige und aktuelle Daten ? |
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| - | 104 | { |
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| - | 105 | // Neue GPS Daten liegen vor |
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| - | 106 | gps_home_position.utm_east = gps_act_position.utm_east; |
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| - | 107 | gps_home_position.utm_north = gps_act_position.utm_north; |
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| - | 108 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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| - | 109 | gps_home_position.status = 1; // Home Position gueltig |
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| - | 110 | } |
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| - | 111 | } |
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| - | 112 | ||
| - | 113 | // Relative Position zur Home Position bestimmen |
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| - | 114 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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| - | 115 | short int Get_Rel_Position(void) |
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| - | 116 | { |
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| - | 117 | short int n = 0; |
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| - | 118 | n = Get_GPS_data(); |
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| - | 119 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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| - | 120 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
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| - | 121 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
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| - | 122 | { |
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| - | 123 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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| - | 124 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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| - | 125 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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| - | 126 | n = 0; |
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| - | 127 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
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| - | 128 | } |
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| - | 129 | else |
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| - | 130 | { |
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| - | 131 | n = 2; //keine gueltigen Daten vorhanden |
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| - | 132 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
|
| - | 133 | } |
|
| 19 | GpsZiel_Y = GpsAktuell_Y; |
134 | return (n); |
| Line -... | Line 135... | ||
| - | 135 | } |
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| - | 136 | ||
| 20 | } |
137 | // Daten aus aktuellen ublox Messages extrahieren |
| 21 | 138 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
|
| 22 | void GPS_BerechneZielrichtung(void) |
139 | short int Get_GPS_data(void) |
| - | 140 | { |
|
| - | 141 | short int n = 1; |
|
| - | 142 | ||
| - | 143 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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| - | 144 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
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| - | 145 | { |
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| - | 146 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
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| - | 147 | { |
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| - | 148 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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| - | 149 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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| - | 150 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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| - | 151 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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| - | 152 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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| - | 153 | gps_act_position.heading = actual_speed.heading/100000; |
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| - | 154 | gps_act_position.status = 1; |
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| - | 155 | n = 0; //Daten gueltig |
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| - | 156 | } |
|
| - | 157 | else |
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| 23 | { |
158 | { |
| - | 159 | gps_act_position.status = 0; //Keine gueltigen Daten |
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| - | 160 | n = 2; |
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| - | 161 | } |
|
| - | 162 | actual_pos.status = 0; //neue ublox Messages anfordern |
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| - | 163 | actual_status.status = 0; |
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| - | 164 | actual_speed.status = 0; |
|
| 24 | GPS_Nick = 0; |
165 | } |
| Line -... | Line 166... | ||
| - | 166 | return (n); |
|
| - | 167 | } |
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| - | 168 | ||
| - | 169 | /* |
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| - | 170 | Daten vom GPS im ublox MSG Format auswerten |
|
| - | 171 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
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| - | 172 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
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| - | 173 | */ |
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| - | 174 | void Get_Ublox_Msg(uint8_t rx) |
|
| - | 175 | { |
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| - | 176 | switch (ublox_msg_state) |
|
| - | 177 | { |
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| - | 178 | ||
| - | 179 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
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| - | 180 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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| - | 181 | else ublox_msg_state = UBLOX_IDLE; |
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| - | 182 | break; |
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| - | 183 | ||
| - | 184 | case UBLOX_SYNC1: |
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| - | 185 | ||
| - | 186 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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| - | 187 | else ublox_msg_state = UBLOX_IDLE; |
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| - | 188 | chk_a = 0,chk_b = 0; |
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| - | 189 | break; |
|
| - | 190 | ||
| - | 191 | case UBLOX_SYNC2: |
|
| - | 192 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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| - | 193 | else ublox_msg_state = UBLOX_IDLE; |
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| - | 194 | break; |
|
| - | 195 | ||
| - | 196 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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| - | 197 | switch (rx) |
|
| - | 198 | { |
|
| - | 199 | case UBLOX_NAV_POSUTM: |
|
| - | 200 | ptr_pac_status = &actual_pos.status; |
|
| - | 201 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
|
| - | 202 | else |
|
| - | 203 | { |
|
| - | 204 | ptr_payload_data = &actual_pos; |
|
| - | 205 | ptr_payload_data_end = &actual_pos.status; |
|
| - | 206 | ublox_msg_state = UBLOX_LEN1; |
|
| - | 207 | } |
|
| - | 208 | break; |
|
| - | 209 | ||
| - | 210 | case UBLOX_NAV_STATUS: |
|
| - | 211 | ptr_pac_status = &actual_status.status; |
|
| - | 212 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
|
| - | 213 | else |
|
| - | 214 | { |
|
| - | 215 | ptr_payload_data = &actual_status; |
|
| - | 216 | ptr_payload_data_end = &actual_status.status; |
|
| - | 217 | ublox_msg_state = UBLOX_LEN1; |
|
| - | 218 | } |
|
| - | 219 | break; |
|
| - | 220 | ||
| - | 221 | case UBLOX_NAV_VELED: |
|
| - | 222 | ptr_pac_status = &actual_speed.status; |
|
| - | 223 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
|
| - | 224 | else |
|
| - | 225 | { |
|
| - | 226 | ptr_payload_data = &actual_speed; |
|
| - | 227 | ptr_payload_data_end = &actual_speed.status; |
|
| - | 228 | ublox_msg_state = UBLOX_LEN1; |
|
| - | 229 | } |
|
| - | 230 | break; |
|
| - | 231 | ||
| - | 232 | default: |
|
| - | 233 | ublox_msg_state = UBLOX_IDLE; |
|
| - | 234 | break; |
|
| - | 235 | } |
|
| - | 236 | chk_a = UBLOX_NAV_CLASS + rx; |
|
| - | 237 | chk_b = UBLOX_NAV_CLASS + chk_a; |
|
| - | 238 | break; |
|
| - | 239 | ||
| - | 240 | case UBLOX_LEN1: // Laenge auswerten |
|
| - | 241 | rx_len = rx; |
|
| - | 242 | chk_a += rx; |
|
| - | 243 | chk_b += chk_a; |
|
| - | 244 | ublox_msg_state = UBLOX_LEN2; |
|
| - | 245 | break; |
|
| - | 246 | ||
| - | 247 | ||
| - | 248 | case UBLOX_LEN2: // Laenge auswerten |
|
| - | 249 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
|
| - | 250 | chk_a += rx; |
|
| Line -... | Line 251... | ||
| - | 251 | chk_b += chk_a; |
|
| - | 252 | ublox_msg_state = UBLOX_PAYLOAD; |
|
| - | 253 | break; |
|
| - | 254 | ||
| - | 255 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
|
| - | 256 | if (rx_len > 0) |
|
| - | 257 | { |
|
| - | 258 | *ptr_payload_data = rx; |
|
| - | 259 | chk_a += rx; |
|
| - | 260 | chk_b += chk_a; |
|
| - | 261 | --rx_len; |
|
| - | 262 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
|
| - | 263 | { |
|
| - | 264 | ptr_payload_data++; |
|
| - | 265 | ublox_msg_state = UBLOX_PAYLOAD; |
|
| - | 266 | } |
|
| Line -... | Line 267... | ||
| - | 267 | else ublox_msg_state = UBLOX_CKA; |
|
| - | 268 | } |
|
| - | 269 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
|
| - | 270 | break; |
|
| - | 271 | ||
| - | 272 | case UBLOX_CKA: // Checksum pruefen |
|
| - | 273 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
|
| - | 274 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
|
| - | 275 | break; |
|
| - | 276 | ||
| - | 277 | case UBLOX_CKB: // Checksum pruefen |
|
| - | 278 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
|
| - | 279 | ublox_msg_state = UBLOX_IDLE; |
|
| - | 280 | break; |
|
| - | 281 | ||
| - | 282 | default: |
|
| - | 283 | ublox_msg_state = UBLOX_IDLE; |
|
| - | 284 | break; |
|
| - | 285 | } |
|
| - | 286 | } |
|
| - | 287 | ||
| - | 288 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
|
| - | 289 | short int GPS_CRTL(short int cmd) |
|
| - | 290 | { |
|
| - | 291 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
|
| - | 292 | static signed int int_east,int_north; //Integrierer |
|
| - | 293 | static signed int dist_north,dist_east; |
|
| - | 294 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
|
| - | 295 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
|
| - | 296 | signed int n,diff_v; |
|
| - | 297 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
|
| - | 298 | long signed int dev,n_l; |
|
| - | 299 | signed int dist_frm_start_east,dist_frm_start_north; |
|
| - | 300 | switch (cmd) |
|
| - | 301 | { |
|
| - | 302 | ||
| - | 303 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
|
| - | 304 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
|
| - | 305 | { |
|
| - | 306 | cnt++; |
|
| - | 307 | if (cnt > 500) // erst nach Verzoegerung |
|
| - | 308 | { |
|
| - | 309 | // Erst mal initialisieren |
|
| - | 310 | cnt = 0; |
|
| - | 311 | gps_tick = 0; |
|
| - | 312 | hold_fast = 0; |
|
| - | 313 | hold_reset_int = 0; // Integrator enablen |
|
| - | 314 | int_east = 0, int_north = 0; |
|
| - | 315 | gps_reg_x = 0, gps_reg_y = 0; |
|
| - | 316 | dist_east = 0, dist_north = 0; |
|
| - | 317 | diff_east_f = 0, diff_north_f= 0; |
|
| - | 318 | diff_east = 0, diff_north = 0; |
|
| - | 319 | dist_flown = 0; |
|
| - | 320 | gps_g2t_act_v = 0; |
|
| - | 321 | gps_sub_state = GPS_CRTL_IDLE; |
|
| - | 322 | // aktuelle positionsdaten abspeichern |
|
| - | 323 | if (gps_rel_act_position.status > 0) |
|
| - | 324 | { |
|
| - | 325 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
|
| - | 326 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
|
| - | 327 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
|
| - | 328 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
|
| - | 329 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
|
| - | 330 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
|
| - | 331 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
|
| - | 332 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
|
| - | 333 | // in Winkel 0...360 Grad umrechnen |
|
| - | 334 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
|
| - | 335 | else hdng_2home = (270 - hdng_2home); |
|
| - | 336 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
|
| - | 337 | gps_state = GPS_CRTL_HOME_ACTIVE; |
|
| - | 338 | return (GPS_STST_OK); |
|
| - | 339 | } |
|
| - | 340 | else |
|
| - | 341 | { |
|
| - | 342 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
|
| - | 343 | gps_state = GPS_CRTL_IDLE; |
|
| - | 344 | return(GPS_STST_ERR); // Keine Daten da |
|
| - | 345 | } |
|
| - | 346 | } |
|
| - | 347 | else return(GPS_STST_PEND); // noch warten |
|
| - | 348 | } |
|
| - | 349 | break; |
|
| - | 350 | // ****************************** |
|
| - | 351 | ||
| - | 352 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
|
| - | 353 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
|
| - | 354 | { |
|
| - | 355 | cnt++; |
|
| - | 356 | if (cnt > 500) // erst nach Verzoegerung |
|
| - | 357 | { |
|
| - | 358 | cnt = 0; |
|
| - | 359 | // aktuelle positionsdaten abspeichern |
|
| - | 360 | if (gps_rel_act_position.status > 0) |
|
| - | 361 | { |
|
| - | 362 | hold_fast = 0; |
|
| - | 363 | hold_reset_int = 0; // Integrator enablen |
|
| - | 364 | int_east = 0, int_north = 0; |
|
| - | 365 | gps_reg_x = 0, gps_reg_y = 0; |
|
| - | 366 | dist_east = 0, dist_north = 0; |
|
| - | 367 | diff_east_f = 0, diff_north_f= 0; |
|
| - | 368 | diff_east = 0, diff_north = 0; |
|
| - | 369 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
|
| - | 370 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
|
| - | 371 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
|
| - | 372 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
|
| - | 373 | return (GPS_STST_OK); |
|
| - | 374 | } |
|
| - | 375 | else |
|
| - | 376 | { |
|
| - | 377 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
|
| - | 378 | gps_state = GPS_CRTL_IDLE; |
|
| - | 379 | return(GPS_STST_ERR); // Keine Daten da |
|
| - | 380 | } |
|
| - | 381 | } |
|
| - | 382 | else return(GPS_STST_PEND); // noch warten |
|
| - | 383 | } |
|
| - | 384 | break; |
|
| - | 385 | ||
| - | 386 | case GPS_CMD_STOP: // Lageregelung beenden |
|
| - | 387 | cnt = 0; |
|
| - | 388 | GPS_Nick = 0; |
|
| - | 389 | GPS_Roll = 0; |
|
| - | 390 | gps_int_x = 0; |
|
| - | 391 | gps_int_y = 0; |
|
| - | 392 | gps_sub_state = GPS_CRTL_IDLE; |
|
| - | 393 | gps_state = GPS_CRTL_IDLE; |
|
| - | 394 | return (GPS_STST_OK); |
|
| - | 395 | break; |
|
| - | 396 | ||
| - | 397 | default: |
|
| - | 398 | return (GPS_STST_ERR); |
|
| - | 399 | break; |
|
| - | 400 | } |
|
| - | 401 | ||
| - | 402 | switch (gps_state) |
|
| - | 403 | { |
|
| - | 404 | case GPS_CRTL_IDLE: |
|
| - | 405 | cnt = 0; |
|
| - | 406 | return (GPS_STST_OK); |
|
| - | 407 | break; |
|
| - | 408 | ||
| - | 409 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
|
| - | 410 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
|
| - | 411 | if (gps_rel_start_position.status >0) |
|
| - | 412 | { |
|
| - | 413 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
|
| - | 414 | { |
|
| - | 415 | gps_tick++; |
|
| - | 416 | int d1,d2,d3; |
|
| - | 417 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
|
| - | 418 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
|
| - | 419 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
|
| - | 420 | ||
| - | 421 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
|
| - | 422 | { |
|
| - | 423 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
|
| - | 424 | { |
|
| - | 425 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
|
| - | 426 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
| - | 427 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
|
| - | 428 | } |
|
| - | 429 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
|
| - | 430 | { |
|
| - | 431 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
|
| - | 432 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
|
| - | 433 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
|
| - | 434 | } |
|
| - | 435 | hold_reset_int = 0; // Integrator einsschalten |
|
| - | 436 | hold_fast = 1; // Regler fuer schnellen Flug |
|
| - | 437 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
|
| - | 438 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
|
| - | 439 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
|
| - | 440 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
|
| - | 441 | } |
|
| - | 442 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
|
| - | 443 | { |
|
| - | 444 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
|
| - | 445 | { |
|
| - | 446 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
| - | 447 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
|
| - | 448 | } |
|
| - | 449 | else |
|
| - | 450 | { |
|
| - | 451 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
|
| - | 452 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
|
| - | 453 | } |
|
| - | 454 | hold_reset_int = 0; // Integrator ausschalten |
|
| - | 455 | hold_fast = 1; // Wieder normal regeln |
|
| - | 456 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
|
| - | 457 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
|
| - | 458 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
|
| - | 459 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
|
| - | 460 | } |
|
| - | 461 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
|
| - | 462 | { |
|
| - | 463 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
|
| - | 464 | { |
|
| - | 465 | gps_sub_state = GPS_HOME_IN_TOL; |
|
| - | 466 | hold_fast = 0; // Wieder normal regeln |
|
| - | 467 | hold_reset_int = 0; // Integrator wieder aktivieren |
|
| - | 468 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
|
| - | 469 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
|
| - | 470 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
|
| - | 471 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
|
| - | 472 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
|
| - | 473 | { |
|
| - | 474 | gps_rel_hold_position.utm_east = 0; |
|
| - | 475 | gps_rel_hold_position.utm_north = 0; |
|
| - | 476 | gps_sub_state = GPS_HOME_FINISHED; |
|
| - | 477 | } |
|
| - | 478 | } |
|
| - | 479 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
|
| - | 480 | } |
|
| - | 481 | } |
|
| - | 482 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
|
| - | 483 | return (GPS_STST_OK); |
|
| - | 484 | } |
|
| - | 485 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
|
| - | 486 | { |
|
| - | 487 | gps_state = GPS_CRTL_IDLE; |
|
| - | 488 | return (GPS_STST_ERR); |
|
| - | 489 | } |
|
| - | 490 | break; |
|
| - | 491 | ||
| - | 492 | ||
| - | 493 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
|
| - | 494 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
|
| - | 495 | { |
|
| - | 496 | gps_updte_flag = 0; |
|
| - | 497 | // ab hier wird geregelt |
|
| - | 498 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
|
| - | 499 | diff_north = -dist_north; |
|
| - | 500 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
|
| - | 501 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
|
| - | 502 | int_east += dist_east; |
|
| - | 503 | int_north += dist_north; |
|
| - | 504 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
|
| - | 505 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
|
| - | 506 | ||
| - | 507 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
|
| - | 508 | { |
|
| - | 509 | diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
|
| - | 510 | diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
|
| - | 511 | } |
|
| - | 512 | else // schwache Filterung |
|
| - | 513 | { |
|
| - | 514 | diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
|
| - | 515 | diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
|
| - | 516 | } |
|
| - | 517 | ||
| - | 518 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
|
| - | 519 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
|
| - | 520 | { |
|
| - | 521 | int_east -= dist_east; |
|
| - | 522 | int_north -= dist_north; |
|
| - | 523 | } |
|
| - | 524 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
|
| - | 525 | { |
|
| - | 526 | int_east = 0; |
|
| - | 527 | int_north = 0; |
|
| - | 528 | } |
|
| - | 529 | ||
| - | 530 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
|
| - | 531 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
|
| - | 532 | signed long dist,int_east1,int_north1; |
|
| - | 533 | int phi; |
|
| - | 534 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
|
| - | 535 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
|
| - | 536 | ||
| - | 537 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
|
| - | 538 | { |
|
| - | 539 | diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
|
| - | 540 | if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
|
| - | 541 | } |
|
| - | 542 | else |
|
| - | 543 | { |
|
| - | 544 | diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
|
| - | 545 | if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
|
| - | 546 | } |
|
| - | 547 | ||
| - | 548 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
|
| - | 549 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
|
| - | 550 | else diff_p = GPS_PROP_NRML_V; |
|
| - | 551 | ||
| - | 552 | //I Werte begrenzen |
|
| - | 553 | #define INT1_MAX (20 * GPS_V) |
|
| - | 554 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
|
| - | 555 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
|
| - | 556 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
|
| - | 557 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
|
| - | 558 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
|
| - | 559 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
|
| - | 560 | ||
| - | 561 | //PID Regler Werte aufsummieren |
|
| - | 562 | gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_east_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
|
| - | 563 | gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_north_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
|
| - | 564 | ||
| - | 565 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
|
| - | 566 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
|
| - | 567 | ||
| - | 568 | // in Winkel 0...360 Grad umrechnen |
|
| - | 569 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
|
| - | 570 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
|
| - | 571 | ||
| - | 572 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
|
| - | 573 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
|
| - | 574 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
|
| - | 575 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
|
| - | 576 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
|
| - | 577 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
|
| - | 578 | ||
| - | 579 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
|
| - | 580 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
|
| - | 581 | { |
|
| - | 582 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
|
| - | 583 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
|
| - | 584 | } |
|
| - | 585 | else |
|
| - | 586 | { |
|
| - | 587 | dev = (long)gps_reg_y; |
|
| - | 588 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
|
| - | 589 | } |
|
| - | 590 | GPS_dist_2trgt = (int) dev; |
|
| - | 591 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
|
| - | 592 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
|
| - | 593 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
|
| - | 594 | ||
| - | 595 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
|
| - | 596 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
|
| - | 597 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
|
| - | 598 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
|
| - | 599 | ||
| - | 600 | //Kleine Werte verstaerken, Grosse abschwaechen |
|
| - | 601 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
|
| - | 602 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
|
| - | 603 | GPS_Roll = (int) n_l; |
|
| - | 604 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
|
| - | 605 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
|
| - | 606 | GPS_Nick = (int) n_l; |
|
| - | 607 | ||
| - | 608 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
|
| - | 609 | { |
|
| - | 610 | GPS_Roll = 0; |
|
| - | 611 | GPS_Nick = 0; |
|
| - | 612 | gps_state = GPS_CRTL_IDLE; |
|
| - | 613 | return (GPS_STST_ERR); |
|
| - | 614 | break; |
|
| - | 615 | } |
|
| - | 616 | else |
|
| - | 617 | { |
|
| - | 618 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
| - | 619 | return (GPS_STST_OK); |
|
| - | 620 | } |
|
| - | 621 | } |
|
| - | 622 | else |
|
| - | 623 | { |
|
| - | 624 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
| - | 625 | return (GPS_STST_OK); |
|
| - | 626 | } |
|
| - | 627 | break; |
|
| - | 628 | ||
| - | 629 | default: |
|
| - | 630 | gps_state = GPS_CRTL_IDLE; |
|
| - | 631 | return (GPS_STST_ERR); |
|