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Rev | Author | Line No. | Line |
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1115 | - | 1 | |
2 | /****************************************************************/ |
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3 | /* */ |
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4 | /* NG-Video 5,8GHz */ |
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5 | /* */ |
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6 | /* Copyright (C) 2011 - gebad */ |
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7 | /* */ |
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8 | /* This code is distributed under the GNU Public License */ |
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9 | /* which can be found at http://www.gnu.org/licenses/gpl.txt */ |
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10 | /* */ |
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11 | /****************************************************************/ |
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12 | |||
13 | #include "usart.h" |
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14 | #include "math.h" |
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15 | #include <stdio.h> |
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16 | |||
17 | #include "servo.h" |
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18 | |||
19 | #define DLEFT 0 |
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20 | #define DRIGHT 1 |
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21 | #define DEG_TO_RAD 0.0174533// degrees to radians = PI / 180 |
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22 | #define RAD_TO_DEG 57.2957795// radians to degrees = 180 / PI |
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23 | |||
24 | |||
25 | typedef struct { |
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26 | double distance; |
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27 | double bearing; |
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28 | } geo_t; |
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29 | |||
30 | geo_t geo; |
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31 | int AngelPan, AngelTilt; |
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32 | float Altitude; |
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33 | |||
34 | /**************************************************************/ |
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35 | /* */ |
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36 | /* RSSI Tracking */ |
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37 | /* */ |
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38 | /**************************************************************/ |
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39 | |||
40 | void Tracking_RSSI(void) |
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41 | { uint16_t u0, u1; |
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42 | static uint8_t direction; |
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43 | static uint16_t servo1pos; |
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44 | |||
45 | u0 = (ADC_Read(RSSI0) * (uint32_t)udbm_korr_1)/UDBM_KORR_FA; |
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46 | u1 = (ADC_Read(RSSI1) * (uint32_t)udbm_korr_2)/UDBM_KORR_FA; |
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47 | |||
48 | if (direction == DLEFT) { |
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49 | if (u0 < u1) { |
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50 | if ( servo1pos > 0) --servo1pos; // Servo Endposition? |
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51 | servoSetPosition(SERVO_PAN, servo1pos); // beibehaltene Richtung ==> sofort ausführen |
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52 | } |
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53 | else |
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54 | if (u0 > (u1 + track_hyst)) direction = DRIGHT; // Richtungwechsel, wenn Hysterese überschritten |
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55 | } |
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56 | else { |
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57 | if (u0 > u1) { |
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58 | if ( servo1pos < ServoSteps()) ++servo1pos; // Servo Endposition? |
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59 | servoSetPosition(SERVO_PAN, servo1pos); // beibehaltene Richtung ==> sofort ausführen |
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60 | } |
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61 | else |
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62 | if ((track_hyst + u0) < u1) direction = DLEFT; // Richtungwechsel, wenn Hysterese überschritten |
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63 | } |
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64 | } |
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65 | |||
66 | /**************************************************************/ |
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67 | /* */ |
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68 | /* GPS Tracking */ |
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69 | /* */ |
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70 | /**************************************************************/ |
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71 | |||
72 | // Umrechnung Winkel in Servoschritte |
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73 | void servo_track(uint8_t servo_nr, int16_t Angel) |
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74 | { |
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75 | servoSetPosition(servo_nr, (uint16_t)((uint32_t)Angel * ServoSteps() / 180)); |
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76 | } |
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77 | |||
78 | // Anzeige eines GPS-Wertes auf LCD |
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79 | void Displ_GPS_Data(uint8_t x, uint8_t y, char *description, char *data, char measure) |
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80 | { |
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81 | lcdGotoXY(x, y); |
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82 | lcdPuts(description); |
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83 | lcdPuts(data); |
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84 | if (measure != '\0') |
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85 | lcdPutc(measure); |
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86 | } |
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87 | |||
88 | // Datenempfang vom MK ==> blinkt Antennensymbol |
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89 | void Displ_wiRX(void) |
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90 | { static uint8_t timer = 0; |
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91 | char Sats; |
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92 | |||
93 | if ((bat_low != 0) && (pmenu[0] == '\0')) { // nicht im Menü und nicht bei Akku leer blinken |
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94 | lcdGotoXY(1, 0); |
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95 | if (wi232RX) { // Datensatz vom MK empfangen? |
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96 | if (timer < BLINK_PERIOD/2) |
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97 | lcdPutc(5); |
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98 | else { |
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99 | Sats = MK.navi_data.SatsInUse; // aktuell empfangene Satellitenanzahl |
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100 | if (MK.navi_data.SatsInUse > 9) |
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101 | Sats = 'X'; // Anzeige einstellig, da kein Platz auf Display |
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102 | else |
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103 | Sats = MK.navi_data.SatsInUse + '0'; // Umrechnung Char |
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104 | lcdPutc(Sats); |
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105 | } |
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106 | } |
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107 | else |
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108 | lcdPutc(':'); |
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109 | wi232RX = 0; |
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110 | if (++timer == BLINK_PERIOD) timer = 0; |
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111 | } |
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112 | } |
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113 | |||
114 | // Berechnung von Distanz und Winkels aus GPS-Daten home(MK eingeschaltet) |
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115 | // zur aktuellen Position(nach Motorstart) |
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116 | geo_t calc_geo(HomePos_t home, GPS_Pos_t pos) |
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117 | { double lat1, lon1, lat2, lon2, d1, dlat; |
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118 | geo_t geo; |
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119 | |||
120 | lon1 = home.Home_Lon; |
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121 | lat1 = home.Home_Lat; |
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122 | lon2 = (double)pos.Longitude / 10000000; |
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123 | lat2 = (double)pos.Latitude / 10000000; |
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124 | |||
125 | // Formel verwendet von http://www.kompf.de/gps/distcalc.html |
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126 | // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Längenkreise am Äquator |
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127 | // es wird jedoch in Meter weiter gerechnet |
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128 | d1 = 111300 * (double)cos((double)(lat1 + lat2) / 2 * DEG_TO_RAD) * (lon1 - lon2); |
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129 | dlat = 111300 * (double)(lat1 - lat2); |
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130 | // returns a value in metres http://www.kompf.de/gps/distcalc.html |
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131 | geo.bearing = fmod((RAD_TO_DEG * (double)atan2(d1, dlat)) + 180, 360); // +180 besserer Vergleich mit MkCockpit |
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132 | if (geo.bearing > 360) geo.bearing -= 360; // bekam schon Werte über 400 |
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133 | geo.distance = sqrt(d1 * d1 + dlat * dlat); |
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134 | return(geo); |
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135 | } |
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136 | |||
137 | // MK OSD-Daten lesen und verifizieren |
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138 | uint8_t OSD_Data_valid(void) |
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139 | { uint8_t ret = 0; |
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140 | char *tx_osd = {"#co?]==EH\r"}; |
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141 | // char interval[2] = {10, '\0'}; |
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142 | |||
143 | if (rx_line_decode('O')) { // OSD-Datensatz prüfen/dekodieren |
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144 | // GPS-Daten nicht zu alt und ok. |
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145 | if ((rx_timeout < RX_TIME_OLD) && (MK.navi_data.NCFlags & NC_FLAG_GPS_OK)) { |
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146 | ret = 1; |
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147 | MK_Motor_run = MK.navi_data.FCStatusFlags & FC_FLAG_MOTOR_RUN; |
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148 | } |
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149 | } |
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150 | // ca. 150ms keine OSD-Daten empfangen ==> sende neue Anforderung an MK |
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151 | // if ((track_tx) && (rx_timeout > RX_TIMEOUT)) tx_Mk(NC_ADDRESS, 'o', interval, 1); // 10 * 10ms interval |
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152 | if ((track_tx) && (rx_timeout > RX_TIMEOUT)) USART_send_Str(tx_osd); // 10 * 10ms interval |
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153 | return(ret); |
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154 | } |
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155 | |||
156 | // MK eingeschaltet und GPS-ok, danach Motoren gestartet ==> Berechnung horizontaler/vertikaler Servowinkel |
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157 | // Hauptprogramm von GPS Antennen-Nachführung |
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158 | void Tracking_GPS(void) |
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159 | { |
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160 | if (OSD_Data_valid()) { |
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161 | if (coldstart) { |
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162 | // erst nach Neustart NGVideo und beim Motorstart werden Daten vom MK übernommen |
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163 | if (MK.navi_data.FCStatusFlags & FC_FLAG_MOTOR_START) { |
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164 | // doppelt um nur einmal nach Start zu rechnen und Anzeige ohne! Minimalistic printf version |
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165 | MK_pos.Home_Lon = (double)MK.navi_data.HomePosition.Longitude / 10000000; |
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166 | MK_pos.Home_Lat = (double)MK.navi_data.HomePosition.Latitude / 10000000; |
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167 | MK_pos.Home_Lon_7 = MK.navi_data.HomePosition.Longitude; |
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168 | MK_pos.Home_Lat_7 = MK.navi_data.HomePosition.Latitude; |
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169 | MK_pos.Home_Alt = MK.navi_data.HomePosition.Altitude; |
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170 | MK_pos.direction = MK.navi_data.CompassHeading; |
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171 | coldstart = 0; |
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172 | } |
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173 | } |
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174 | else { |
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175 | geo = calc_geo(MK_pos, MK.navi_data.CurrentPosition); |
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176 | Altitude = (float)(MK.navi_data.CurrentPosition.Altitude - MK_pos.Home_Alt) / 1000; |
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177 | AngelTilt = RAD_TO_DEG * atan2(Altitude, geo.distance); |
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178 | if (geo.distance < 4) { // Abstand MK- zu Antennenposition < 4m ==> Pan-Servo in Mittelstellung |
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179 | geo.bearing = MK_pos.direction; |
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180 | if (Altitude < 3) AngelTilt = 0; // wenn (Altitude <= 0) ist berechnet AngelTilt sowieso 0 |
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181 | } |
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182 | // egal wo der Übergangspunkt 359, 360, 1grd ist => Winkelübergangspunkt auf 0 bzw. 180grd des Servos bringen |
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183 | // 360 grd negative Winkelwerte als positive |
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184 | AngelPan = fmod(geo.bearing - MK_pos.direction + 360 + 90, 360); |
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185 | if (AngelPan > 360) AngelPan -= 360; |
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186 | |||
187 | if (AngelTilt < 0) AngelTilt = 0; |
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188 | if (AngelTilt > 180) AngelTilt = 180; |
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189 | |||
190 | if (AngelPan >= 180) { // zwecks 360grd-Abdeckung flipt Pan-/Tilt-Servo |
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191 | AngelPan = AngelPan - 180; |
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192 | AngelTilt = 180 - AngelTilt; |
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193 | } |
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194 | |||
195 | servo_track(0, AngelPan); |
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196 | servo_track(1, AngelTilt); |
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197 | } |
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198 | } |
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199 | if ((gps_display > GPS_DISP_NONE) && (!coldstart) && (bat_low != 0)) { |
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200 | if (gps_disp_clear) { |
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201 | gps_disp_clear = 0; |
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202 | lcdClear(); |
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203 | } |
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204 | // makefile ohne! Minimalistic printf version |
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205 | switch(gps_display) { |
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206 | case GPS_DISP_CALC: |
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207 | Displ_GPS_Data(0, 0, "Dir:", my_itoa(MK_pos.direction, 0, 3, 0, 0), '\xdf'); |
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208 | if (geo.distance < 10) // Anzeige mit einer Kommastelle |
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209 | Displ_GPS_Data(8, 0, "Dis:", my_itoa((uint32_t)(geo.distance * 10), 0, 3, 1, 1), 'm'); |
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210 | else // Anzeige ohne Kommastelle bis 999m, Überlauf nicht abgefangen! |
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211 | Displ_GPS_Data(8, 0, "Dis:", my_itoa((uint32_t)geo.distance, 0, 3, 0, 0), 'm'); |
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212 | Displ_GPS_Data(0, 1, "Bea:", my_itoa((uint32_t)(geo.bearing), 0, 3, 0, 0), '\xdf'); |
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213 | Displ_GPS_Data(8 ,1, "Alt:", my_itoa((uint32_t)(Altitude), 1, 2, 0, 0), 'm'); |
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214 | Displ_GPS_Data(0, 2, "Pan:", my_itoa(AngelPan, 0, 3, 0, 0), '\xdf'); |
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215 | Displ_GPS_Data(8, 2, "Til:", my_itoa(AngelTilt, 0, 3, 0, 0), '\xdf'); |
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216 | break; |
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217 | case GPS_DISP_CURRENT: |
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218 | Displ_GPS_Data(0, 0, "aLon:", my_itoa(MK.navi_data.CurrentPosition.Longitude, 0, 11, 7, 7), '\0'); |
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219 | Displ_GPS_Data(0, 1, "aLat:", my_itoa(MK.navi_data.CurrentPosition.Latitude, 0, 11, 7, 7), '\0'); |
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220 | Displ_GPS_Data(0, 2, "aAlt: ", my_itoa(MK.navi_data.CurrentPosition.Altitude, 1, 11, 3, 1), '\0'); |
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221 | break; |
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222 | case GPS_DISP_HOME: |
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223 | Displ_GPS_Data(0, 0, "hLon:", my_itoa(MK_pos.Home_Lon_7, 0, 11, 7, 7), '\0'); |
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224 | Displ_GPS_Data(0, 1, "hLat:", my_itoa(MK_pos.Home_Lat_7, 0, 11, 7, 7), '\0'); |
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225 | Displ_GPS_Data(0, 2, "hAlt: ", my_itoa(MK_pos.Home_Alt, 1, 11, 3, 1), '\0'); |
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226 | } |
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227 | } |
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228 | Displ_wiRX(); |
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229 | } |
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230 | |||
231 | /************************************************************************/ |
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232 | /* */ |
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233 | /* MKCockPit Tracking */ |
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234 | /* */ |
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235 | /* http://www.pololu.com/file/download/ssc03a_guide.pdf?file_id=0J37 * */ |
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236 | /* */ |
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237 | /************************************************************************/ |
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238 | |||
239 | void Tracking_MKCockpit(void) |
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240 | { uint16_t ServoPos; |
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241 | |||
242 | if (Get_Pololu_cmd(MK.data_decode, POLOLU_CMD)) { |
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243 | switch(MK.data_decode[0]) { |
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244 | // Command 0: Set Parameters(1 data byte) |
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245 | case 0x00: ; |
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246 | break; |
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247 | // Command 1: Set Speed (1 data byte) |
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248 | case 0x01: ; |
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249 | break; |
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250 | // Command 4: Set Position,Absollute(2 data bytes) - angepasst für default MKCockPit |
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251 | case 0x04:ServoPos = MK.data_decode[2]; |
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252 | ServoPos = ((ServoPos << 7) | MK.data_decode[3]) / 20; // ServoPos * ServoSteps() sonst zu groß |
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253 | |||
254 | if (ServoPos >= 60) ServoPos -= 60; else ServoPos = 0; |
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255 | if (ServoPos > 180) ServoPos = 180; |
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256 | servoSetPosition(MK.data_decode[1], (uint16_t)((uint32_t)ServoPos * ServoSteps() / 180)); |
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257 | } |
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258 | } |
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259 | } |