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1687 | - | 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 <stdio.h> |
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14 | #include <stdlib.h> |
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15 | #include <string.h> |
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16 | #include <math.h> |
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17 | #include <util/delay.h> |
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18 | #include <avr/interrupt.h> |
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19 | |||
20 | #include "tracking.h" |
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21 | #include "ngvideo.h" |
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22 | #include "servo.h" |
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23 | #include "tools.h" |
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24 | #include "usart.h" |
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25 | #include "config.h" |
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26 | #include "mk.h" |
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27 | #include "keys.h" |
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28 | #include "mymath.h" |
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29 | |||
30 | HomePos_t MK_pos; // Home position of station |
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31 | GPS_Pos_t currentPos; // Current position of flying object |
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32 | int8_t satsInUse; // Number of satelites currently in use |
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33 | |||
34 | uint8_t tracking = TRACKING_MIN; |
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35 | uint8_t track_hyst = TRACKING_HYSTERESE; |
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36 | uint8_t track_tx = 0; |
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37 | |||
38 | geo_t geo; |
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39 | int16_t anglePan, angleTilt; |
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40 | |||
41 | /**************************************************************/ |
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42 | /* */ |
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43 | /* RSSI Tracking */ |
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44 | /* */ |
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45 | /**************************************************************/ |
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46 | |||
47 | void Tracking_RSSI(void) |
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48 | { uint16_t u0, u1; |
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49 | static uint8_t direction; |
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50 | static uint16_t servo1pos; |
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51 | |||
52 | u0 = (ADC_Read_inv(RSSI0) * (uint32_t)udbm.korr_1)/UDBM_KORR_FA; |
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53 | u1 = (ADC_Read_inv(RSSI1) * (uint32_t)udbm.korr_2)/UDBM_KORR_FA; |
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54 | |||
55 | if (direction == DLEFT) { |
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56 | if (u0 < u1) { |
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57 | if ( servo1pos > 0) --servo1pos; // Servo Endposition? |
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58 | servoSetPosition(SERVO_PAN, servo1pos); // beibehaltene Richtung ==> sofort ausführen |
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59 | } |
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60 | else |
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61 | if (u0 > (u1 + track_hyst)) direction = DRIGHT; // Richtungwechsel, wenn Hysterese überschritten |
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62 | } |
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63 | else { |
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64 | if (u0 > u1) { |
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65 | if ( servo1pos < ServoSteps()) ++servo1pos; // Servo Endposition? |
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66 | servoSetPosition(SERVO_PAN, servo1pos); // beibehaltene Richtung ==> sofort ausführen |
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67 | } |
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68 | else |
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69 | if ((track_hyst + u0) < u1) direction = DLEFT; // Richtungwechsel, wenn Hysterese überschritten |
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70 | } |
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71 | } |
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72 | |||
73 | /**************************************************************/ |
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74 | /* */ |
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75 | /* GPS Tracking */ |
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76 | /* */ |
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77 | /**************************************************************/ |
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78 | |||
79 | // Datenempfang vom MK ==> blinkt Antennensymbol |
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80 | void Displ_wiRX(void) |
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81 | { static uint8_t timer = 0; |
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82 | static uint8_t picturedSats; |
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83 | |||
84 | if (!bat_low && (pmenu[0] == '\0')) { // nicht im Menü und nicht bei Akku leer blinken |
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85 | lcdGotoXY(1, 0); |
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86 | if (wi232RX) { // Datensatz vom MK empfangen? |
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87 | if (timer < BLINK_PERIOD/2) { |
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88 | picturedSats = 0; |
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89 | lcdPutc(5); // Antennensymbol darstellen |
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90 | } |
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91 | else { |
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92 | if (!picturedSats) { // Änderung Satelittenanzahl innerhalb dieser Periode nicht anzeigen |
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93 | picturedSats = 1; |
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94 | // aktuell empfangene Satellitenanzahl, Anzeige einstellig, da kein Platz auf Display |
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95 | lcdPutc(satsInUse > 9? 'X': satsInUse + '0'); |
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96 | } |
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97 | } |
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98 | } |
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99 | else |
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100 | lcdPutc(':'); |
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101 | if (timer % 20 == 0) wi232RX = 0; // mehr Zeit für nächsten Datensatz lassen |
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102 | if (++timer == BLINK_PERIOD) timer = 0; |
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103 | } |
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104 | } |
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105 | |||
106 | // Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet) |
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107 | // zur aktuellen Position(nach Motorstart) |
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108 | geo_t calc_geo(HomePos_t *home, GPS_Pos_t *pos) |
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109 | { int32_t lat1, lon1, lat2, lon2; |
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110 | int32_t d1, dlat; |
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111 | geo_t geo; |
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112 | |||
113 | lon1 = MK_pos.Home_Lon; |
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114 | lat1 = MK_pos.Home_Lat; |
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115 | lon2 = pos->Longitude; |
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116 | lat2 = pos->Latitude; |
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117 | |||
118 | // Formel verwendet von http://www.kompf.de/gps/distcalc.html |
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119 | // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Längenkreise am Äquator |
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120 | // es wird jedoch in dm Meter weiter gerechnet |
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121 | // (tlon1 - tlon2)/10) sonst uint32_t-Überlauf bei cos(0) gleich 1 |
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122 | d1 = (1359 * (int32_t)(c_cos_8192((lat1 + lat2) / 20000000)) * ((lon1 - lon2)/10))/ 10000000; |
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123 | dlat = 1113 * (lat1 - lat2) / 10000; |
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124 | geo.bearing = (my_atan2(d1, dlat) + 540) % 360; // 360 +180 besserer Vergleich mit MkCockpit |
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125 | geo.distance = sqrt32(d1 * d1 + dlat * dlat); |
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126 | return(geo); |
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127 | } |
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128 | |||
129 | // Anzeige eines GPS-Wertes auf LCD |
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130 | void Displ_Format_Data(uint8_t x, uint8_t y, char *description, char *data, char measure) |
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131 | { |
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132 | lcdGotoXY(x, y); |
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133 | lcdPuts(description); |
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134 | lcdPuts(data); |
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135 | if (measure != '\0') |
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136 | lcdPutc(measure); |
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137 | } |
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138 | |||
139 | |||
140 | //void Displ_GPS(int anglePan, int angleTilt, geo_t *geo) |
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141 | void Displ_GPS(void) |
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142 | { uint16_t dDCurrent = 0; |
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143 | // int32_t time_remaining = M59S59; |
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144 | int32_t time_remaining = 0; |
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145 | |||
146 | if (gps_display > GPS_DISP_NONE && (!coldstart || gps_display == GPS_MISC) && !bat_low) { |
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147 | if (gps_disp_clear && !coldstart) { |
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148 | gps_disp_clear = 0; |
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149 | lcdClear(); |
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150 | } |
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151 | // makefile ohne! Minimalistic printf version |
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152 | switch (gps_display) { |
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153 | case GPS_DISP_CALC: |
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154 | Displ_Format_Data(0, 0, "Dir:", my_itoa(MK_pos.direction, 3, 0, 0), '\xdf'); // '\xdf' entspricht '°' |
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155 | Displ_Format_Data(8, 0, "Dis:", my_itoa((uint32_t)geo.distance, 3, 1, 1), 'm'); |
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156 | Displ_Format_Data(0, 1, "Bea:", my_itoa((uint32_t)geo.bearing, 3, 0, 0), '\xdf'); |
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157 | Displ_Format_Data(8, 1, "Alt:", my_itoa(currentPos.Altitude - MK_pos.Home_Alt, 3, 3, 1), 'm'); |
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158 | Displ_Format_Data(0, 2, "Pan:", my_itoa(anglePan, 3, 0, 0), '\xdf'); |
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159 | Displ_Format_Data(8, 2, "Til:", my_itoa(angleTilt, 3, 0, 0), '\xdf'); |
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160 | break; |
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161 | case GPS_DISP_CURRENT: |
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162 | Displ_Format_Data(0, 0, "aLon:", my_itoa(currentPos.Longitude, 11, 7, 7), '\0'); |
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163 | Displ_Format_Data(0, 1, "aLat:", my_itoa(currentPos.Latitude, 11, 7, 7), '\0'); |
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164 | Displ_Format_Data(0, 2, "aAlt:", my_itoa(currentPos.Altitude, 11, 3, 1), '\0'); |
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165 | break; |
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166 | case GPS_DISP_HOME: |
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167 | Displ_Format_Data(0, 0, "hLon:", my_itoa(MK_pos.Home_Lon, 11, 7, 7), '\0'); |
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168 | Displ_Format_Data(0, 1, "hLat:", my_itoa(MK_pos.Home_Lat, 11, 7, 7), '\0'); |
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169 | Displ_Format_Data(0, 2, "hAlt:", my_itoa(MK_pos.Home_Alt, 11, 3, 1), '\0'); |
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170 | // >> Menueauswahl nach oben |
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171 | if (Get_Key_Press( 1<<SW_PLUS ) || Get_Key_Press( 1<<SW_MINUS )) coldstart = 1; |
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172 | break; |
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173 | case GPS_MISC: |
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174 | Displ_Format_Data(0, 0, "U:", my_itoa(mk_UBat, 4, 1, 1), 'V'); |
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175 | Displ_Format_Data(8, 0, "W:", my_itoa(mk_dUsedCapacity, 4, 0, 0), '\0'); |
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176 | Displ_Format_Data(0, 1, "I:", my_itoa(mk_Ikorr, 4, 1, 1), 'A'); |
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177 | if (mk_current.Count > 0) { |
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178 | dDCurrent = mk_current.Sum / mk_current.Count; |
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179 | if (dDCurrent > 0) { |
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180 | time_remaining = ((int32_t)mk_lipo.Capacity - mk_dUsedCapacity) * 36 / dDCurrent; |
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181 | if (abs(time_remaining) > M59S59) |
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182 | time_remaining = time_remaining < 0? -M59S59: M59S59; // M59S59 sind 59 Minuten und 59 Sekunden |
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183 | } |
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184 | } |
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185 | Displ_Format_Data(8, 1, "\xee:", my_itoa(dDCurrent, 4, 1, 1), 'A');// Durchschnittszeichen |
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186 | lcdGotoXY(0,2); |
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187 | lcdPutc('\x1a'); // Summenzeichen |
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188 | Displ_TimeMS(mk_lipo.time_on / T2SECDIV); |
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189 | lcdGotoXY(8,2); |
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190 | lcdPuts("R"); |
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191 | Displ_TimeMS(time_remaining); |
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192 | break; |
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193 | } |
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194 | } |
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195 | Displ_wiRX(); |
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196 | } |
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197 | |||
198 | void do_tracking(void) |
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199 | { static uint8_t hysteresis = 0; |
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200 | |||
201 | geo = calc_geo(&MK_pos, ¤tPos); |
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202 | angleTilt = my_atan2((currentPos.Altitude - MK_pos.Home_Alt) / 100, geo.distance); |
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203 | if (geo.distance < 40 || (geo.distance < 60 && hysteresis)) { // < 4m ==> Pan-Servo in Mittelstellung. Hysterese bis 6m, damit Servo im Grenzbereich nicht wild rumschlägt |
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204 | geo.bearing = MK_pos.direction; |
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205 | if (currentPos.Altitude - MK_pos.Home_Alt < 4000) angleTilt = 0; // man fliegt nicht direkt über Kopf |
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206 | hysteresis = 1; |
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207 | } |
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208 | else { |
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209 | hysteresis = 0; |
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210 | } |
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211 | |||
212 | // egal wo der Übergangspunkt 359, 360, 1grd ist => Winkelübergangspunkt auf 0 bzw. 180grd des Servos bringen |
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213 | // 360 grd negative Winkelwerte als positive |
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214 | anglePan = (geo.bearing + 450 - MK_pos.direction) % 360; // 450 = 360 + 90 |
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215 | |||
216 | if (angleTilt < 0) angleTilt = 0; |
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217 | if (angleTilt > 180) angleTilt = 180; |
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218 | |||
219 | if (anglePan >= 180) { // zwecks 360grd-Abdeckung flipt Pan-/Tilt-Servo |
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220 | anglePan = anglePan - 180; |
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221 | angleTilt = 180 - angleTilt; |
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222 | } |
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223 | |||
224 | servoSetAngle(0, anglePan); |
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225 | servoSetAngle(1, angleTilt); |
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226 | } |
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227 | |||
228 | |||
229 | /**************************************************************/ |
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230 | /* */ |
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231 | /* MK GPS Tracking */ |
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232 | /* */ |
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233 | /**************************************************************/ |
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234 | |||
235 | // MK OSD-Daten lesen und verifizieren |
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236 | uint8_t OSD_Data_valid(NaviData_t **navi_data) |
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237 | { uint8_t ret = 0; |
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238 | char *tx_osd = {"#co?]==EH\r"}; |
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239 | // char interval[2] = {10, '\0'}; |
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240 | |||
241 | if (rx_line_decode() == 'O') { // OSD-Datensatz prüfen/dekodieren |
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242 | *navi_data = (NaviData_t*)data_decode; // dekodierte Daten mit Struktur OSD-Daten versehen |
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243 | currentPos = (*navi_data)->CurrentPosition; |
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244 | if ((*navi_data)->NCFlags & NC_FLAG_GPS_OK) |
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245 | ret = 1; |
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246 | // aus MkCockpit http://forum.mikrokopter.de/topic-post216136.html#post216136 |
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247 | // (4 * (........))/5 ==> Wichtung Luftdruck-Höhe zu GPS |
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248 | currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)((*navi_data)->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5; |
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249 | // currentPos.Altitude = MK_pos.Home_Alt + 1000 * (int32_t)(*navi_data)->Altimeter / AltFaktor; |
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250 | MK_Motor_run = (*navi_data)->FCStatusFlags & FC_FLAG_MOTOR_RUN; |
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251 | MK_ProcessLipo(*navi_data); |
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252 | satsInUse = (*navi_data)->SatsInUse; |
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253 | } |
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254 | else |
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255 | // ca. 210ms keine OSD-Daten empfangen ==> sende neue Anforderung an MK |
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256 | if ((track_tx) && (rx_timeout > RX_TIMEOUT)) { |
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257 | USART_send_Str(tx_osd); // 420 * 0.5ms interval |
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258 | // tx_Mk(NC_ADDRESS, 'o', interval, 1); // 420 * 0.5ms interval |
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259 | if (rx_timeout == RX_TIME_END) store_LipoData();// ca. 4 Sekunden nach Signalverlust |
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260 | } |
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261 | return ret; |
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262 | } |
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263 | |||
264 | |||
265 | // MK eingeschaltet und GPS-ok, danach Motoren gestartet ==> Berechnung horizontaler/vertikaler Servowinkel |
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266 | // Hauptprogramm von GPS Antennen-Nachführung |
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267 | void Tracking_GPS(void) |
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268 | { NaviData_t *navi_data; |
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269 | static uint8_t track_running = 0; |
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270 | |||
271 | if (!track_running) { |
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272 | track_running = 1; // verhindert doppelten Aufruf, wenn in Eingabeschleife Menu_MK_BatteryChangeNr() !!! |
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273 | if (OSD_Data_valid(&navi_data)) { |
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274 | if (coldstart) { |
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275 | // erst nach Neustart NGVideo und beim Motorstart werden Daten vom MK übernommen |
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276 | if (navi_data->FCStatusFlags & FC_FLAG_MOTOR_START) { |
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277 | MK_pos.Home_Lon = navi_data->HomePosition.Longitude; |
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278 | MK_pos.Home_Lat = navi_data->HomePosition.Latitude; |
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279 | MK_pos.Home_Alt = navi_data->HomePosition.Altitude; |
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280 | MK_pos.direction = navi_data->CompassHeading; |
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281 | coldstart = 0; |
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282 | } |
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283 | } |
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284 | else { |
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285 | do_tracking(); |
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286 | } |
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287 | } |
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288 | Displ_GPS(); // letzte empfangene Daten auch bei ausgeschalteten MK sichtbar |
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289 | track_running = 0; |
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290 | } |
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291 | } |
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292 | |||
293 | /**************************************************************/ |
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294 | /* */ |
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295 | /* NMEA GPS Tracking */ |
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296 | /* */ |
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297 | /**************************************************************/ |
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298 | |||
299 | void setNMEAdir(void) |
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300 | { |
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301 | if (!coldstart) |
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302 | MK_pos.direction = geo.bearing; |
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303 | } |
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304 | |||
305 | // NMEA latitudes are in the form ddmm.mmmmm, we want an integer in 1E-7 degree steps |
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306 | int32_t getLatitude(const char *s, const char *NS) |
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307 | { int32_t deg = (s[0] - '0') * 10 + s[1] - '0'; // First 2 chars are full degrees |
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308 | int32_t min = floatStrToInt(&s[2], 6) / 6; // Minutes * 1E5 * 100 / 60 = Minutes * 1E6 / 6 = 1E-7 degree steps |
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309 | |||
310 | deg = deg * 10000000 + min; |
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311 | if (*NS == 'S') deg = -deg; |
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312 | return deg; |
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313 | } |
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314 | |||
315 | |||
316 | // NMEA longitudes are in the form dddmm.mmmmm, we want an integer in 1E-7 degree steps |
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317 | int32_t getLongitude(const char *s, const char *WE) |
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318 | { int32_t deg = ((s[0] - '0') * 10 + s[1] - '0') * 10 + s[2] - '0'; // First 3 chars are full degrees |
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319 | int32_t min = floatStrToInt(&s[3], 6) / 6; // Minutes * 1E5 * 100 / 60 = Minutes * 1E6 / 6 = 1E-7 degree steps |
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320 | |||
321 | deg = deg * 10000000 + min; |
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322 | if (*WE == 'W') deg = -deg; |
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323 | return deg; |
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324 | } |
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325 | |||
326 | |||
327 | void Tracking_NMEA(void) |
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328 | { char *token; |
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329 | int32_t latitude, longitude; |
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330 | |||
331 | if (decodeNMEA()) { |
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332 | token = strtok((char*)data_decode, ","); |
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333 | // http://de.wikipedia.org/wiki/NMEA_0183 |
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334 | if (!strcmp(token, "GPGGA")) { |
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335 | // $GPGGA,220613.400,4843.5080,N,00922.9583,E,1,7,2.23,287.1,M,48.0,M,, |
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336 | // Skip time |
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337 | strtok(0, ","); |
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338 | // Latitude |
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339 | latitude = getLatitude(strtok(0, ","), strtok(0, ",")); |
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340 | // Longitude |
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341 | longitude = getLongitude(strtok(0, ","), strtok(0, ",")); |
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342 | // Signal valid? (Position Fix Indicator) |
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343 | if (*strtok(0, ",") != '0') { |
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344 | // Satellites in use |
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345 | satsInUse = atoi(strtok(0, ",")); |
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346 | // Skip dilution |
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347 | strtok(0, ","); |
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348 | // Altitude |
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349 | currentPos.Altitude = floatStrToInt(strtok(0, ","), 3); |
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350 | currentPos.Latitude = latitude; |
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351 | currentPos.Longitude = longitude; |
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352 | |||
353 | if ((coldstart) && (satsInUse > 5)) { |
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354 | // First position after reboot (or change of mode) will be the home position (facing north) |
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355 | MK_pos.Home_Lon = currentPos.Longitude; |
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356 | MK_pos.Home_Lat = currentPos.Latitude; |
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357 | MK_pos.Home_Alt = currentPos.Altitude; |
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358 | MK_pos.direction = 0; |
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359 | coldstart = 0; |
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360 | Double_Beep(DBEEPNMEAFIX, DBEEPMEAFIXP); |
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361 | } |
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362 | do_tracking(); |
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363 | } |
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364 | } |
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365 | } |
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366 | Displ_GPS(); // letzte empfangene Daten auch bei ausgeschalteter NMEA sichtbar |
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367 | } |
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368 | |||
369 | |||
370 | /************************************************************************/ |
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371 | /* */ |
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372 | /* MKCockPit Tracking */ |
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373 | /* */ |
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374 | /* http://www.pololu.com/file/download/ssc03a_guide.pdf?file_id=0J37 */ |
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375 | /* */ |
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376 | /************************************************************************/ |
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377 | |||
378 | void Tracking_MKCockpit(void) |
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379 | { uint16_t ServoPos; |
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380 | |||
381 | if (Get_Pololu_cmd(data_decode, POLOLU_CMD)) { |
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382 | switch (data_decode[0]) { |
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383 | // Command 0: Set Parameters(1 data byte) |
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384 | case 0x00: ; |
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385 | break; |
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386 | // Command 1: Set Speed (1 data byte) |
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387 | case 0x01: ; |
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388 | break; |
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389 | // Command 4: Set Position,Absollute(2 data bytes) - angepasst für default MKCockPit |
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390 | case 0x04: ServoPos = data_decode[2]; |
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391 | ServoPos = ((ServoPos << 7) | data_decode[3]) / 20; // ServoPos * ServoSteps() sonst zu groß |
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392 | |||
393 | if (ServoPos >= 60) ServoPos -= 60; else ServoPos = 0; |
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394 | if (ServoPos > 180) ServoPos = 180; |
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395 | servoSetAngle(data_decode[1], ServoPos); |
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396 | } |
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397 | } |
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398 | } |