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| 2136 | - | 1 | /* |
| 2 | * tracking.h |
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| 3 | * |
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| 4 | * Created on: 13.02.2012 |
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| 5 | * Author: cebra |
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| 6 | */ |
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| 7 | |||
| 8 | //############################################################################ |
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| 9 | //# HISTORY tracking.h |
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| 10 | //# |
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| 11 | //# 27.06.2014 OG |
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| 12 | //# - Entkernt: verschiedene Variablen und Funktionen geloescht |
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| 13 | //# |
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| 14 | //# 16.06.2014 OG |
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| 15 | //# - add: NMEA_GPGGA_counter (zaehlt empfangene GPGGA-Pakete) |
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| 16 | //# - add: Source-Historie |
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| 17 | //############################################################################ |
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| 18 | |||
| 19 | |||
| 20 | #ifndef TRACKING_H_ |
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| 21 | #define TRACKING_H_ |
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| 22 | |||
| 23 | |||
| 24 | #define REPEAT 1 |
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| 25 | #define REPEAT_MIN 1 |
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| 26 | #define REPEAT_MAX 100 |
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| 27 | #define PAUSE 10 |
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| 28 | #define PAUSE_MIN 4 // mindestens 400ms, da mechanischer Servo-Lauf zur Position berücksichtigt werden muss |
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| 29 | #define PAUSE_MAX 20 // Pause pro Links-, Mittel- und Rechtsposition 10*100ms |
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| 30 | #define PAUSE_STEP 0 |
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| 31 | #define PAUSE_STEP_MIN 0 // Pause bei jeden Servoschritt in ms |
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| 32 | #define PAUSE_STEP_MAX 200 |
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| 33 | |||
| 34 | // Antennen-Nachführung |
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| 35 | #define TRACKING_MIN 0 // aus, TRACKING_RSSI, TRACKING_GPS, TRACKING_MKCOCKPIT, TRACKING_NMEA |
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| 36 | #define TRACKING_MAX 4 |
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| 37 | |||
| 38 | // Antennen-Nachführung per RSSI |
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| 39 | #define TRACKING_HYSTERESE 40 // Hysterese bevor Tracking bei Richtungswechsel anspricht |
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| 40 | #define TRACKING_HYST_MIN 0 |
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| 41 | #define TRACKING_HYST_MAX 100 |
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| 42 | |||
| 43 | #define FC_FLAG_MOTOR_RUN 0x01 |
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| 44 | #define FC_FLAG_FLY 0x02 |
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| 45 | #define FC_FLAG_CALIBRATE 0x04 |
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| 46 | #define FC_FLAG_MOTOR_START 0x08 |
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| 47 | |||
| 48 | |||
| 49 | |||
| 50 | typedef struct { |
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| 51 | int32_t distance; |
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| 52 | int16_t bearing; |
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| 53 | } geo_t; |
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| 54 | |||
| 55 | |||
| 56 | |||
| 57 | typedef struct { |
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| 58 | int32_t Home_Lon; // in 1E-7 degrees |
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| 59 | int32_t Home_Lat; // in 1E-7 degrees |
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| 60 | int32_t Home_Alt; // in mm |
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| 61 | int16_t direction; // ermittelte Konstante aus Mittelposition Antenne geo.bearing - navi_data.CompassHeading |
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| 62 | } __attribute__((packed)) HomePos_t; |
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| 63 | |||
| 64 | |||
| 65 | |||
| 66 | extern uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix |
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| 67 | |||
| 68 | |||
| 69 | #ifdef USE_TRACKING |
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| 70 | |||
| 71 | void PKT_tracking(void); |
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| 72 | |||
| 73 | #endif // #ifdef USE_TRACKING |
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| 74 | |||
| 75 | |||
| 76 | |||
| 77 | #endif // TRACKING_H_ |