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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_ |