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| Rev | Author | Line No. | Line |
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| 2136 | - | 1 | /* |
| 2 | * FollowMe.c |
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| 3 | * |
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| 4 | * Created on: 18.05.2012 |
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| 5 | * Author: cebra |
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| 6 | */ |
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| 7 | /***************************************************************************** |
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| 8 | * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
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| 9 | * * |
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| 10 | * This program is free software; you can redistribute it and/or modify * |
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| 11 | * it under the terms of the GNU General Public License as published by * |
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| 12 | * the Free Software Foundation; either version 2 of the License. * |
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| 13 | * * |
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| 14 | * This program is distributed in the hope that it will be useful, * |
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| 15 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 16 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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| 17 | * GNU General Public License for more details. * |
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| 18 | * * |
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| 19 | * You should have received a copy of the GNU General Public License * |
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| 20 | * along with this program; if not, write to the * |
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| 21 | * Free Software Foundation, Inc., * |
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| 22 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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| 23 | * * |
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| 24 | * * |
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| 25 | * Credits to: * |
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| 26 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
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| 27 | * http://www.mikrokopter.de * |
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| 28 | * Gregor "killagreg" Stobrawa for his version of the MK code * |
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| 29 | * Thomas Kaiser "thkais" for the original project. See * |
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| 30 | * http://www.ft-fanpage.de/mikrokopter/ * |
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| 31 | * http://forum.mikrokopter.de/topic-4061-1.html * |
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| 32 | * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
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| 33 | * http://www.mylifesucks.de/oss/c-osd/ * |
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| 34 | * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
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| 35 | *****************************************************************************/ |
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| 36 | //############################################################################ |
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| 37 | //# HISTORY followme.c |
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| 38 | //# |
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| 2200 | - | 39 | //# 20.09.2015 Starter |
| 40 | //# FollowMeStep2 erweitert auf aktuelle GPS-Daten und followme_calculate_offset(...) |
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| 41 | //# |
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| 2136 | - | 42 | //# 03.08.2015 Cebra |
| 43 | //# - add: void Debug_GPS (void) hinzugefügt zur Test der GPS Berechnung FollowMe |
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| 44 | //# |
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| 45 | //# 20.07.2015 CB |
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| 46 | //# - chg: FollowMe Datensatz an NC.211 angepasst |
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| 47 | //# |
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| 48 | //# 27.06.2014 OG |
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| 49 | //# - chg: Anzeige von Satfix und Satanzahl auf MINVERSX, MNORMALX |
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| 50 | //# |
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| 51 | //# 26.06.2014 OG |
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| 52 | //# - chg: angepasst auf neue NMEA-Datenstruktur (gps_nmea.h) |
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| 53 | //# |
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| 54 | //# 24.06.2014 OG |
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| 55 | //# - chg: FollowMe() angepasst auf geaendertes GPSMouse_ShowData() |
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| 56 | //# |
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| 57 | //# 22.06.2014 OG |
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| 58 | //# - chg: FollowMe() umgestellt auf GPSMouse_ShowData() (in gps/gpsmouse.c) |
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| 59 | //# - del: Variable CheckGPS |
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| 60 | //# |
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| 61 | //# 21.06.2014 OG |
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| 62 | //# - chg: verschiedene Layoutaenderungen am Anzeigescreen und Anzeige der |
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| 63 | //# Entfernung zwischen Kopter und Target |
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| 64 | //# - chg: MK-Timeoutout Erkennung verbessert/angepasst |
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| 65 | //# |
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| 66 | //# 19.06.2014 OG |
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| 67 | //# - erster Prototyp der Follow Me zum Kopter sendet |
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| 68 | //# - etliche Aenderungen im Codeaufbau |
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| 69 | //# |
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| 70 | //# 01.06.2014 OG |
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| 71 | //# - chg: FollowMe() - verschiedene Anzeigefunktionen auskommentiert und |
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| 72 | //# als DEPRICATED Klassifiziert wegen Cleanup der alten OSD Screens |
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| 73 | //# - chg: FollowMe() - Check bzgl. NC-Hardware entfernt da das bereits durch das |
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| 74 | //# Hauptmenue erledigt wird |
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| 75 | //# |
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| 76 | //# 13.05.2014 OG |
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| 77 | //# - chg: FollowMe() - Variable 'flag' auskommentiert |
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| 78 | //# wegen Warning: variable set but not used |
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| 79 | //# - chg: FollowMe() - Variable 'old_FCFlags' auskommentiert |
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| 80 | //# wegen Warning: variable set but not used |
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| 81 | //# - chg: FollowMe() - den Bereich in dem FC-Settings geladen werdeb |
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| 82 | //# auskommentiert weil man das a) vorallem nicht benoetigt |
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| 83 | //# und b) die load_setting() so nicht mehr existiert |
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| 84 | //# (der Codebereich kann meines erachtens geloescht werden) |
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| 85 | //# - del: verschiedene Verweise auf 'mk_param_struct' entfernt, weil es |
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| 86 | //# das a) nicht mehr gibt und b) hier gar nicht benoetigt wird |
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| 87 | //# - chg: FollowMe() - OSD_Timeout() entfernt (weil es das nicht mehr gibt) |
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| 88 | //# und erstmal durch ein PKT_Message_P() ersetzt |
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| 89 | //# * ACHTUNG: UNGETESTET! * (bei Bedarf anpassen, followme hat niedrige Prio) |
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| 90 | //# - add: #include "../pkt/pkt.h" |
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| 91 | //# |
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| 92 | //# 05.05.2013 Cebra |
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| 93 | //# - chg: #ifdef USE_FOLLOWME |
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| 94 | //# |
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| 95 | //############################################################################ |
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| 96 | |||
| 97 | #include "../cpu.h" |
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| 98 | #include <avr/io.h> |
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| 99 | #include <inttypes.h> |
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| 100 | #include <stdlib.h> |
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| 101 | #include <avr/pgmspace.h> |
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| 102 | #include <util/delay.h> |
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| 103 | |||
| 104 | #include <string.h> |
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| 105 | #include <stdarg.h> |
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| 106 | #include <stdio.h> |
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| 107 | |||
| 108 | #include "../main.h" |
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| 109 | |||
| 110 | #ifdef USE_FOLLOWME |
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| 111 | |||
| 112 | #include "../followme/followme.h" |
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| 113 | #include "../osd/osd.h" |
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| 114 | #include "../lcd/lcd.h" |
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| 115 | #include "../timer/timer.h" |
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| 116 | #include "../uart/usart.h" |
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| 117 | #include "../eeprom/eeprom.h" |
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| 118 | #include "../messages.h" |
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| 119 | #include "../bluetooth/bluetooth.h" |
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| 120 | #include "../setup/setup.h" |
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| 121 | #include "../uart/uart1.h" |
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| 122 | #include "../mk-data-structs.h" |
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| 123 | #include "../pkt/pkt.h" |
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| 124 | #include "../gps/gps.h" |
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| 125 | //#include "../gps/gps_nmea.h" |
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| 126 | #include "../avr-nmea-gps-library/nmea.h" |
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| 127 | #include "../gps/gpsmouse.h" |
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| 128 | |||
| 129 | |||
| 130 | //####################################################################################################################### |
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| 131 | |||
| 132 | |||
| 133 | //-------------------- |
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| 134 | // Timings |
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| 135 | //-------------------- |
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| 136 | //#define MK_TIMEOUT 300 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (3 sec) |
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| 137 | #define MK_TIMEOUT 400 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (4 sec) |
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| 138 | |||
| 139 | |||
| 140 | |||
| 141 | //-------------------- |
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| 142 | #define COSD_WASFLYING 4 |
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| 143 | |||
| 144 | // global definitions and global vars |
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| 145 | NaviData_t *naviData; |
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| 146 | unsigned char Element; |
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| 147 | uint16_t heading_home; |
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| 148 | |||
| 149 | // Hier Höhenanzeigefehler Korrigieren |
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| 150 | #define AltimeterAdjust 1.5 |
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| 151 | |||
| 2204 | - | 152 | positionOffset followMeOffset; |
| 2136 | - | 153 | |
| 154 | |||
| 2204 | - | 155 | |
| 2136 | - | 156 | // Flags |
| 157 | //uint8_t COSD_FLAGS2 = 0; |
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| 158 | // |
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| 159 | //GPS_Pos_t last5pos[7]; |
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| 160 | uint8_t FM_error = 0; |
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| 161 | |||
| 162 | |||
| 163 | //--------------------- |
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| 164 | // Waypoint Types |
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| 165 | // TODO OG: verschieben nach: mk-data-structs.h |
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| 166 | //--------------------- |
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| 167 | #define POINT_TYPE_INVALID 255 |
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| 168 | #define POINT_TYPE_WP 0 |
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| 169 | #define POINT_TYPE_POI 1 |
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| 170 | |||
| 171 | |||
| 172 | //--------------------- |
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| 173 | // Status |
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| 174 | // GPS_Pos_t |
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| 175 | // aus MK source |
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| 176 | // |
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| 177 | // TODO OG: verschieben nach: mk-data-structs.h |
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| 178 | //--------------------- |
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| 179 | #define INVALID 0x00 |
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| 180 | #define NEWDATA 0x01 |
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| 181 | #define PROCESSED 0x02 |
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| 182 | |||
| 183 | |||
| 184 | |||
| 185 | //-------------------------------------------------------------- |
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| 186 | //-------------------------------------------------------------- |
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| 187 | void FollowMe( void ) |
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| 188 | { |
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| 189 | //uint8_t status; |
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| 190 | GPS_Pos_t currpos; |
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| 191 | uint8_t tmp_dat; |
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| 192 | uint8_t redraw; |
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| 193 | uint8_t drawmode; |
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| 194 | uint32_t NMEA_GPGGA_counter_old; // Merker: zaehlt empfangene GPGGA-Pakete |
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| 195 | uint32_t send_followme_counter; |
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| 196 | |||
| 197 | int8_t ok; |
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| 198 | int8_t xoffs; |
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| 199 | int8_t yoffs; |
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| 200 | Point_t FollowMe; |
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| 201 | uint8_t mktimeout = false; |
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| 202 | |||
| 203 | |||
| 204 | |||
| 205 | GPS_PosDev_t targetdev; |
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| 206 | |||
| 207 | |||
| 208 | //--------------------- |
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| 209 | // 1. Daten GPS-Maus |
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| 210 | //--------------------- |
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| 211 | ok = GPSMouse_ShowData( GPSMOUSE_SHOW_WAITSATFIX, 500 ); // 500 = 5 Sekunden Verzoegerung nach Satfix |
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| 212 | if( ok <= 0 ) |
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| 213 | { |
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| 214 | return; // Fehler bzgl. BT GPS-Maus -> exit |
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| 215 | } |
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| 216 | |||
| 217 | |||
| 218 | //--------------------- |
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| 219 | // 2. Follow Me |
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| 220 | //--------------------- |
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| 221 | set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
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| 222 | |||
| 223 | lcd_cls (); |
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| 224 | |||
| 225 | SwitchToNC(); |
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| 226 | |||
| 227 | mode = 'O'; |
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| 228 | |||
| 229 | // disable debug... |
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| 230 | // RS232_request_mk_data (0, 'd', 0); |
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| 231 | tmp_dat = 0; |
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| 232 | SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
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| 233 | |||
| 234 | // request OSD Data from NC every 100ms |
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| 235 | // RS232_request_mk_data (1, 'o', 100); |
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| 236 | tmp_dat = 10; |
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| 237 | SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
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| 238 | |||
| 239 | //OSD_active = true; // benötigt für Navidata Ausgabe an SV2 |
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| 240 | |||
| 241 | //------------------------- |
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| 242 | // Init: Timer & Flags |
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| 243 | //------------------------- |
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| 244 | timer_mk_timeout = MK_TIMEOUT; |
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| 245 | |||
| 246 | abo_timer = ABO_TIMEOUT; |
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| 247 | |||
| 248 | |||
| 249 | MKLiPoCells_Init(); |
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| 250 | |||
| 251 | redraw = true; |
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| 252 | |||
| 253 | NMEA.Counter = 0; |
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| 254 | NMEA_GPGGA_counter_old = 0; |
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| 255 | send_followme_counter = 0; |
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| 256 | |||
| 257 | |||
| 258 | while( (receiveNMEA) ) |
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| 259 | { |
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| 260 | //----------------------------------------- |
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| 261 | // Screen redraw |
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| 262 | //----------------------------------------- |
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| 263 | if( redraw ) |
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| 264 | { |
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| 265 | lcd_cls(); |
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| 266 | |||
| 267 | lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("FollowMe") ); // Titel: oben, mitte |
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| 268 | |||
| 269 | lcd_line( (6*6-3), 0, (6*6-3), 11, 1); // Linie Vertikal links |
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| 270 | lcd_line( (15*6+5), 0, (15*6+5), 11, 1); // Linie Vertikal rechts |
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| 271 | lcd_line( 0, 12, 127, 12, 1); // Linie Horizontal |
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| 272 | |||
| 273 | //lcd_line( 0, 39, 127, 39, 1); // Linie Horizontal Mitte |
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| 274 | lcd_line( 66, 39, 127, 39, 1); // Linie Horizontal Mitte |
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| 275 | |||
| 276 | lcd_rect_round( 0, 33, 66, 12, 1, R1); // Rahmen fuer "Di" (Distance) |
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| 277 | |||
| 278 | lcdx_printf_at_P( 3, 2, MNORMAL, 3,-1, PSTR("Al:") ); // Label: "Al:" |
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| 279 | |||
| 280 | draw_icon_mk( 1, 18); |
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| 281 | draw_icon_target_round( 1, 50); |
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| 282 | |||
| 283 | redraw = false; |
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| 284 | } |
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| 285 | |||
| 286 | |||
| 287 | |||
| 288 | //----------------------------------------- |
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| 289 | // neue MK Daten vorhanden |
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| 290 | //----------------------------------------- |
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| 291 | if( rxd_buffer_locked ) // neue MK Daten |
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| 292 | { |
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| 293 | Decode64 (); |
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| 294 | naviData = (NaviData_t *) pRxData; |
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| 295 | |||
| 296 | if( mktimeout ) redraw = true; |
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| 297 | mktimeout = false; |
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| 298 | |||
| 299 | FM_error = 0; // noch benoetigt? |
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| 300 | |||
| 301 | currpos.Latitude = naviData->CurrentPosition.Latitude; |
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| 302 | currpos.Longitude = naviData->CurrentPosition.Longitude; |
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| 303 | |||
| 304 | //---------------------------------- |
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| 305 | // speichere letzte GPS-Positionen |
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| 306 | //---------------------------------- |
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| 307 | Config.LastLatitude = naviData->CurrentPosition.Latitude; // speichere letzte Position in Config |
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| 308 | Config.LastLongitude = naviData->CurrentPosition.Longitude; // speichere letzte Position in Config |
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| 309 | |||
| 310 | |||
| 311 | //---------------------------------- |
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| 312 | // LiPo Cell Check |
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| 313 | //---------------------------------- |
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| 314 | MKLiPoCells_Check(); // ggf. Zellenzahl ermitteln |
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| 315 | |||
| 316 | |||
| 317 | //################# |
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| 318 | //# MK |
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| 319 | //################# |
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| 320 | |||
| 321 | //----------------- |
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| 322 | // Oben: MK-Batt Level (Volt) |
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| 323 | //----------------- |
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| 324 | OSD_Element_BattLevel2( 0, 0, 0,0 ); |
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| 325 | |||
| 326 | //----------------- |
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| 327 | // Oben: Batt Level Bar |
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| 328 | //----------------- |
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| 329 | OSD_Element_Battery_Bar( 0, 9, 30, 1, ORIENTATION_H); |
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| 330 | |||
| 331 | //----------------- |
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| 332 | // Oben: MK-Flugzeit |
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| 333 | //----------------- |
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| 334 | writex_time(16, 0, naviData->FlyingTime, MNORMAL, 2,0); |
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| 335 | |||
| 336 | //----------------- |
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| 337 | // Hoehe |
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| 338 | //----------------- |
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| 339 | xoffs = 3; |
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| 340 | yoffs = -1; |
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| 341 | writex_altimeter( 7, 2, naviData->Altimeter, MNORMAL, xoffs,yoffs ); |
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| 342 | |||
| 343 | //----------------- |
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| 344 | // MK: Sat Anzahl |
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| 345 | //----------------- |
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| 346 | yoffs = -27; |
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| 347 | if( naviData->SatsInUse > 5 ) drawmode = MNORMALX; |
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| 348 | else drawmode = MINVERSX; |
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| 349 | writex_ndigit_number_u( 17, 5, naviData->SatsInUse, 2, 0,drawmode, 3,2+yoffs); |
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| 350 | draw_icon_satmini( 116+3, 42+yoffs); |
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| 351 | |||
| 352 | |||
| 353 | //----------------- |
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| 354 | // MK: GPS |
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| 355 | //----------------- |
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| 356 | writex_gpspos( 3, 4, currpos.Latitude , MNORMAL,-3,-8 ); // Line 4 L: Latitude |
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| 357 | writex_gpspos(12, 4, currpos.Longitude, MNORMAL, 1,-8 ); // Line 4 R: Longitude |
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| 358 | // lcdx_printf_at_P( 1, 4, MNORMAL, -3,-8 , PSTR("%d"), NMEA.Latitude); |
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| 359 | // lcdx_printf_at_P( 10, 4, MNORMAL, -1,-8 , PSTR("%d"), NMEA.Longitude); |
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| 360 | |||
| 361 | |||
| 362 | |||
| 363 | //################# |
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| 364 | //# DISTANCE TO TARGET |
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| 365 | //################# |
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| 366 | |||
| 367 | //----------------- |
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| 368 | // Target: Distance to Target |
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| 369 | //----------------- |
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| 370 | xoffs = 7; |
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| 371 | yoffs = 4; |
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| 372 | //GPS_PosDev_t gps_Deviation( GPS_Pos_t pos1, GPS_Pos_t pos2 ) |
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| 373 | targetdev = gps_Deviation( FollowMe.Position, naviData->CurrentPosition); |
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| 374 | lcdx_printf_at_P( 0, 4, MNORMAL, xoffs,yoffs , PSTR("Di: %3d m"), (targetdev.Distance / 10) ); |
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| 375 | |||
| 376 | |||
| 377 | //################# |
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| 378 | //# TARGET (GPS Maus) |
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| 379 | //################# |
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| 380 | |||
| 381 | yoffs = 8; |
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| 382 | |||
| 383 | //----------------- |
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| 384 | // Send Counter |
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| 385 | //----------------- |
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| 386 | //lcdx_printf_at_P(4, 5, MNORMAL, 0,5, PSTR("S: %ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
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| 387 | lcdx_printf_at_P( 4, 5, MNORMAL, -3,yoffs, PSTR("Tx:%5ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
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| 388 | |||
| 389 | |||
| 390 | //----------------- |
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| 391 | // Target: Fix |
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| 392 | //----------------- |
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| 393 | if( NMEA.SatFix == 1 || NMEA.SatFix == 2 ) |
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| 394 | drawmode = MNORMALX; |
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| 395 | else |
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| 396 | drawmode = MINVERSX; |
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| 397 | |||
| 398 | lcdx_printf_at_P( 14, 5, drawmode, 1,yoffs, PSTR("F:%1d"), NMEA.SatFix ); // GPS-Maus: Satfix |
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| 399 | |||
| 400 | |||
| 401 | //----------------- |
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| 402 | // Target: Sat Anzahl |
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| 403 | //----------------- |
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| 404 | if( NMEA.SatsInUse > 5 ) |
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| 405 | drawmode = MNORMALX; |
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| 406 | else |
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| 407 | drawmode = MINVERSX; |
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| 408 | |||
| 409 | writex_ndigit_number_u( 17, 5, NMEA.SatsInUse, 2, 0,drawmode, 4,yoffs); |
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| 410 | draw_icon_satmini( 116+4, 40+yoffs); |
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| 411 | |||
| 412 | |||
| 413 | //----------------- |
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| 414 | // Target: Lat / Long |
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| 415 | //----------------- |
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| 416 | writex_gpspos( 3, 7, NMEA.Latitude , MNORMAL,-3,1 ); // GPS-Maus: Latitude |
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| 417 | writex_gpspos(12, 7, NMEA.Longitude, MNORMAL, 1,1 ); // GPS-Maus: Longitude |
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| 418 | |||
| 419 | rxd_buffer_locked = FALSE; |
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| 420 | |||
| 421 | timer_mk_timeout = MK_TIMEOUT; |
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| 422 | } |
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| 423 | |||
| 424 | //----------------------------------------- |
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| 425 | // if( !NMEA_receiveBT() ) |
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| 426 | // { |
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| 427 | // receiveNMEA = false; |
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| 428 | // } |
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| 429 | // else |
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| 430 | // { |
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| 431 | // NMEA_GetNewData(); |
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| 432 | // } |
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| 433 | |||
| 434 | |||
| 435 | // Sourcecode aus NaviCtrl/V2.10e/uart1.c |
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| 436 | // FOLLOW_ME |
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| 437 | // else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
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| 438 | // { |
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| 439 | // if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
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| 440 | // { |
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| 441 | // TransmitAlsoToFC = 1; |
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| 442 | // // update FollowMe content |
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| 443 | // FollowMe.Position.Longitude = GPSData.Position.Longitude; |
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| 444 | // FollowMe.Position.Latitude = GPSData.Position.Latitude; |
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| 445 | // FollowMe.Position.Status = NEWDATA; |
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| 446 | // FollowMe.Position.Altitude = 1; |
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| 447 | // // 0 -> no Orientation |
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| 448 | // // 1-360 -> CompassCourse Setpoint |
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| 449 | // // -1 -> points to WP1 -> itself |
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| 450 | // FollowMe.Heading = -1; |
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| 451 | // FollowMe.ToleranceRadius = 1; |
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| 452 | // FollowMe.HoldTime = 60; |
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| 453 | // FollowMe.Event_Flag = 1; |
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| 454 | // FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
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| 455 | // FollowMe.Type = POINT_TYPE_WP; |
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| 456 | // FollowMe.WP_EventChannelValue = 100; // set servo value |
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| 457 | // FollowMe.AltitudeRate = 0; // do not change height |
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| 458 | // FollowMe.Speed = 0; // rate to change the Position (0 = max) |
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| 459 | // FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
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| 460 | // FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
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| 461 | // FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
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| 462 | // FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
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| 463 | // FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
||
| 464 | // FollowMe.reserve[0] = 0; // reserve |
||
| 465 | // FollowMe.reserve[1] = 0; // reserve |
||
| 466 | // MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
||
| 467 | // } |
||
| 468 | // UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
| 469 | // } |
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| 470 | // |
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| 471 | |||
| 2204 | - | 472 | #ifdef USE_FOLLOWME_STEP2 |
| 2136 | - | 473 | |
| 2204 | - | 474 | sendFollowMeData(&FollowMe, &send_followme_counter, &NMEA_GPGGA_counter_old); |
| 2136 | - | 475 | |
| 2204 | - | 476 | #else |
| 2136 | - | 477 | |
| 478 | //----------------------------------------- |
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| 479 | // neue NMEA Daten? |
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| 480 | //----------------------------------------- |
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| 481 | if(NMEA_isdataready() && receiveNMEA) |
||
| 482 | { |
||
| 483 | if( NMEA.Counter > NMEA_GPGGA_counter_old ) |
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| 484 | { |
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| 485 | if( (NMEA.SatsInUse > 5) && (NMEA.SatFix == 1 || NMEA.SatFix == 2) ) |
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| 486 | { |
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| 487 | //Config.FM_Refresh |
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| 488 | |||
| 489 | FollowMe.Position.Status = NEWDATA; |
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| 490 | FollowMe.Position.Longitude = NMEA.Longitude; |
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| 491 | FollowMe.Position.Latitude = NMEA.Latitude; |
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| 492 | FollowMe.Position.Altitude = 1; // 20.7.2015 CB |
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| 493 | // FollowMe.Position.Altitude = NMEA.Altitude; // ist das wirklich ok? NEIN C.B. |
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| 494 | |||
| 495 | FollowMe.Heading = -1; // invalid heading |
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| 496 | FollowMe.ToleranceRadius = Config.FM_Radius; // 5 meter default |
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| 497 | FollowMe.HoldTime = 60; // ????? go home after 60s without any update ?????? |
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| 498 | // FollowMe.Event_Flag = 0; // no event |
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| 499 | FollowMe.Event_Flag = 1; // 20.7.2015 CB |
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| 500 | FollowMe.Index = 1; // 2st wp, 0 = Delete List, 1 place at first entry in the list |
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| 501 | FollowMe.Type = POINT_TYPE_WP; // Typ des Wegpunktes |
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| 502 | FollowMe.Name[0] = 'F'; // Name des Wegpunktes (ASCII) |
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| 503 | FollowMe.Name[1] = 'O'; |
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| 504 | FollowMe.Name[2] = 'L'; |
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| 505 | FollowMe.Name[3] = 'L'; |
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| 506 | // FollowMe.WP_EventChannelValue = 0; // Will be transferred to the FC and can be used as Poti value there |
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| 507 | FollowMe.WP_EventChannelValue = 100; // set servo value 20.7.2015 |
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| 508 | FollowMe.AltitudeRate = 0; // rate to change the Aetpoint |
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| 509 | FollowMe.Speed = Config.FM_Speed; // rate to change the Position |
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| 510 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
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| 511 | FollowMe.reserve[0] = 0; // reserve |
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| 512 | FollowMe.reserve[1] = 0; // reserve |
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| 513 | |||
| 514 | SendOutData( 's', ADDRESS_NC, 1, &FollowMe, sizeof(FollowMe) ); //'s' = target Position 'w' = Waypoint |
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| 515 | send_followme_counter++; |
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| 516 | |||
| 517 | //void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
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| 518 | // SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
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| 519 | //SendOutData( 's', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); //'s' = target Position 'w' = Waypoint |
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| 520 | |||
| 521 | } |
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| 522 | |||
| 523 | NMEA_GPGGA_counter_old = NMEA.Counter; |
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| 524 | } |
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| 525 | } |
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| 526 | |||
| 2204 | - | 527 | #endif |
| 528 | |||
| 2136 | - | 529 | //----------------------------------------- |
| 530 | // TASTEN |
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| 531 | //----------------------------------------- |
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| 532 | if( get_key_press(1 << KEY_ESC) ) |
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| 533 | { |
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| 534 | break; |
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| 535 | } |
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| 536 | |||
| 537 | if( get_key_press(1 << KEY_ENTER) ) |
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| 538 | { |
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| 539 | break; |
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| 540 | } |
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| 541 | |||
| 542 | //----------------------------------------- |
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| 543 | //----------------------------------------- |
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| 544 | if( !abo_timer ) |
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| 545 | { |
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| 546 | // renew abo every 3 sec |
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| 547 | // request OSD Data from NC every 100ms |
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| 548 | // RS232_request_mk_data (1, 'o', 100); |
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| 549 | tmp_dat = 10; |
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| 550 | SendOutData ( 'o', ADDRESS_NC, 1, &tmp_dat, 1); |
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| 551 | |||
| 552 | abo_timer = ABO_TIMEOUT; |
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| 553 | } |
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| 554 | |||
| 555 | //-------------------------- |
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| 556 | // Daten Timeout vom MK? |
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| 557 | //-------------------------- |
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| 558 | if( timer_mk_timeout == 0 ) |
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| 559 | { |
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| 560 | if( !mktimeout ) OSD_MK_ShowTimeout(); // nur anzeigen wenn noch nicht im mktimeout-Modus |
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| 561 | set_beep ( 200, 0x0080, BeepNormal); // Beep |
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| 562 | mktimeout = true; |
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| 563 | timer_mk_timeout = MK_TIMEOUT; |
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| 564 | //OSDScreenRefresh = OSD_SCREEN_REDRAW; |
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| 565 | // OSD_MK_Connect( MK_CONNECT ); |
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| 566 | } |
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| 567 | |||
| 568 | } // end: while( (receiveNMEA) ); |
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| 569 | |||
| 2204 | - | 570 | OSD_active = false; |
| 2136 | - | 571 | |
| 2204 | - | 572 | GPSMouse_Disconnect(); |
| 573 | } |
||
| 2136 | - | 574 | |
| 575 | |||
| 576 | |||
| 2204 | - | 577 | |
| 578 | // Funktion sendFollowMeData angepasst auf Zeiger |
||
| 579 | // ausgelagert als Funktion, da auch von FollowMeStep2 verwendet wird |
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| 580 | // TODO: testen mit Simulator und Kopter :-) |
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| 581 | |||
| 582 | void sendFollowMeData(Point_t *tFollowMe, uint32_t *tsend_followme_counter, uint32_t *tNMEA_GPGGA_counter_old) |
||
| 583 | { |
||
| 584 | Point_t FollowMe = *tFollowMe; |
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| 585 | |||
| 586 | if(NMEA_isdataready() && receiveNMEA) |
||
| 587 | { |
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| 588 | if( NMEA.Counter > *tNMEA_GPGGA_counter_old ) |
||
| 589 | { |
||
| 590 | if( (NMEA.SatsInUse > 5) && (NMEA.SatFix == 1 || NMEA.SatFix == 2) ) |
||
| 591 | { |
||
| 592 | FollowMe.Position.Status = NEWDATA; |
||
| 593 | FollowMe.Position.Longitude = NMEA.Longitude; |
||
| 594 | FollowMe.Position.Latitude = NMEA.Latitude; |
||
| 595 | FollowMe.Position.Altitude = 1; // 20.7.2015 CB |
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| 596 | |||
| 597 | FollowMe.Heading = -1; // invalid heading |
||
| 598 | FollowMe.ToleranceRadius = Config.FM_Radius; // 5 meter default |
||
| 599 | FollowMe.HoldTime = 60; // ????? go home after 60s without any update ?????? |
||
| 600 | FollowMe.Event_Flag = 1; // 20.7.2015 CB |
||
| 601 | FollowMe.Index = 1; // 2st wp, 0 = Delete List, 1 place at first entry in the list |
||
| 602 | FollowMe.Type = POINT_TYPE_WP; // Typ des Wegpunktes |
||
| 603 | FollowMe.Name[0] = 'F'; // Name des Wegpunktes (ASCII) |
||
| 604 | FollowMe.Name[1] = 'O'; |
||
| 605 | FollowMe.Name[2] = 'L'; |
||
| 606 | FollowMe.Name[3] = 'L'; |
||
| 607 | FollowMe.WP_EventChannelValue = 100; // set servo value 20.7.2015 |
||
| 608 | FollowMe.AltitudeRate = 0; // rate to change the Aetpoint |
||
| 609 | FollowMe.Speed = Config.FM_Speed; // rate to change the Position |
||
| 610 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
||
| 611 | FollowMe.reserve[0] = 0; // reserve |
||
| 612 | FollowMe.reserve[1] = 0; // reserve |
||
| 613 | |||
| 614 | SendOutData( 's', ADDRESS_NC, 1, &FollowMe, sizeof(FollowMe) ); //'s' = target Position 'w' = Waypoint |
||
| 615 | *tsend_followme_counter += 1; |
||
| 616 | } |
||
| 617 | |||
| 618 | *tNMEA_GPGGA_counter_old = NMEA.Counter; |
||
| 619 | } |
||
| 620 | } |
||
| 2136 | - | 621 | } |
| 622 | |||
| 623 | |||
| 624 | |||
| 625 | |||
| 2204 | - | 626 | // FollowMeStep2: |
| 2136 | - | 627 | |
| 2200 | - | 628 | #ifdef USE_FOLLOWME_STEP2 |
| 2136 | - | 629 | void Debug_GPS (void) |
| 630 | { |
||
| 2199 | - | 631 | uint8_t redraw; |
| 2195 | - | 632 | |
| 2199 | - | 633 | set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
| 634 | redraw = true; |
||
| 2136 | - | 635 | |
| 2205 | - | 636 | //#define OFFLINE |
| 637 | #ifndef OFFLINE |
||
| 2200 | - | 638 | int retcode = GPSMouse_Connect(); // Abfrage der GPS-Daten zum testen Quick an Dirty ;-) |
| 639 | if( retcode <= 0 ) |
||
| 640 | { |
||
| 641 | return; |
||
| 642 | } |
||
| 2205 | - | 643 | #endif |
| 2195 | - | 644 | |
| 2205 | - | 645 | /* // DEBUG |
| 646 | NMEApos.lat = 520000000; |
||
| 647 | NMEApos.lon = 0; |
||
| 648 | Config.FM_Azimuth = 90; |
||
| 649 | Config.FM_Distance = 10000; |
||
| 650 | */ |
||
| 651 | |||
| 2199 | - | 652 | while( true ) |
| 653 | { |
||
| 2204 | - | 654 | NMEApos.lat = NMEA.Latitude; |
| 655 | NMEApos.lon = NMEA.Longitude; |
||
| 2136 | - | 656 | |
| 2199 | - | 657 | if( redraw ) |
| 658 | { |
||
| 659 | lcd_cls(); |
||
| 2136 | - | 660 | |
| 2200 | - | 661 | lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("FollowMeStep2") ); // Titel: oben, mitte |
| 662 | lcdx_printf_center_P( 1, MNORMAL, 1,0, PSTR(" Source Lat/Lon") ); |
||
| 663 | lcdx_printf_center_P( 3, MNORMAL, 1,0, PSTR(" Target Lat/Lon") ); |
||
| 2136 | - | 664 | |
| 2199 | - | 665 | redraw = false; |
| 666 | } |
||
| 2136 | - | 667 | |
| 2205 | - | 668 | writex_gpspos( 1, 2, NMEApos.lat, MNORMAL, 0,0 ); // GPS-Maus: Latitude |
| 669 | writex_gpspos(10, 2, NMEApos.lon, MNORMAL, 0,0 ); // GPS-Maus: Longitude |
||
| 2136 | - | 670 | |
| 2205 | - | 671 | followme_calculate_offset(Config.FM_Distance, Config.FM_Azimuth, &followMeOffset); |
| 2136 | - | 672 | |
| 2205 | - | 673 | // DEBUG |
| 674 | writex_gpspos( 1, 6, (int32_t)Config.FM_Azimuth*100 , MNORMAL, 0, 0 ); |
||
| 675 | writex_gpspos( 10, 6, (int32_t)Config.FM_Distance*100 , MNORMAL, 0, 0 ); |
||
| 676 | writex_gpspos( 1, 7, (int32_t)followMeOffset.offset_lat*100 , MNORMAL, 0, 0 ); |
||
| 677 | writex_gpspos( 10, 7, (int32_t)followMeOffset.offset_long*100 , MNORMAL, 0, 0 ); |
||
| 2136 | - | 678 | |
| 2204 | - | 679 | followme_add_offset(&NMEApos, &NMEATarget, &followMeOffset); |
| 680 | |||
| 2205 | - | 681 | writex_gpspos( 1, 4, (int32_t)NMEATarget.lat , MNORMAL, 0, 0 ); // Ziel Latitude |
| 682 | writex_gpspos(10, 4, (int32_t)NMEATarget.lon , MNORMAL, 0, 0 ); // Ziel Longitude |
||
| 2136 | - | 683 | |
| 684 | |||
| 2199 | - | 685 | if( get_key_press(1 << KEY_ESC) ) |
| 686 | { |
||
| 2205 | - | 687 | #ifndef OFFLINE |
| 2200 | - | 688 | GPSMouse_Disconnect(); |
| 2205 | - | 689 | #endif |
| 2199 | - | 690 | break; |
| 691 | } |
||
| 2136 | - | 692 | |
| 2205 | - | 693 | |
| 2199 | - | 694 | if( get_key_press(1 << KEY_ENTER) ) |
| 695 | { |
||
| 2205 | - | 696 | redraw = true; |
| 2199 | - | 697 | // break; |
| 698 | } |
||
| 2205 | - | 699 | |
| 700 | if( get_key_press(1 << KEY_MINUS) ) |
||
| 701 | { |
||
| 702 | Config.FM_Azimuth -= 10; |
||
| 703 | redraw = true; |
||
| 704 | } |
||
| 705 | if( get_key_press(1 << KEY_PLUS) ) |
||
| 706 | { |
||
| 707 | Config.FM_Azimuth += 10; |
||
| 708 | redraw = true; |
||
| 709 | } |
||
| 2136 | - | 710 | } |
| 2205 | - | 711 | } |
| 2136 | - | 712 | |
| 2195 | - | 713 | |
| 714 | |||
| 715 | |||
| 2199 | - | 716 | |
| 2204 | - | 717 | #endif // FOLLOW_ME_STEP2 |
| 2136 | - | 718 | |
| 719 | #endif // #ifdef USE_FOLLOWME |
||
| 720 | |||
| 721 |