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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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2212 | - | 39 | //# |
2214 | - | 40 | //# 14.10.2015 Starter |
41 | //# - Added Offset to FollowMe |
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42 | //# - Stuff in FollowMeStep2 only for debug! |
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2212 | - | 43 | //# |
44 | //# 22.09.2015 Starter |
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45 | //# - FollowMeStep2 erweitert mit Kreisberechnung und test auf PKT |
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46 | //# - PKT-Pos von lat lon auf latitude und longitude umbenannt |
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47 | //# |
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2200 | - | 48 | //# 20.09.2015 Starter |
49 | //# FollowMeStep2 erweitert auf aktuelle GPS-Daten und followme_calculate_offset(...) |
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50 | //# |
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2136 | - | 51 | //# 03.08.2015 Cebra |
52 | //# - add: void Debug_GPS (void) hinzugefügt zur Test der GPS Berechnung FollowMe |
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53 | //# |
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54 | //# 20.07.2015 CB |
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55 | //# - chg: FollowMe Datensatz an NC.211 angepasst |
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56 | //# |
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57 | //# 27.06.2014 OG |
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58 | //# - chg: Anzeige von Satfix und Satanzahl auf MINVERSX, MNORMALX |
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59 | //# |
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60 | //# 26.06.2014 OG |
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61 | //# - chg: angepasst auf neue NMEA-Datenstruktur (gps_nmea.h) |
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62 | //# |
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63 | //# 24.06.2014 OG |
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64 | //# - chg: FollowMe() angepasst auf geaendertes GPSMouse_ShowData() |
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65 | //# |
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66 | //# 22.06.2014 OG |
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67 | //# - chg: FollowMe() umgestellt auf GPSMouse_ShowData() (in gps/gpsmouse.c) |
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68 | //# - del: Variable CheckGPS |
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69 | //# |
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70 | //# 21.06.2014 OG |
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71 | //# - chg: verschiedene Layoutaenderungen am Anzeigescreen und Anzeige der |
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72 | //# Entfernung zwischen Kopter und Target |
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73 | //# - chg: MK-Timeoutout Erkennung verbessert/angepasst |
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74 | //# |
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75 | //# 19.06.2014 OG |
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76 | //# - erster Prototyp der Follow Me zum Kopter sendet |
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77 | //# - etliche Aenderungen im Codeaufbau |
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78 | //# |
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79 | //# 01.06.2014 OG |
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80 | //# - chg: FollowMe() - verschiedene Anzeigefunktionen auskommentiert und |
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81 | //# als DEPRICATED Klassifiziert wegen Cleanup der alten OSD Screens |
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82 | //# - chg: FollowMe() - Check bzgl. NC-Hardware entfernt da das bereits durch das |
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83 | //# Hauptmenue erledigt wird |
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84 | //# |
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85 | //# 13.05.2014 OG |
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86 | //# - chg: FollowMe() - Variable 'flag' auskommentiert |
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87 | //# wegen Warning: variable set but not used |
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88 | //# - chg: FollowMe() - Variable 'old_FCFlags' auskommentiert |
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89 | //# wegen Warning: variable set but not used |
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90 | //# - chg: FollowMe() - den Bereich in dem FC-Settings geladen werdeb |
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91 | //# auskommentiert weil man das a) vorallem nicht benoetigt |
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92 | //# und b) die load_setting() so nicht mehr existiert |
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93 | //# (der Codebereich kann meines erachtens geloescht werden) |
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94 | //# - del: verschiedene Verweise auf 'mk_param_struct' entfernt, weil es |
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95 | //# das a) nicht mehr gibt und b) hier gar nicht benoetigt wird |
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96 | //# - chg: FollowMe() - OSD_Timeout() entfernt (weil es das nicht mehr gibt) |
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97 | //# und erstmal durch ein PKT_Message_P() ersetzt |
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98 | //# * ACHTUNG: UNGETESTET! * (bei Bedarf anpassen, followme hat niedrige Prio) |
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99 | //# - add: #include "../pkt/pkt.h" |
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100 | //# |
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101 | //# 05.05.2013 Cebra |
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102 | //# - chg: #ifdef USE_FOLLOWME |
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103 | //# |
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104 | //############################################################################ |
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105 | |||
106 | #include "../cpu.h" |
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107 | #include <avr/io.h> |
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108 | #include <inttypes.h> |
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109 | #include <stdlib.h> |
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110 | #include <avr/pgmspace.h> |
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111 | #include <util/delay.h> |
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112 | |||
113 | #include <string.h> |
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114 | #include <stdarg.h> |
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115 | #include <stdio.h> |
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116 | |||
117 | #include "../main.h" |
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118 | |||
119 | #ifdef USE_FOLLOWME |
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120 | |||
121 | #include "../followme/followme.h" |
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122 | #include "../osd/osd.h" |
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123 | #include "../lcd/lcd.h" |
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124 | #include "../timer/timer.h" |
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125 | #include "../uart/usart.h" |
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126 | #include "../eeprom/eeprom.h" |
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127 | #include "../messages.h" |
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128 | #include "../bluetooth/bluetooth.h" |
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129 | #include "../setup/setup.h" |
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130 | #include "../uart/uart1.h" |
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131 | #include "../mk-data-structs.h" |
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132 | #include "../pkt/pkt.h" |
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133 | #include "../gps/gps.h" |
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134 | //#include "../gps/gps_nmea.h" |
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135 | #include "../avr-nmea-gps-library/nmea.h" |
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136 | #include "../gps/gpsmouse.h" |
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137 | |||
138 | |||
139 | //####################################################################################################################### |
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140 | |||
141 | |||
142 | //-------------------- |
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143 | // Timings |
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144 | //-------------------- |
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145 | //#define MK_TIMEOUT 300 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (3 sec) |
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146 | #define MK_TIMEOUT 400 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (4 sec) |
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147 | |||
148 | |||
149 | |||
150 | //-------------------- |
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151 | #define COSD_WASFLYING 4 |
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152 | |||
153 | // global definitions and global vars |
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154 | NaviData_t *naviData; |
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155 | unsigned char Element; |
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156 | uint16_t heading_home; |
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157 | |||
158 | // Hier Höhenanzeigefehler Korrigieren |
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159 | #define AltimeterAdjust 1.5 |
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160 | |||
2212 | - | 161 | positionOffset followMeOffset; |
2136 | - | 162 | |
163 | |||
2212 | - | 164 | |
2136 | - | 165 | // Flags |
166 | //uint8_t COSD_FLAGS2 = 0; |
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167 | // |
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168 | //GPS_Pos_t last5pos[7]; |
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169 | uint8_t FM_error = 0; |
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170 | |||
171 | |||
172 | //--------------------- |
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173 | // Waypoint Types |
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174 | // TODO OG: verschieben nach: mk-data-structs.h |
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175 | //--------------------- |
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176 | #define POINT_TYPE_INVALID 255 |
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177 | #define POINT_TYPE_WP 0 |
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178 | #define POINT_TYPE_POI 1 |
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179 | |||
180 | |||
181 | //--------------------- |
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182 | // Status |
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183 | // GPS_Pos_t |
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184 | // aus MK source |
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185 | // |
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186 | // TODO OG: verschieben nach: mk-data-structs.h |
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187 | //--------------------- |
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188 | #define INVALID 0x00 |
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189 | #define NEWDATA 0x01 |
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190 | #define PROCESSED 0x02 |
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191 | |||
192 | |||
193 | |||
194 | //-------------------------------------------------------------- |
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195 | //-------------------------------------------------------------- |
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196 | void FollowMe( void ) |
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197 | { |
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198 | //uint8_t status; |
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199 | GPS_Pos_t currpos; |
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200 | uint8_t tmp_dat; |
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201 | uint8_t redraw; |
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202 | uint8_t drawmode; |
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203 | uint32_t NMEA_GPGGA_counter_old; // Merker: zaehlt empfangene GPGGA-Pakete |
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204 | uint32_t send_followme_counter; |
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205 | |||
206 | int8_t ok; |
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207 | int8_t xoffs; |
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208 | int8_t yoffs; |
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209 | Point_t FollowMe; |
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210 | uint8_t mktimeout = false; |
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211 | |||
2214 | - | 212 | nmeaPOS NMEApos; |
213 | nmeaPOS NMEAtarget; |
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2136 | - | 214 | |
215 | GPS_PosDev_t targetdev; |
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216 | |||
217 | |||
218 | //--------------------- |
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219 | // 1. Daten GPS-Maus |
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220 | //--------------------- |
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221 | ok = GPSMouse_ShowData( GPSMOUSE_SHOW_WAITSATFIX, 500 ); // 500 = 5 Sekunden Verzoegerung nach Satfix |
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222 | if( ok <= 0 ) |
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223 | { |
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224 | return; // Fehler bzgl. BT GPS-Maus -> exit |
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225 | } |
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226 | |||
227 | |||
228 | //--------------------- |
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229 | // 2. Follow Me |
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230 | //--------------------- |
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231 | set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
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232 | |||
233 | lcd_cls (); |
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234 | |||
235 | SwitchToNC(); |
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236 | |||
237 | mode = 'O'; |
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238 | |||
239 | // disable debug... |
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240 | // RS232_request_mk_data (0, 'd', 0); |
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241 | tmp_dat = 0; |
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242 | SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
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243 | |||
244 | // request OSD Data from NC every 100ms |
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245 | // RS232_request_mk_data (1, 'o', 100); |
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246 | tmp_dat = 10; |
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247 | SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
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248 | |||
249 | //OSD_active = true; // benötigt für Navidata Ausgabe an SV2 |
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250 | |||
251 | //------------------------- |
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252 | // Init: Timer & Flags |
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253 | //------------------------- |
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254 | timer_mk_timeout = MK_TIMEOUT; |
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255 | |||
256 | abo_timer = ABO_TIMEOUT; |
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257 | |||
258 | |||
259 | MKLiPoCells_Init(); |
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260 | |||
261 | redraw = true; |
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262 | |||
263 | NMEA.Counter = 0; |
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264 | NMEA_GPGGA_counter_old = 0; |
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265 | send_followme_counter = 0; |
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266 | |||
267 | |||
268 | while( (receiveNMEA) ) |
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269 | { |
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270 | //----------------------------------------- |
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271 | // Screen redraw |
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272 | //----------------------------------------- |
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273 | if( redraw ) |
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274 | { |
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275 | lcd_cls(); |
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276 | |||
277 | lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("FollowMe") ); // Titel: oben, mitte |
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278 | |||
279 | lcd_line( (6*6-3), 0, (6*6-3), 11, 1); // Linie Vertikal links |
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280 | lcd_line( (15*6+5), 0, (15*6+5), 11, 1); // Linie Vertikal rechts |
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281 | lcd_line( 0, 12, 127, 12, 1); // Linie Horizontal |
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282 | |||
283 | //lcd_line( 0, 39, 127, 39, 1); // Linie Horizontal Mitte |
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284 | lcd_line( 66, 39, 127, 39, 1); // Linie Horizontal Mitte |
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285 | |||
286 | lcd_rect_round( 0, 33, 66, 12, 1, R1); // Rahmen fuer "Di" (Distance) |
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287 | |||
288 | lcdx_printf_at_P( 3, 2, MNORMAL, 3,-1, PSTR("Al:") ); // Label: "Al:" |
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289 | |||
290 | draw_icon_mk( 1, 18); |
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291 | draw_icon_target_round( 1, 50); |
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292 | |||
293 | redraw = false; |
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294 | } |
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295 | |||
296 | |||
297 | |||
298 | //----------------------------------------- |
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299 | // neue MK Daten vorhanden |
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300 | //----------------------------------------- |
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301 | if( rxd_buffer_locked ) // neue MK Daten |
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302 | { |
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303 | Decode64 (); |
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304 | naviData = (NaviData_t *) pRxData; |
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305 | |||
306 | if( mktimeout ) redraw = true; |
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307 | mktimeout = false; |
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308 | |||
309 | FM_error = 0; // noch benoetigt? |
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310 | |||
311 | currpos.Latitude = naviData->CurrentPosition.Latitude; |
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312 | currpos.Longitude = naviData->CurrentPosition.Longitude; |
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313 | |||
314 | //---------------------------------- |
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315 | // speichere letzte GPS-Positionen |
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316 | //---------------------------------- |
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317 | Config.LastLatitude = naviData->CurrentPosition.Latitude; // speichere letzte Position in Config |
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318 | Config.LastLongitude = naviData->CurrentPosition.Longitude; // speichere letzte Position in Config |
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319 | |||
320 | |||
321 | //---------------------------------- |
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322 | // LiPo Cell Check |
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323 | //---------------------------------- |
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324 | MKLiPoCells_Check(); // ggf. Zellenzahl ermitteln |
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325 | |||
326 | |||
327 | //################# |
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328 | //# MK |
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329 | //################# |
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330 | |||
331 | //----------------- |
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332 | // Oben: MK-Batt Level (Volt) |
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333 | //----------------- |
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334 | OSD_Element_BattLevel2( 0, 0, 0,0 ); |
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335 | |||
336 | //----------------- |
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337 | // Oben: Batt Level Bar |
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338 | //----------------- |
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339 | OSD_Element_Battery_Bar( 0, 9, 30, 1, ORIENTATION_H); |
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340 | |||
341 | //----------------- |
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342 | // Oben: MK-Flugzeit |
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343 | //----------------- |
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344 | writex_time(16, 0, naviData->FlyingTime, MNORMAL, 2,0); |
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345 | |||
346 | //----------------- |
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347 | // Hoehe |
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348 | //----------------- |
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349 | xoffs = 3; |
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350 | yoffs = -1; |
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351 | writex_altimeter( 7, 2, naviData->Altimeter, MNORMAL, xoffs,yoffs ); |
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352 | |||
353 | //----------------- |
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354 | // MK: Sat Anzahl |
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355 | //----------------- |
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356 | yoffs = -27; |
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2212 | - | 357 | if( naviData->SatsInUse > 5 ) |
358 | drawmode = MNORMALX; |
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359 | else |
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360 | drawmode = MINVERSX; |
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2136 | - | 361 | writex_ndigit_number_u( 17, 5, naviData->SatsInUse, 2, 0,drawmode, 3,2+yoffs); |
362 | draw_icon_satmini( 116+3, 42+yoffs); |
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363 | |||
364 | |||
365 | //----------------- |
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366 | // MK: GPS |
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367 | //----------------- |
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368 | writex_gpspos( 3, 4, currpos.Latitude , MNORMAL,-3,-8 ); // Line 4 L: Latitude |
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369 | writex_gpspos(12, 4, currpos.Longitude, MNORMAL, 1,-8 ); // Line 4 R: Longitude |
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370 | // lcdx_printf_at_P( 1, 4, MNORMAL, -3,-8 , PSTR("%d"), NMEA.Latitude); |
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371 | // lcdx_printf_at_P( 10, 4, MNORMAL, -1,-8 , PSTR("%d"), NMEA.Longitude); |
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372 | |||
373 | |||
374 | |||
375 | //################# |
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376 | //# DISTANCE TO TARGET |
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377 | //################# |
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378 | |||
379 | //----------------- |
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380 | // Target: Distance to Target |
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381 | //----------------- |
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382 | xoffs = 7; |
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383 | yoffs = 4; |
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384 | //GPS_PosDev_t gps_Deviation( GPS_Pos_t pos1, GPS_Pos_t pos2 ) |
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385 | targetdev = gps_Deviation( FollowMe.Position, naviData->CurrentPosition); |
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386 | lcdx_printf_at_P( 0, 4, MNORMAL, xoffs,yoffs , PSTR("Di: %3d m"), (targetdev.Distance / 10) ); |
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387 | |||
388 | |||
389 | //################# |
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390 | //# TARGET (GPS Maus) |
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391 | //################# |
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392 | |||
393 | yoffs = 8; |
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394 | |||
395 | //----------------- |
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396 | // Send Counter |
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397 | //----------------- |
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398 | //lcdx_printf_at_P(4, 5, MNORMAL, 0,5, PSTR("S: %ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
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399 | lcdx_printf_at_P( 4, 5, MNORMAL, -3,yoffs, PSTR("Tx:%5ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
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400 | |||
401 | |||
402 | //----------------- |
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403 | // Target: Fix |
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404 | //----------------- |
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405 | if( NMEA.SatFix == 1 || NMEA.SatFix == 2 ) |
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406 | drawmode = MNORMALX; |
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407 | else |
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408 | drawmode = MINVERSX; |
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409 | |||
410 | lcdx_printf_at_P( 14, 5, drawmode, 1,yoffs, PSTR("F:%1d"), NMEA.SatFix ); // GPS-Maus: Satfix |
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411 | |||
412 | |||
413 | //----------------- |
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414 | // Target: Sat Anzahl |
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415 | //----------------- |
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416 | if( NMEA.SatsInUse > 5 ) |
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417 | drawmode = MNORMALX; |
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418 | else |
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419 | drawmode = MINVERSX; |
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420 | |||
421 | writex_ndigit_number_u( 17, 5, NMEA.SatsInUse, 2, 0,drawmode, 4,yoffs); |
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422 | draw_icon_satmini( 116+4, 40+yoffs); |
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423 | |||
424 | |||
425 | //----------------- |
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426 | // Target: Lat / Long |
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427 | //----------------- |
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428 | writex_gpspos( 3, 7, NMEA.Latitude , MNORMAL,-3,1 ); // GPS-Maus: Latitude |
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429 | writex_gpspos(12, 7, NMEA.Longitude, MNORMAL, 1,1 ); // GPS-Maus: Longitude |
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430 | |||
431 | rxd_buffer_locked = FALSE; |
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432 | |||
433 | timer_mk_timeout = MK_TIMEOUT; |
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434 | } |
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435 | |||
436 | //----------------------------------------- |
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437 | // if( !NMEA_receiveBT() ) |
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438 | // { |
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439 | // receiveNMEA = false; |
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440 | // } |
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441 | // else |
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442 | // { |
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443 | // NMEA_GetNewData(); |
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444 | // } |
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445 | |||
446 | |||
447 | // Sourcecode aus NaviCtrl/V2.10e/uart1.c |
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448 | // FOLLOW_ME |
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449 | // else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
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450 | // { |
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451 | // if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
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452 | // { |
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453 | // TransmitAlsoToFC = 1; |
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454 | // // update FollowMe content |
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455 | // FollowMe.Position.Longitude = GPSData.Position.Longitude; |
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456 | // FollowMe.Position.Latitude = GPSData.Position.Latitude; |
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457 | // FollowMe.Position.Status = NEWDATA; |
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458 | // FollowMe.Position.Altitude = 1; |
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459 | // // 0 -> no Orientation |
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460 | // // 1-360 -> CompassCourse Setpoint |
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461 | // // -1 -> points to WP1 -> itself |
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462 | // FollowMe.Heading = -1; |
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463 | // FollowMe.ToleranceRadius = 1; |
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464 | // FollowMe.HoldTime = 60; |
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465 | // FollowMe.Event_Flag = 1; |
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466 | // FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
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467 | // FollowMe.Type = POINT_TYPE_WP; |
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468 | // FollowMe.WP_EventChannelValue = 100; // set servo value |
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469 | // FollowMe.AltitudeRate = 0; // do not change height |
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470 | // FollowMe.Speed = 0; // rate to change the Position (0 = max) |
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471 | // FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
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472 | // FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
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473 | // FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
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474 | // FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
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475 | // FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
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476 | // FollowMe.reserve[0] = 0; // reserve |
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477 | // FollowMe.reserve[1] = 0; // reserve |
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478 | // MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
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479 | // } |
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480 | // UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
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481 | // } |
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482 | // |
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483 | |||
484 | |||
485 | |||
486 | |||
487 | //----------------------------------------- |
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488 | // neue NMEA Daten? |
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489 | //----------------------------------------- |
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490 | if(NMEA_isdataready() && receiveNMEA) |
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491 | { |
||
492 | if( NMEA.Counter > NMEA_GPGGA_counter_old ) |
||
493 | { |
||
494 | if( (NMEA.SatsInUse > 5) && (NMEA.SatFix == 1 || NMEA.SatFix == 2) ) |
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495 | { |
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496 | //Config.FM_Refresh |
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497 | |||
2212 | - | 498 | // FollowMeStep2 |
2214 | - | 499 | followMeOffset.latitude = Config.FM_Offest_Latitude; |
500 | followMeOffset.longitude = Config.FM_Offset_Longitude; |
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2212 | - | 501 | |
2214 | - | 502 | NMEApos.latitude = NMEA.Latitude; |
503 | NMEApos.longitude = NMEA.Longitude; |
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504 | |||
505 | followme_add_offset(&NMEApos, &NMEAtarget, &followMeOffset); |
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506 | |||
2136 | - | 507 | FollowMe.Position.Status = NEWDATA; |
2214 | - | 508 | FollowMe.Position.Longitude = NMEAtarget.longitude; |
509 | FollowMe.Position.Latitude = NMEAtarget.latitude; |
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2136 | - | 510 | FollowMe.Position.Altitude = 1; // 20.7.2015 CB |
511 | // FollowMe.Position.Altitude = NMEA.Altitude; // ist das wirklich ok? NEIN C.B. |
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512 | |||
513 | FollowMe.Heading = -1; // invalid heading |
||
514 | FollowMe.ToleranceRadius = Config.FM_Radius; // 5 meter default |
||
515 | FollowMe.HoldTime = 60; // ????? go home after 60s without any update ?????? |
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516 | // FollowMe.Event_Flag = 0; // no event |
||
517 | FollowMe.Event_Flag = 1; // 20.7.2015 CB |
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518 | FollowMe.Index = 1; // 2st wp, 0 = Delete List, 1 place at first entry in the list |
||
519 | FollowMe.Type = POINT_TYPE_WP; // Typ des Wegpunktes |
||
520 | FollowMe.Name[0] = 'F'; // Name des Wegpunktes (ASCII) |
||
521 | FollowMe.Name[1] = 'O'; |
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522 | FollowMe.Name[2] = 'L'; |
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523 | FollowMe.Name[3] = 'L'; |
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524 | // FollowMe.WP_EventChannelValue = 0; // Will be transferred to the FC and can be used as Poti value there |
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525 | FollowMe.WP_EventChannelValue = 100; // set servo value 20.7.2015 |
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526 | FollowMe.AltitudeRate = 0; // rate to change the Aetpoint |
||
527 | FollowMe.Speed = Config.FM_Speed; // rate to change the Position |
||
528 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
||
529 | FollowMe.reserve[0] = 0; // reserve |
||
530 | FollowMe.reserve[1] = 0; // reserve |
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531 | |||
532 | SendOutData( 's', ADDRESS_NC, 1, &FollowMe, sizeof(FollowMe) ); //'s' = target Position 'w' = Waypoint |
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533 | send_followme_counter++; |
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534 | |||
535 | //void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
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536 | // SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
||
537 | //SendOutData( 's', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); //'s' = target Position 'w' = Waypoint |
||
538 | |||
539 | } |
||
540 | |||
541 | NMEA_GPGGA_counter_old = NMEA.Counter; |
||
542 | } |
||
543 | } |
||
544 | |||
545 | //----------------------------------------- |
||
546 | // TASTEN |
||
547 | //----------------------------------------- |
||
548 | if( get_key_press(1 << KEY_ESC) ) |
||
549 | { |
||
550 | break; |
||
551 | } |
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552 | |||
553 | if( get_key_press(1 << KEY_ENTER) ) |
||
554 | { |
||
555 | break; |
||
556 | } |
||
557 | |||
558 | //----------------------------------------- |
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559 | //----------------------------------------- |
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560 | if( !abo_timer ) |
||
561 | { |
||
562 | // renew abo every 3 sec |
||
563 | // request OSD Data from NC every 100ms |
||
564 | // RS232_request_mk_data (1, 'o', 100); |
||
565 | tmp_dat = 10; |
||
566 | SendOutData ( 'o', ADDRESS_NC, 1, &tmp_dat, 1); |
||
567 | |||
568 | abo_timer = ABO_TIMEOUT; |
||
569 | } |
||
570 | |||
571 | //-------------------------- |
||
572 | // Daten Timeout vom MK? |
||
573 | //-------------------------- |
||
574 | if( timer_mk_timeout == 0 ) |
||
575 | { |
||
576 | if( !mktimeout ) OSD_MK_ShowTimeout(); // nur anzeigen wenn noch nicht im mktimeout-Modus |
||
577 | set_beep ( 200, 0x0080, BeepNormal); // Beep |
||
578 | mktimeout = true; |
||
579 | timer_mk_timeout = MK_TIMEOUT; |
||
580 | //OSDScreenRefresh = OSD_SCREEN_REDRAW; |
||
581 | // OSD_MK_Connect( MK_CONNECT ); |
||
582 | } |
||
583 | |||
584 | } // end: while( (receiveNMEA) ); |
||
585 | |||
586 | |||
587 | |||
588 | //--------------------- |
||
589 | // BEENDEN |
||
590 | //--------------------- |
||
591 | OSD_active = false; |
||
592 | |||
593 | |||
594 | //--------------------- |
||
595 | // GPS beenden |
||
596 | //--------------------- |
||
597 | GPSMouse_Disconnect(); |
||
598 | } |
||
599 | |||
600 | |||
601 | |||
602 | |||
603 | |||
2200 | - | 604 | // |
605 | #ifdef USE_FOLLOWME_STEP2 |
||
2136 | - | 606 | void Debug_GPS (void) |
607 | { |
||
2212 | - | 608 | uint8_t redraw = true; |
609 | nmeaPOS NMEApos; |
||
610 | nmeaPOS NMEATarget; |
||
2195 | - | 611 | |
2199 | - | 612 | set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
2136 | - | 613 | |
614 | |||
2212 | - | 615 | #ifdef ONLINE |
616 | int retcode = GPSMouse_Connect(); // Abfrage der GPS-Daten zum testen -> Quick an Dirty ;-) |
||
2200 | - | 617 | if( retcode <= 0 ) |
618 | { |
||
619 | return; |
||
620 | } |
||
2212 | - | 621 | #endif |
2195 | - | 622 | |
2212 | - | 623 | #ifdef DEBUG |
624 | // NMEApos.lat = 520000000; |
||
625 | // NMEApos.lon = 0; |
||
626 | // Config.FM_Azimuth = 90; |
||
627 | // Config.FM_Distance = 10000; |
||
628 | #endif |
||
2200 | - | 629 | |
2199 | - | 630 | while( true ) |
631 | { |
||
2212 | - | 632 | NMEApos.latitude = NMEA.Latitude; |
633 | NMEApos.longitude = NMEA.Longitude; |
||
2136 | - | 634 | |
2199 | - | 635 | if( redraw ) |
636 | { |
||
637 | lcd_cls(); |
||
2136 | - | 638 | |
2212 | - | 639 | lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("FollowMeStep2") ); |
2200 | - | 640 | lcdx_printf_center_P( 1, MNORMAL, 1,0, PSTR(" Source Lat/Lon") ); |
641 | lcdx_printf_center_P( 3, MNORMAL, 1,0, PSTR(" Target Lat/Lon") ); |
||
2136 | - | 642 | |
2199 | - | 643 | redraw = false; |
644 | } |
||
2136 | - | 645 | |
2212 | - | 646 | writex_gpspos( 1, 2, NMEApos.latitude, MNORMAL, 0,0 ); // GPS-Maus: Latitude |
647 | writex_gpspos(10, 2, NMEApos.longitude, MNORMAL, 0,0 ); // GPS-Maus: Longitude |
||
2136 | - | 648 | |
2214 | - | 649 | followme_calculate_offset(Config.FM_Offset_Longitude, Config.FM_Offest_Latitude, &followMeOffset); |
2136 | - | 650 | |
2212 | - | 651 | #ifdef DEBUG |
2214 | - | 652 | writex_gpspos( 1, 6, (int32_t)Config.FM_Offest_Latitude*100, MNORMAL, 0, 0 ); |
653 | writex_gpspos( 10, 6, (int32_t)Config.FM_Offset_Longitude*100, MNORMAL, 0, 0 ); |
||
2212 | - | 654 | writex_gpspos( 1, 7, (int32_t)followMeOffset.latitude*100, MNORMAL, 0, 0 ); |
655 | writex_gpspos( 10, 7, (int32_t)followMeOffset.longitude*100, MNORMAL, 0, 0 ); |
||
656 | #endif |
||
2136 | - | 657 | |
2212 | - | 658 | followme_add_offset(&NMEApos, &NMEATarget, &followMeOffset); |
2136 | - | 659 | |
2212 | - | 660 | writex_gpspos( 1, 4, (int32_t)NMEATarget.latitude, MNORMAL, 0, 0 ); // Ziel Latitude |
661 | writex_gpspos(10, 4, (int32_t)NMEATarget.longitude, MNORMAL, 0, 0 ); // Ziel Longitude |
||
2136 | - | 662 | |
663 | |||
664 | |||
665 | |||
2212 | - | 666 | // Tasten |
2199 | - | 667 | if( get_key_press(1 << KEY_ESC) ) |
668 | { |
||
2212 | - | 669 | #ifdef ONLINE |
2200 | - | 670 | GPSMouse_Disconnect(); |
2212 | - | 671 | #endif |
2199 | - | 672 | break; |
673 | } |
||
2136 | - | 674 | |
2199 | - | 675 | if( get_key_press(1 << KEY_ENTER) ) |
676 | { |
||
2212 | - | 677 | redraw = true; |
2199 | - | 678 | } |
2212 | - | 679 | |
680 | if( get_key_press(1 << KEY_MINUS) ) |
||
681 | { |
||
2214 | - | 682 | Config.FM_Offest_Latitude -= 10; |
2212 | - | 683 | redraw = true; |
684 | } |
||
685 | if( get_key_press(1 << KEY_PLUS) ) |
||
686 | { |
||
2214 | - | 687 | Config.FM_Offest_Latitude += 10; |
2212 | - | 688 | redraw = true; |
689 | } |
||
2195 | - | 690 | } |
2136 | - | 691 | } |
692 | |||
2195 | - | 693 | |
694 | |||
2212 | - | 695 | #endif // FOLLOW_ME_STEP2 |
2136 | - | 696 | #endif // #ifdef USE_FOLLOWME |
697 | |||
698 |