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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1915 | - | 1 | /* |
| 2 | * tracking.h |
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| 3 | * |
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| 4 | * Created on: 13.02.2012 |
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| 5 | * Author: cebra |
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| 6 | */ |
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| 7 | |||
| 8 | #ifndef TRACKING_H_ |
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| 9 | #define TRACKING_H_ |
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| 10 | |||
| 11 | #define REPEAT 1 |
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| 12 | #define REPEAT_MIN 1 |
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| 13 | #define REPEAT_MAX 100 |
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| 14 | #define PAUSE 10 |
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| 15 | #define PAUSE_MIN 4 // mindestens 400ms, da mechanischer Servo-Lauf zur Position berücksichtigt werden muss |
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| 16 | #define PAUSE_MAX 20 // Pause pro Links-, Mittel- und Rechtsposition 10*100ms |
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| 17 | #define PAUSE_STEP 0 |
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| 18 | #define PAUSE_STEP_MIN 0 // Pause bei jeden Servoschritt in ms |
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| 19 | #define PAUSE_STEP_MAX 200 |
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| 20 | /* Antennen-Nachführung */ |
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| 21 | #define TRACKING_MIN 0 // aus, TRACKING_RSSI, TRACKING_GPS, TRACKING_MKCOCKPIT, TRACKING_NMEA |
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| 22 | #define TRACKING_MAX 4 |
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| 23 | /* Antennen-Nachführung per RSSI */ |
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| 24 | #define TRACKING_HYSTERESE 40 // Hysterese bevor Tracking bei Richtungswechsel anspricht |
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| 25 | #define TRACKING_HYST_MIN 0 |
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| 26 | #define TRACKING_HYST_MAX 100 |
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| 27 | |||
| 28 | #define FC_FLAG_MOTOR_RUN 0x01 |
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| 29 | #define FC_FLAG_FLY 0x02 |
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| 30 | #define FC_FLAG_CALIBRATE 0x04 |
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| 31 | #define FC_FLAG_MOTOR_START 0x08 |
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| 32 | |||
| 33 | //#define NC_FLAG_GPS_OK 0 |
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| 34 | |||
| 35 | |||
| 36 | typedef struct { |
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| 37 | int32_t distance; |
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| 38 | int16_t bearing; |
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| 39 | }geo_t; |
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| 40 | |||
| 41 | typedef struct { |
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| 42 | int32_t Home_Lon; // in 1E-7 degrees |
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| 43 | int32_t Home_Lat; // in 1E-7 degrees |
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| 44 | int32_t Home_Alt; // in mm |
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| 45 | int16_t direction; // ermittelte Konstante aus Mittelposition Antenne geo.bearing - navi_data.CompassHeading |
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| 46 | }__attribute__((packed)) HomePos_t; |
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| 47 | |||
| 48 | |||
| 49 | |||
| 50 | extern uint8_t NMEAsatsInUse; // Number of satelites currently in use |
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| 51 | extern int32_t NMEAlatitude, NMEAlongitude; |
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| 52 | extern uint8_t posfix; // GPS Fix, 0 = Fix not available or invalid,1 = GPS SPS Mode, fix valid, |
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| 53 | // 2 = Differential GPS, SPS Mode, fix valid, 6 = Dead Reckoning Mode, fix valid |
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| 54 | extern int16_t HDOP; // Horizontal Dilution of Precision, 1.1 -xx.x, niederiger = besser |
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| 55 | extern int16_t NMEAaltitude; // Höhe in Meter |
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| 56 | extern char NMEAtime[9]; |
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| 57 | |||
| 58 | extern uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix |
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| 59 | |||
| 60 | void Tracking_NMEA(void); |
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| 61 | uint8_t decodeNMEA(void); |
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| 62 | void PKT_tracking(void); |
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| 63 | |||
| 64 | |||
| 65 | |||
| 66 | |||
| 67 | #endif /* TRACKING_H_ */ |