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352 | salvo | 1 | /* |
2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
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3 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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4 | either version 3 of the License, or (at your option) any later version. |
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5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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7 | GNU General Public License and GNU Lesser General Public License for more details. |
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8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
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9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
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10 | If not, see <http://www.gnu.org/licenses/>. |
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11 | |||
12 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
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13 | */ |
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14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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15 | Peter Muehlenbrock |
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16 | Auswertung der Daten vom GPS im ublox Format |
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17 | Hold Modus mit PID Regler |
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18 | Rückstuerz zur Basis Funktion |
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19 | Stand 24.10.2007 |
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20 | Anederung: 24.10. Altitude in relativer Position jetzt auch drin |
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21 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | */ |
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1 | ingob | 23 | #include "main.h" |
352 | salvo | 24 | //#include "gps.h" |
1 | ingob | 25 | |
352 | salvo | 26 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
27 | #define UBLOX_IDLE 0 |
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28 | #define UBLOX_SYNC1 1 |
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29 | #define UBLOX_SYNC2 2 |
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30 | #define UBLOX_CLASS 3 |
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31 | #define UBLOX_ID 4 |
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32 | #define UBLOX_LEN1 5 |
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33 | #define UBLOX_LEN2 6 |
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34 | #define UBLOX_CKA 7 |
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35 | #define UBLOX_CKB 8 |
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36 | #define UBLOX_PAYLOAD 9 |
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37 | |||
38 | // ublox Protokoll Identifier |
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39 | #define UBLOX_NAV_POSUTM 0x08 |
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40 | #define UBLOX_NAV_STATUS 0x03 |
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41 | #define UBLOX_NAV_VELED 0x12 |
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42 | #define UBLOX_NAV_CLASS 0x01 |
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43 | #define UBLOX_SYNCH1_CHAR 0xB5 |
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44 | #define UBLOX_SYNCH2_CHAR 0x62 |
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45 | |||
46 | signed int GPS_Nick = 0; |
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47 | signed int GPS_Roll = 0; |
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48 | short int ublox_msg_state = UBLOX_IDLE; |
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49 | static uint8_t chk_a =0; //Checksum |
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50 | static uint8_t chk_b =0; |
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51 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
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52 | short int gps_updte_flag; |
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53 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
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54 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
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55 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
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56 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
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57 | static unsigned int rx_len; |
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58 | static unsigned int ptr_payload_data_end; |
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59 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
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60 | signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
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61 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
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62 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
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63 | static uint8_t *ptr_payload_data; |
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64 | static uint8_t *ptr_pac_status; |
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65 | long int dist_flown; |
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66 | |||
67 | short int Get_GPS_data(void); |
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68 | |||
69 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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70 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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71 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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72 | |||
73 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
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74 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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75 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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76 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
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77 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
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78 | |||
79 | // Initialisierung |
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1 | ingob | 80 | void GPS_Neutral(void) |
81 | { |
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352 | salvo | 82 | ublox_msg_state = UBLOX_IDLE; |
83 | gps_state = GPS_CRTL_IDLE; |
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84 | gps_sub_state = GPS_CRTL_IDLE; |
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85 | actual_pos.status = 0; |
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86 | actual_speed.status = 0; |
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87 | actual_status.status = 0; |
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88 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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89 | gps_act_position.status = 0; |
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90 | gps_rel_act_position.status = 0; |
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91 | GPS_Nick = 0; |
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92 | GPS_Roll = 0; |
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93 | gps_updte_flag = 0; |
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94 | gps_int_x = 0; |
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95 | gps_int_y = 0; |
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96 | gps_alive_cnt = 0; |
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1 | ingob | 97 | } |
98 | |||
352 | salvo | 99 | // Home Position sichern falls Daten verfuegbar sind. |
100 | void GPS_Save_Home(void) |
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1 | ingob | 101 | { |
352 | salvo | 102 | short int n; |
103 | n = Get_GPS_data(); |
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104 | if (n == 0) // Gueltige und aktuelle Daten ? |
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105 | { |
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106 | // Neue GPS Daten liegen vor |
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107 | gps_home_position.utm_east = gps_act_position.utm_east; |
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108 | gps_home_position.utm_north = gps_act_position.utm_north; |
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109 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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110 | gps_home_position.status = 1; // Home Position gueltig |
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111 | } |
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1 | ingob | 112 | } |
113 | |||
352 | salvo | 114 | // Relative Position zur Home Position bestimmen |
115 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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116 | short int Get_Rel_Position(void) |
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117 | { |
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118 | short int n = 0; |
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119 | n = Get_GPS_data(); |
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120 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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121 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
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122 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
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123 | { |
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124 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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125 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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126 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
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127 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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128 | n = 0; |
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129 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
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130 | } |
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131 | else |
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132 | { |
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133 | n = 2; //keine gueltigen Daten vorhanden |
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134 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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135 | } |
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136 | return (n); |
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137 | } |
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1 | ingob | 138 | |
352 | salvo | 139 | // Daten aus aktuellen ublox Messages extrahieren |
140 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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141 | short int Get_GPS_data(void) |
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142 | { |
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143 | short int n = 1; |
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1 | ingob | 144 | |
352 | salvo | 145 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
146 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
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147 | { |
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148 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
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149 | { |
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150 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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151 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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152 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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153 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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154 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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155 | gps_act_position.heading = actual_speed.heading/100000; |
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156 | gps_act_position.status = 1; |
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157 | n = 0; //Daten gueltig |
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158 | } |
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159 | else |
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160 | { |
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161 | gps_act_position.status = 0; //Keine gueltigen Daten |
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162 | n = 2; |
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163 | } |
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164 | actual_pos.status = 0; //neue ublox Messages anfordern |
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165 | actual_status.status = 0; |
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166 | actual_speed.status = 0; |
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167 | } |
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168 | return (n); |
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169 | } |
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1 | ingob | 170 | |
352 | salvo | 171 | /* |
172 | Daten vom GPS im ublox MSG Format auswerten |
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173 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
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174 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
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175 | */ |
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176 | void Get_Ublox_Msg(uint8_t rx) |
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177 | { |
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178 | switch (ublox_msg_state) |
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179 | { |
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180 | |||
181 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
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182 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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183 | else ublox_msg_state = UBLOX_IDLE; |
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184 | break; |
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185 | |||
186 | case UBLOX_SYNC1: |
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187 | |||
188 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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189 | else ublox_msg_state = UBLOX_IDLE; |
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190 | chk_a = 0,chk_b = 0; |
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191 | break; |
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192 | |||
193 | case UBLOX_SYNC2: |
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194 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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195 | else ublox_msg_state = UBLOX_IDLE; |
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196 | break; |
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197 | |||
198 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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199 | switch (rx) |
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200 | { |
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201 | case UBLOX_NAV_POSUTM: |
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202 | ptr_pac_status = &actual_pos.status; |
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203 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
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204 | else |
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205 | { |
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206 | ptr_payload_data = &actual_pos; |
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207 | ptr_payload_data_end = &actual_pos.status; |
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208 | ublox_msg_state = UBLOX_LEN1; |
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209 | } |
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210 | break; |
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211 | |||
212 | case UBLOX_NAV_STATUS: |
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213 | ptr_pac_status = &actual_status.status; |
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214 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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215 | else |
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216 | { |
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217 | ptr_payload_data = &actual_status; |
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218 | ptr_payload_data_end = &actual_status.status; |
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219 | ublox_msg_state = UBLOX_LEN1; |
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220 | } |
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221 | break; |
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222 | |||
223 | case UBLOX_NAV_VELED: |
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224 | ptr_pac_status = &actual_speed.status; |
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225 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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226 | else |
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227 | { |
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228 | ptr_payload_data = &actual_speed; |
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229 | ptr_payload_data_end = &actual_speed.status; |
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230 | ublox_msg_state = UBLOX_LEN1; |
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231 | } |
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232 | break; |
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233 | |||
234 | default: |
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235 | ublox_msg_state = UBLOX_IDLE; |
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236 | break; |
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237 | } |
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238 | chk_a = UBLOX_NAV_CLASS + rx; |
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239 | chk_b = UBLOX_NAV_CLASS + chk_a; |
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240 | break; |
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241 | |||
242 | case UBLOX_LEN1: // Laenge auswerten |
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243 | rx_len = rx; |
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244 | chk_a += rx; |
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245 | chk_b += chk_a; |
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246 | ublox_msg_state = UBLOX_LEN2; |
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247 | break; |
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248 | |||
249 | |||
250 | case UBLOX_LEN2: // Laenge auswerten |
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251 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
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252 | chk_a += rx; |
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253 | chk_b += chk_a; |
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254 | ublox_msg_state = UBLOX_PAYLOAD; |
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255 | break; |
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256 | |||
257 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
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258 | if (rx_len > 0) |
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259 | { |
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260 | *ptr_payload_data = rx; |
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261 | chk_a += rx; |
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262 | chk_b += chk_a; |
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263 | --rx_len; |
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264 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
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265 | { |
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266 | ptr_payload_data++; |
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267 | ublox_msg_state = UBLOX_PAYLOAD; |
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268 | } |
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269 | else ublox_msg_state = UBLOX_CKA; |
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270 | } |
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271 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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272 | break; |
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273 | |||
274 | case UBLOX_CKA: // Checksum pruefen |
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275 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
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276 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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277 | break; |
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278 | |||
279 | case UBLOX_CKB: // Checksum pruefen |
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280 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
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281 | ublox_msg_state = UBLOX_IDLE; |
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282 | break; |
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283 | |||
284 | default: |
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285 | ublox_msg_state = UBLOX_IDLE; |
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286 | break; |
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287 | } |
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288 | } |
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289 | |||
290 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
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291 | short int GPS_CRTL(short int cmd) |
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292 | { |
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293 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
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294 | static signed int int_east,int_north; //Integrierer |
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295 | static signed int dist_north,dist_east; |
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296 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
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297 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
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298 | signed int n,diff_v; |
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299 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
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300 | long signed int dev,n_l; |
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301 | signed int dist_frm_start_east,dist_frm_start_north; |
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302 | switch (cmd) |
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303 | { |
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304 | |||
305 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
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306 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
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307 | { |
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308 | cnt++; |
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309 | if (cnt > 500) // erst nach Verzoegerung |
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310 | { |
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311 | // Erst mal initialisieren |
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312 | cnt = 0; |
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313 | gps_tick = 0; |
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314 | hold_fast = 0; |
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315 | hold_reset_int = 0; // Integrator enablen |
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316 | int_east = 0, int_north = 0; |
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317 | gps_reg_x = 0, gps_reg_y = 0; |
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318 | dist_east = 0, dist_north = 0; |
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319 | diff_east_f = 0, diff_north_f= 0; |
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320 | diff_east = 0, diff_north = 0; |
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321 | dist_flown = 0; |
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322 | gps_g2t_act_v = 0; |
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323 | gps_sub_state = GPS_CRTL_IDLE; |
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324 | // aktuelle positionsdaten abspeichern |
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325 | if (gps_rel_act_position.status > 0) |
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326 | { |
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327 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
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328 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
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329 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
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330 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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331 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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332 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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333 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
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334 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
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335 | // in Winkel 0...360 Grad umrechnen |
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336 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
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337 | else hdng_2home = (270 - hdng_2home); |
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338 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
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339 | gps_state = GPS_CRTL_HOME_ACTIVE; |
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340 | return (GPS_STST_OK); |
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341 | } |
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342 | else |
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343 | { |
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344 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
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345 | gps_state = GPS_CRTL_IDLE; |
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346 | return(GPS_STST_ERR); // Keine Daten da |
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347 | } |
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348 | } |
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349 | else return(GPS_STST_PEND); // noch warten |
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350 | } |
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351 | break; |
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352 | // ****************************** |
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353 | |||
354 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
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355 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
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356 | { |
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357 | cnt++; |
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358 | if (cnt > 500) // erst nach Verzoegerung |
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359 | { |
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360 | cnt = 0; |
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361 | // aktuelle positionsdaten abspeichern |
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362 | if (gps_rel_act_position.status > 0) |
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363 | { |
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364 | hold_fast = 0; |
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365 | hold_reset_int = 0; // Integrator enablen |
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366 | int_east = 0, int_north = 0; |
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367 | gps_reg_x = 0, gps_reg_y = 0; |
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368 | dist_east = 0, dist_north = 0; |
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369 | diff_east_f = 0, diff_north_f= 0; |
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370 | diff_east = 0, diff_north = 0; |
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371 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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372 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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373 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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374 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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375 | return (GPS_STST_OK); |
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376 | } |
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377 | else |
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378 | { |
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379 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
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380 | gps_state = GPS_CRTL_IDLE; |
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381 | return(GPS_STST_ERR); // Keine Daten da |
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382 | } |
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383 | } |
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384 | else return(GPS_STST_PEND); // noch warten |
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385 | } |
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386 | break; |
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387 | |||
388 | case GPS_CMD_STOP: // Lageregelung beenden |
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389 | cnt = 0; |
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390 | GPS_Nick = 0; |
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391 | GPS_Roll = 0; |
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392 | gps_int_x = 0; |
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393 | gps_int_y = 0; |
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394 | gps_sub_state = GPS_CRTL_IDLE; |
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395 | gps_state = GPS_CRTL_IDLE; |
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396 | return (GPS_STST_OK); |
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397 | break; |
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398 | |||
399 | default: |
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400 | return (GPS_STST_ERR); |
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401 | break; |
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402 | } |
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403 | |||
404 | switch (gps_state) |
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405 | { |
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406 | case GPS_CRTL_IDLE: |
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407 | cnt = 0; |
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408 | return (GPS_STST_OK); |
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409 | break; |
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410 | |||
411 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
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412 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
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413 | if (gps_rel_start_position.status >0) |
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414 | { |
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415 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
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416 | { |
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417 | gps_tick++; |
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418 | int d1,d2,d3; |
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419 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
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420 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
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421 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
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422 | |||
423 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
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424 | { |
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425 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
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426 | { |
||
427 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
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428 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
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429 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
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430 | } |
||
431 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
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432 | { |
||
433 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
||
434 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
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435 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
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436 | } |
||
437 | hold_reset_int = 0; // Integrator einsschalten |
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438 | hold_fast = 1; // Regler fuer schnellen Flug |
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439 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
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440 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
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441 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
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442 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
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443 | } |
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444 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
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445 | { |
||
446 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
||
447 | { |
||
448 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
449 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
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450 | } |
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451 | else |
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452 | { |
||
453 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
||
454 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
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455 | } |
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456 | hold_reset_int = 0; // Integrator ausschalten |
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457 | hold_fast = 1; // Wieder normal regeln |
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458 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
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459 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
||
460 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
461 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
462 | } |
||
463 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
||
464 | { |
||
465 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
||
466 | { |
||
467 | gps_sub_state = GPS_HOME_IN_TOL; |
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468 | hold_fast = 0; // Wieder normal regeln |
||
469 | hold_reset_int = 0; // Integrator wieder aktivieren |
||
470 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
||
471 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
||
472 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
||
473 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
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474 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
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475 | { |
||
476 | gps_rel_hold_position.utm_east = 0; |
||
477 | gps_rel_hold_position.utm_north = 0; |
||
478 | gps_sub_state = GPS_HOME_FINISHED; |
||
479 | } |
||
480 | } |
||
481 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
||
482 | } |
||
483 | } |
||
484 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
||
485 | return (GPS_STST_OK); |
||
486 | } |
||
487 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
||
488 | { |
||
489 | gps_state = GPS_CRTL_IDLE; |
||
490 | return (GPS_STST_ERR); |
||
491 | } |
||
492 | break; |
||
493 | |||
494 | |||
495 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
||
496 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
||
497 | { |
||
498 | gps_updte_flag = 0; |
||
499 | // ab hier wird geregelt |
||
500 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
||
501 | diff_north = -dist_north; |
||
502 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
||
503 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
||
504 | int_east += dist_east; |
||
505 | int_north += dist_north; |
||
506 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
||
507 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
||
508 | |||
509 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
||
510 | { |
||
511 | diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
||
512 | diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
||
513 | } |
||
514 | else // schwache Filterung |
||
515 | { |
||
516 | diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
||
517 | diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
||
518 | } |
||
519 | |||
520 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
||
521 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
||
522 | { |
||
523 | int_east -= dist_east; |
||
524 | int_north -= dist_north; |
||
525 | } |
||
526 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
||
527 | { |
||
528 | int_east = 0; |
||
529 | int_north = 0; |
||
530 | } |
||
531 | |||
532 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
||
533 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
||
534 | signed long dist,int_east1,int_north1; |
||
535 | int phi; |
||
536 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
||
537 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
||
538 | |||
539 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
||
540 | { |
||
541 | diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
||
542 | if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
||
543 | } |
||
544 | else |
||
545 | { |
||
546 | diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
||
547 | if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
||
548 | } |
||
549 | |||
550 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
||
551 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
||
552 | else diff_p = GPS_PROP_NRML_V; |
||
553 | |||
554 | //I Werte begrenzen |
||
555 | #define INT1_MAX (20 * GPS_V) |
||
556 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
||
557 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
||
558 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
||
559 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
||
560 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
||
561 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
||
562 | |||
563 | //PID Regler Werte aufsummieren |
||
564 | gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_east_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
||
565 | gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_north_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
||
566 | |||
567 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
||
568 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
||
569 | |||
570 | // in Winkel 0...360 Grad umrechnen |
||
571 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
||
572 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
||
573 | |||
574 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
||
575 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
||
576 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
||
577 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
||
578 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
||
579 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
||
580 | |||
581 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
||
582 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
||
583 | { |
||
584 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
||
585 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
||
586 | } |
||
587 | else |
||
588 | { |
||
589 | dev = (long)gps_reg_y; |
||
590 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
||
591 | } |
||
592 | GPS_dist_2trgt = (int) dev; |
||
593 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
||
594 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
||
595 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
||
596 | |||
597 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
||
598 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
||
599 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
||
600 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
||
601 | |||
602 | //Kleine Werte verstaerken, Grosse abschwaechen |
||
603 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
||
604 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
605 | GPS_Roll = (int) n_l; |
||
606 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
||
607 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
608 | GPS_Nick = (int) n_l; |
||
609 | |||
610 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
||
611 | { |
||
612 | GPS_Roll = 0; |
||
613 | GPS_Nick = 0; |
||
614 | gps_state = GPS_CRTL_IDLE; |
||
615 | return (GPS_STST_ERR); |
||
616 | break; |
||
617 | } |
||
618 | else |
||
619 | { |
||
620 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
621 | return (GPS_STST_OK); |
||
622 | } |
||
623 | } |
||
624 | else |
||
625 | { |
||
626 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
627 | return (GPS_STST_OK); |
||
628 | } |
||
629 | break; |
||
630 | |||
631 | default: |
||
632 | gps_state = GPS_CRTL_IDLE; |
||
633 | return (GPS_STST_ERR); |
||
634 | break; |
||
635 | } |
||
636 | return (GPS_STST_ERR); |
||
637 | |||
638 | } |
||
639 |