WebSVN - FlightCtrl - Blame - /branches/salvo_gps/Basis

Rev	Author	Line No.	Line
446	salvo	1	/*
		2	This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify
		3	it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
		4	either version 3 of the License, or (at your option) any later version.
		5	This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
		6	without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		7	GNU General Public License and GNU Lesser General Public License for more details.
		8	You should have received a copy of GNU General Public License (License_GPL.txt) and
		9	GNU Lesser General Public License (License_LGPL.txt) along with this program.
		10	If not, see <http://www.gnu.org/licenses/>.
		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
		13	*/
		14	/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		15	Peter Muehlenbrock
		16	Auswertung der Daten vom GPS im ublox Format
		17	Hold Modus mit PID Regler
		18	R�ckstuerz zur Basis Funktion
		19	Stand 24.10.2007
		20	Anederung: 24.10. Altitude in relativer Position jetzt auch drin
		21	++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		22	*/
1	ingob	23	#include "main.h"
446	salvo	24	//#include "gps.h"
1	ingob	25
446	salvo	26	// Defines fuer ublox Messageformat um Auswertung zu steuern
		27	#define UBLOX_IDLE 0
		28	#define UBLOX_SYNC1 1
		29	#define UBLOX_SYNC2 2
		30	#define UBLOX_CLASS 3
		31	#define UBLOX_ID 4
		32	#define UBLOX_LEN1 5
		33	#define UBLOX_LEN2 6
		34	#define UBLOX_CKA 7
		35	#define UBLOX_CKB 8
		36	#define UBLOX_PAYLOAD 9
		37
		38	// ublox Protokoll Identifier
		39	#define UBLOX_NAV_POSUTM 0x08
		40	#define UBLOX_NAV_STATUS 0x03
		41	#define UBLOX_NAV_VELED 0x12
		42	#define UBLOX_NAV_CLASS 0x01
		43	#define UBLOX_SYNCH1_CHAR 0xB5
		44	#define UBLOX_SYNCH2_CHAR 0x62
		45
		46	signed int GPS_Nick = 0;
		47	signed int GPS_Roll = 0;
		48	short int ublox_msg_state = UBLOX_IDLE;
		49	static uint8_t chk_a =0; //Checksum
		50	static uint8_t chk_b =0;
		51	short int gps_state,gps_sub_state; //Zustaende der Statemachine
		52	short int gps_updte_flag;
		53	signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol
		54	signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters
		55	signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel
		56	signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y;
		57	static unsigned int rx_len;
		58	static unsigned int ptr_payload_data_end;
		59	unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt
		60	signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position
		61	static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt
		62	static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler
		63	static uint8_t *ptr_payload_data;
		64	static uint8_t *ptr_pac_status;
		65	long int dist_flown;
		66
		67	short int Get_GPS_data(void);
		68
		69	NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt
		70	NAV_STATUS_t actual_status; // Aktueller Nav Status
		71	NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten
		72
		73	GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst
		74	GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt
		75	GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
		76	GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode
		77	GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode
		78
		79	// Initialisierung
1	ingob	80	void GPS_Neutral(void)
		81	{
446	salvo	82	ublox_msg_state = UBLOX_IDLE;
		83	gps_state = GPS_CRTL_IDLE;
		84	gps_sub_state = GPS_CRTL_IDLE;
		85	actual_pos.status = 0;
		86	actual_speed.status = 0;
		87	actual_status.status = 0;
		88	gps_home_position.status = 0; // Noch keine gueltige Home Position
		89	gps_act_position.status = 0;
		90	gps_rel_act_position.status = 0;
		91	GPS_Nick = 0;
		92	GPS_Roll = 0;
		93	gps_updte_flag = 0;
		94	gps_int_x = 0;
		95	gps_int_y = 0;
		96	gps_alive_cnt = 0;
1	ingob	97	}
		98
446	salvo	99	// Home Position sichern falls Daten verfuegbar sind.
		100	void GPS_Save_Home(void)
1	ingob	101	{
446	salvo	102	short int n;
		103	n = Get_GPS_data();
		104	if (n == 0) // Gueltige und aktuelle Daten ?
		105	{
		106	// Neue GPS Daten liegen vor
		107	gps_home_position.utm_east = gps_act_position.utm_east;
		108	gps_home_position.utm_north = gps_act_position.utm_north;
		109	gps_home_position.utm_alt = gps_act_position.utm_alt;
		110	gps_home_position.status = 1; // Home Position gueltig
		111	}
1	ingob	112	}
		113
446	salvo	114	// Relative Position zur Home Position bestimmen
		115	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		116	short int Get_Rel_Position(void)
		117	{
		118	short int n = 0;
		119	n = Get_GPS_data();
		120	if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
		121	if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
		122	if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
		123	{
		124	gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
		125	gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
		126	gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt);
		127	gps_rel_act_position.status = 1; // gueltige Positionsdaten
		128	n = 0;
		129	gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
		130	}
		131	else
		132	{
		133	n = 2; //keine gueltigen Daten vorhanden
		134	gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
		135	}
		136	return (n);
		137	}
1	ingob	138
446	salvo	139	// Daten aus aktuellen ublox Messages extrahieren
		140	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		141	short int Get_GPS_data(void)
		142	{
		143	short int n = 1;
1	ingob	144
446	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))
		147	{
		148	if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
		149	{
		150	gps_act_position.utm_east = actual_pos.utm_east/10;
		151	gps_act_position.utm_north = actual_pos.utm_north/10;
		152	gps_act_position.utm_alt = actual_pos.utm_alt/10;
		153	gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
		154	gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
		155	gps_act_position.heading = actual_speed.heading/100000;
		156	gps_act_position.status = 1;
		157	n = 0; //Daten gueltig
		158	}
		159	else
		160	{
		161	gps_act_position.status = 0; //Keine gueltigen Daten
		162	n = 2;
		163	}
		164	actual_pos.status = 0; //neue ublox Messages anfordern
		165	actual_status.status = 0;
		166	actual_speed.status = 0;
		167	}
		168	return (n);
		169	}
1	ingob	170
446	salvo	171	/*
		172	Daten vom GPS im ublox MSG Format auswerten
		173	Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
		174	// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
		175	*/
		176	void Get_Ublox_Msg(uint8_t rx)
		177	{
		178	switch (ublox_msg_state)
		179	{
		180
		181	case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
		182	if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
		183	else ublox_msg_state = UBLOX_IDLE;
		184	break;
		185
		186	case UBLOX_SYNC1:
		187
		188	if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
		189	else ublox_msg_state = UBLOX_IDLE;
		190	chk_a = 0,chk_b = 0;
		191	break;
		192
		193	case UBLOX_SYNC2:
		194	if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
		195	else ublox_msg_state = UBLOX_IDLE;
		196	break;
		197
		198	case UBLOX_CLASS: // Nur NAV Meldungen auswerten
		199	switch (rx)
		200	{
		201	case UBLOX_NAV_POSUTM:
		202	ptr_pac_status = &actual_pos.status;
		203	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
		204	else
		205	{
		206	ptr_payload_data = &actual_pos;
		207	ptr_payload_data_end = &actual_pos.status;
		208	ublox_msg_state = UBLOX_LEN1;
		209	}
		210	break;
		211
		212	case UBLOX_NAV_STATUS:
		213	ptr_pac_status = &actual_status.status;
		214	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		215	else
		216	{
		217	ptr_payload_data = &actual_status;
		218	ptr_payload_data_end = &actual_status.status;
		219	ublox_msg_state = UBLOX_LEN1;
		220	}
		221	break;
		222
		223	case UBLOX_NAV_VELED:
		224	ptr_pac_status = &actual_speed.status;
		225	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		226	else
		227	{
		228	ptr_payload_data = &actual_speed;
		229	ptr_payload_data_end = &actual_speed.status;
		230	ublox_msg_state = UBLOX_LEN1;
		231	}
		232	break;
		233
		234	default:
		235	ublox_msg_state = UBLOX_IDLE;
		236	break;
		237	}
		238	chk_a = UBLOX_NAV_CLASS + rx;
		239	chk_b = UBLOX_NAV_CLASS + chk_a;
		240	break;
		241
		242	case UBLOX_LEN1: // Laenge auswerten
		243	rx_len = rx;
		244	chk_a += rx;
		245	chk_b += chk_a;
		246	ublox_msg_state = UBLOX_LEN2;
		247	break;
		248
		249
		250	case UBLOX_LEN2: // Laenge auswerten
		251	rx_len = rx_len + (rx *256); // Laenge ermitteln
		252	chk_a += rx;
		253	chk_b += chk_a;
		254	ublox_msg_state = UBLOX_PAYLOAD;
		255	break;
		256
		257	case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
		258	if (rx_len > 0)
		259	{
		260	*ptr_payload_data = rx;
		261	chk_a += rx;
		262	chk_b += chk_a;
		263	--rx_len;
		264	if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
		265	{
		266	ptr_payload_data++;
		267	ublox_msg_state = UBLOX_PAYLOAD;
		268	}
		269	else ublox_msg_state = UBLOX_CKA;
		270	}
		271	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		272	break;
		273
		274	case UBLOX_CKA: // Checksum pruefen
		275	if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
		276	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		277	break;
		278
		279	case UBLOX_CKB: // Checksum pruefen
		280	if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
		281	ublox_msg_state = UBLOX_IDLE;
		282	break;
		283
		284	default:
		285	ublox_msg_state = UBLOX_IDLE;
		286	break;
		287	}
		288	}
		289
		290	//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
		291	short int GPS_CRTL(short int cmd)
		292	{
		293	static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen
		294	static signed int int_east,int_north; //Integrierer
		295	static signed int dist_north,dist_east;
		296	static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert)
		297	static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert
		298	signed int n,diff_v;
		299	static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
		300	long signed int dev,n_l;
		301	signed int dist_frm_start_east,dist_frm_start_north;
		302	switch (cmd)
		303	{
		304
		305	case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
		306	if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
		307	{
		308	cnt++;
		309	if (cnt > 500) // erst nach Verzoegerung
		310	{
		311	// Erst mal initialisieren
		312	cnt = 0;
		313	gps_tick = 0;
		314	hold_fast = 0;
		315	hold_reset_int = 0; // Integrator enablen
		316	int_east = 0, int_north = 0;
		317	gps_reg_x = 0, gps_reg_y = 0;
		318	dist_east = 0, dist_north = 0;
		319	diff_east_f = 0, diff_north_f= 0;
		320	diff_east = 0, diff_north = 0;
		321	dist_flown = 0;
		322	gps_g2t_act_v = 0;
		323	gps_sub_state = GPS_CRTL_IDLE;
		324	// aktuelle positionsdaten abspeichern
		325	if (gps_rel_act_position.status > 0)
		326	{
		327	gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
		328	gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
		329	gps_rel_start_position.status = 1; // gueltige Positionsdaten
		330	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		331	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		332	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		333	//Richtung zur Home Position bezogen auf Nordpol bestimmen
		334	hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
		335	// in Winkel 0...360 Grad umrechnen
		336	if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
		337	else hdng_2home = (270 - hdng_2home);
		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
		339	gps_state = GPS_CRTL_HOME_ACTIVE;
		340	return (GPS_STST_OK);
		341	}
		342	else
		343	{
		344	gps_rel_start_position.status = 0; //Keine Daten verfuegbar
		345	gps_state = GPS_CRTL_IDLE;
		346	return(GPS_STST_ERR); // Keine Daten da
		347	}
		348	}
		349	else return(GPS_STST_PEND); // noch warten
		350	}
		351	break;
		352	// ******************************
		353
		354	case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
		355	if (gps_state != GPS_CRTL_HOLD_ACTIVE)
		356	{
		357	cnt++;
		358	if (cnt > 500) // erst nach Verzoegerung
		359	{
		360	cnt = 0;
		361	// aktuelle positionsdaten abspeichern
		362	if (gps_rel_act_position.status > 0)
		363	{
		364	hold_fast = 0;
		365	hold_reset_int = 0; // Integrator enablen
		366	int_east = 0, int_north = 0;
		367	gps_reg_x = 0, gps_reg_y = 0;
		368	dist_east = 0, dist_north = 0;
		369	diff_east_f = 0, diff_north_f= 0;
		370	diff_east = 0, diff_north = 0;
		371	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		372	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		373	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		374	gps_state = GPS_CRTL_HOLD_ACTIVE;
		375	return (GPS_STST_OK);
		376	}
		377	else
		378	{
		379	gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
		380	gps_state = GPS_CRTL_IDLE;
		381	return(GPS_STST_ERR); // Keine Daten da
		382	}
		383	}
		384	else return(GPS_STST_PEND); // noch warten
		385	}
		386	break;
		387
		388	case GPS_CMD_STOP: // Lageregelung beenden
		389	cnt = 0;
		390	GPS_Nick = 0;
		391	GPS_Roll = 0;
		392	gps_int_x = 0;
		393	gps_int_y = 0;
		394	gps_sub_state = GPS_CRTL_IDLE;
		395	gps_state = GPS_CRTL_IDLE;
		396	return (GPS_STST_OK);
		397	break;
		398
		399	default:
		400	return (GPS_STST_ERR);
		401	break;
		402	}
		403
		404	switch (gps_state)
		405	{
		406	case GPS_CRTL_IDLE:
		407	cnt = 0;
		408	return (GPS_STST_OK);
		409	break;
		410
		411	case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis
		412	//Der Sollwert des Lagereglers wird der Homeposition angenaehert
		413	if (gps_rel_start_position.status >0)
		414	{
		415	if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist
		416	{
		417	gps_tick++;
		418	int d1,d2,d3;
		419	d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east );
		420	d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north );
		421	d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel
		422
		423	if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel
		424	{
		425	if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz
		426	{
		427	if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen
		428	dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
		429	gps_sub_state = GPS_HOME_FAST_IN_TOL;
		430	}
		431	else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz
		432	{
		433	if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren
		434	dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		435	gps_sub_state = GPS_HOME_FAST_OUTOF_TOL;
		436	}
		437	hold_reset_int = 0; // Integrator einsschalten
		438	hold_fast = 1; // Regler fuer schnellen Flug
		439	dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
		440	dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000);
		441	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		442	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		443	}
		444	else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen
		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;
		450	}
		451	else
		452	{
		453	dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		454	gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL;
		455	}
		456	hold_reset_int = 0; // Integrator ausschalten
		457	hold_fast = 1; // Wieder normal regeln
		458	dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
		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;
		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;
		474	if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN))
		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_north1/3); //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)/(82))+ ((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)/(82))+ ((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_Roll90)/(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_Nick90)/(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

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_V0066c/trunk/GPS.c @ 509 - Rev