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| Rev | Author | Line No. | Line |
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| 528 | 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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| 23 | #include "main.h" |
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| 529 | salvo | 24 | #include "math.h" |
| 528 | salvo | 25 | //#include "gps.h" |
| 26 | |||
| 27 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
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| 28 | #define UBLOX_IDLE 0 |
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| 29 | #define UBLOX_SYNC1 1 |
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| 30 | #define UBLOX_SYNC2 2 |
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| 31 | #define UBLOX_CLASS 3 |
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| 32 | #define UBLOX_ID 4 |
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| 33 | #define UBLOX_LEN1 5 |
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| 34 | #define UBLOX_LEN2 6 |
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| 35 | #define UBLOX_CKA 7 |
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| 36 | #define UBLOX_CKB 8 |
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| 37 | #define UBLOX_PAYLOAD 9 |
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| 38 | |||
| 39 | // ublox Protokoll Identifier |
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| 40 | #define UBLOX_NAV_POSUTM 0x08 |
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| 41 | #define UBLOX_NAV_STATUS 0x03 |
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| 42 | #define UBLOX_NAV_VELED 0x12 |
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| 43 | #define UBLOX_NAV_CLASS 0x01 |
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| 44 | #define UBLOX_SYNCH1_CHAR 0xB5 |
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| 45 | #define UBLOX_SYNCH2_CHAR 0x62 |
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| 46 | |||
| 47 | signed int GPS_Nick = 0; |
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| 48 | signed int GPS_Roll = 0; |
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| 49 | short int ublox_msg_state = UBLOX_IDLE; |
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| 50 | static uint8_t chk_a =0; //Checksum |
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| 51 | static uint8_t chk_b =0; |
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| 52 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
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| 53 | short int gps_updte_flag; |
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| 54 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
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| 55 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
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| 56 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
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| 57 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
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| 58 | static unsigned int rx_len; |
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| 59 | static unsigned int ptr_payload_data_end; |
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| 60 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
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| 61 | signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
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| 62 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
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| 63 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
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| 64 | static uint8_t *ptr_payload_data; |
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| 65 | static uint8_t *ptr_pac_status; |
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| 66 | long int dist_flown; |
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| 67 | |||
| 68 | short int Get_GPS_data(void); |
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| 69 | |||
| 70 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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| 71 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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| 72 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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| 73 | |||
| 74 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
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| 75 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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| 76 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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| 77 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
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| 78 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
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| 79 | |||
| 80 | // Initialisierung |
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| 81 | void GPS_Neutral(void) |
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| 82 | { |
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| 83 | ublox_msg_state = UBLOX_IDLE; |
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| 84 | gps_state = GPS_CRTL_IDLE; |
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| 85 | gps_sub_state = GPS_CRTL_IDLE; |
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| 86 | actual_pos.status = 0; |
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| 87 | actual_speed.status = 0; |
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| 88 | actual_status.status = 0; |
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| 89 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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| 90 | gps_act_position.status = 0; |
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| 91 | gps_rel_act_position.status = 0; |
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| 92 | GPS_Nick = 0; |
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| 93 | GPS_Roll = 0; |
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| 94 | gps_updte_flag = 0; |
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| 95 | gps_int_x = 0; |
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| 96 | gps_int_y = 0; |
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| 97 | gps_alive_cnt = 0; |
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| 98 | } |
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| 99 | |||
| 100 | // Home Position sichern falls Daten verfuegbar sind. |
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| 101 | void GPS_Save_Home(void) |
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| 102 | { |
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| 103 | short int n; |
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| 104 | n = Get_GPS_data(); |
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| 105 | if (n == 0) // Gueltige und aktuelle Daten ? |
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| 106 | { |
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| 107 | // Neue GPS Daten liegen vor |
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| 108 | gps_home_position.utm_east = gps_act_position.utm_east; |
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| 109 | gps_home_position.utm_north = gps_act_position.utm_north; |
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| 110 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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| 111 | gps_home_position.status = 1; // Home Position gueltig |
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| 112 | } |
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| 113 | } |
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| 114 | |||
| 115 | // Relative Position zur Home Position bestimmen |
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| 116 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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| 117 | short int Get_Rel_Position(void) |
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| 118 | { |
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| 119 | short int n = 0; |
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| 120 | n = Get_GPS_data(); |
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| 121 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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| 122 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
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| 123 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
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| 124 | { |
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| 125 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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| 126 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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| 127 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
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| 128 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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| 129 | n = 0; |
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| 130 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
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| 131 | } |
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| 132 | else |
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| 133 | { |
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| 134 | n = 2; //keine gueltigen Daten vorhanden |
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| 135 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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| 136 | } |
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| 137 | return (n); |
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| 138 | } |
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| 139 | |||
| 140 | // Daten aus aktuellen ublox Messages extrahieren |
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| 141 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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| 142 | short int Get_GPS_data(void) |
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| 143 | { |
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| 144 | short int n = 1; |
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| 145 | |||
| 146 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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| 147 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
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| 148 | { |
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| 149 | 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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| 150 | { |
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| 151 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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| 152 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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| 153 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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| 154 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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| 155 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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| 156 | gps_act_position.heading = actual_speed.heading/100000; |
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| 157 | gps_act_position.status = 1; |
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| 158 | n = 0; //Daten gueltig |
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| 159 | } |
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| 160 | else |
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| 161 | { |
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| 162 | gps_act_position.status = 0; //Keine gueltigen Daten |
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| 163 | n = 2; |
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| 164 | } |
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| 165 | actual_pos.status = 0; //neue ublox Messages anfordern |
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| 166 | actual_status.status = 0; |
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| 167 | actual_speed.status = 0; |
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| 168 | } |
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| 169 | return (n); |
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| 170 | } |
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| 171 | |||
| 172 | /* |
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| 173 | Daten vom GPS im ublox MSG Format auswerten |
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| 174 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
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| 175 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
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| 176 | */ |
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| 177 | void Get_Ublox_Msg(uint8_t rx) |
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| 178 | { |
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| 179 | switch (ublox_msg_state) |
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| 180 | { |
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| 181 | |||
| 182 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
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| 183 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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| 184 | else ublox_msg_state = UBLOX_IDLE; |
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| 185 | break; |
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| 186 | |||
| 187 | case UBLOX_SYNC1: |
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| 188 | |||
| 189 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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| 190 | else ublox_msg_state = UBLOX_IDLE; |
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| 191 | chk_a = 0,chk_b = 0; |
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| 192 | break; |
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| 193 | |||
| 194 | case UBLOX_SYNC2: |
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| 195 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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| 196 | else ublox_msg_state = UBLOX_IDLE; |
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| 197 | break; |
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| 198 | |||
| 199 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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| 200 | switch (rx) |
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| 201 | { |
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| 202 | case UBLOX_NAV_POSUTM: |
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| 203 | ptr_pac_status = &actual_pos.status; |
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| 204 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
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| 205 | else |
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| 206 | { |
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| 207 | ptr_payload_data = &actual_pos; |
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| 208 | ptr_payload_data_end = &actual_pos.status; |
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| 209 | ublox_msg_state = UBLOX_LEN1; |
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| 210 | } |
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| 211 | break; |
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| 212 | |||
| 213 | case UBLOX_NAV_STATUS: |
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| 214 | ptr_pac_status = &actual_status.status; |
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| 215 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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| 216 | else |
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| 217 | { |
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| 218 | ptr_payload_data = &actual_status; |
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| 219 | ptr_payload_data_end = &actual_status.status; |
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| 220 | ublox_msg_state = UBLOX_LEN1; |
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| 221 | } |
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| 222 | break; |
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| 223 | |||
| 224 | case UBLOX_NAV_VELED: |
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| 225 | ptr_pac_status = &actual_speed.status; |
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| 226 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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| 227 | else |
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| 228 | { |
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| 229 | ptr_payload_data = &actual_speed; |
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| 230 | ptr_payload_data_end = &actual_speed.status; |
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| 231 | ublox_msg_state = UBLOX_LEN1; |
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| 232 | } |
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| 233 | break; |
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| 234 | |||
| 235 | default: |
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| 236 | ublox_msg_state = UBLOX_IDLE; |
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| 237 | break; |
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| 238 | } |
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| 239 | chk_a = UBLOX_NAV_CLASS + rx; |
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| 240 | chk_b = UBLOX_NAV_CLASS + chk_a; |
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| 241 | break; |
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| 242 | |||
| 243 | case UBLOX_LEN1: // Laenge auswerten |
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| 244 | rx_len = rx; |
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| 245 | chk_a += rx; |
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| 246 | chk_b += chk_a; |
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| 247 | ublox_msg_state = UBLOX_LEN2; |
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| 248 | break; |
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| 249 | |||
| 250 | |||
| 251 | case UBLOX_LEN2: // Laenge auswerten |
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| 252 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
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| 253 | chk_a += rx; |
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| 254 | chk_b += chk_a; |
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| 255 | ublox_msg_state = UBLOX_PAYLOAD; |
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| 256 | break; |
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| 257 | |||
| 258 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
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| 259 | if (rx_len > 0) |
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| 260 | { |
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| 261 | *ptr_payload_data = rx; |
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| 262 | chk_a += rx; |
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| 263 | chk_b += chk_a; |
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| 264 | --rx_len; |
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| 265 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
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| 266 | { |
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| 267 | ptr_payload_data++; |
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| 268 | ublox_msg_state = UBLOX_PAYLOAD; |
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| 269 | } |
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| 270 | else ublox_msg_state = UBLOX_CKA; |
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| 271 | } |
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| 272 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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| 273 | break; |
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| 274 | |||
| 275 | case UBLOX_CKA: // Checksum pruefen |
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| 276 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
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| 277 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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| 278 | break; |
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| 279 | |||
| 280 | case UBLOX_CKB: // Checksum pruefen |
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| 281 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
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| 282 | ublox_msg_state = UBLOX_IDLE; |
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| 283 | break; |
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| 284 | |||
| 285 | default: |
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| 286 | ublox_msg_state = UBLOX_IDLE; |
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| 287 | break; |
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| 288 | } |
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| 289 | } |
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| 290 | |||
| 291 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
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| 292 | short int GPS_CRTL(short int cmd) |
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| 293 | { |
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| 294 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
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| 295 | static signed int int_east,int_north; //Integrierer |
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| 296 | static signed int dist_north,dist_east; |
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| 297 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
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| 298 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
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| 299 | signed int n,diff_v; |
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| 300 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
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| 301 | long signed int dev,n_l; |
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| 302 | signed int dist_frm_start_east,dist_frm_start_north; |
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| 303 | switch (cmd) |
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| 304 | { |
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| 305 | |||
| 306 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
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| 307 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
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| 308 | { |
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| 309 | cnt++; |
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| 310 | if (cnt > 500) // erst nach Verzoegerung |
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| 311 | { |
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| 312 | // Erst mal initialisieren |
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| 313 | cnt = 0; |
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| 314 | gps_tick = 0; |
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| 315 | hold_fast = 0; |
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| 316 | hold_reset_int = 0; // Integrator enablen |
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| 317 | int_east = 0, int_north = 0; |
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| 318 | gps_reg_x = 0, gps_reg_y = 0; |
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| 319 | dist_east = 0, dist_north = 0; |
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| 320 | diff_east_f = 0, diff_north_f= 0; |
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| 321 | diff_east = 0, diff_north = 0; |
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| 322 | dist_flown = 0; |
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| 323 | gps_g2t_act_v = 0; |
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| 324 | gps_sub_state = GPS_CRTL_IDLE; |
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| 325 | // aktuelle positionsdaten abspeichern |
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| 326 | if (gps_rel_act_position.status > 0) |
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| 327 | { |
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| 328 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
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| 329 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
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| 330 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
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| 331 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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| 332 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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| 333 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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| 334 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
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| 335 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
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| 336 | // in Winkel 0...360 Grad umrechnen |
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| 337 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
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| 338 | else hdng_2home = (270 - hdng_2home); |
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| 339 | 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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| 340 | gps_state = GPS_CRTL_HOME_ACTIVE; |
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| 341 | return (GPS_STST_OK); |
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| 342 | } |
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| 343 | else |
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| 344 | { |
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| 345 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
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| 346 | gps_state = GPS_CRTL_IDLE; |
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| 347 | return(GPS_STST_ERR); // Keine Daten da |
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| 348 | } |
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| 349 | } |
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| 350 | else return(GPS_STST_PEND); // noch warten |
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| 351 | } |
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| 352 | break; |
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| 353 | // ****************************** |
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| 354 | |||
| 355 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
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| 356 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
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| 357 | { |
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| 358 | cnt++; |
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| 359 | if (cnt > 500) // erst nach Verzoegerung |
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| 360 | { |
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| 361 | cnt = 0; |
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| 362 | // aktuelle positionsdaten abspeichern |
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| 363 | if (gps_rel_act_position.status > 0) |
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| 364 | { |
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| 365 | hold_fast = 0; |
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| 366 | hold_reset_int = 0; // Integrator enablen |
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| 367 | int_east = 0, int_north = 0; |
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| 368 | gps_reg_x = 0, gps_reg_y = 0; |
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| 369 | dist_east = 0, dist_north = 0; |
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| 370 | diff_east_f = 0, diff_north_f= 0; |
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| 371 | diff_east = 0, diff_north = 0; |
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| 372 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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| 373 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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| 374 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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| 375 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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| 376 | return (GPS_STST_OK); |
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| 377 | } |
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| 378 | else |
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| 379 | { |
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| 380 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
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| 381 | gps_state = GPS_CRTL_IDLE; |
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| 382 | return(GPS_STST_ERR); // Keine Daten da |
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| 383 | } |
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| 384 | } |
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| 385 | else return(GPS_STST_PEND); // noch warten |
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| 386 | } |
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| 387 | break; |
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| 388 | |||
| 389 | case GPS_CMD_STOP: // Lageregelung beenden |
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| 390 | cnt = 0; |
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| 391 | GPS_Nick = 0; |
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| 392 | GPS_Roll = 0; |
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| 393 | gps_int_x = 0; |
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| 394 | gps_int_y = 0; |
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| 395 | gps_sub_state = GPS_CRTL_IDLE; |
||
| 396 | gps_state = GPS_CRTL_IDLE; |
||
| 397 | return (GPS_STST_OK); |
||
| 398 | break; |
||
| 399 | |||
| 400 | default: |
||
| 401 | return (GPS_STST_ERR); |
||
| 402 | break; |
||
| 403 | } |
||
| 404 | |||
| 405 | switch (gps_state) |
||
| 406 | { |
||
| 407 | case GPS_CRTL_IDLE: |
||
| 408 | cnt = 0; |
||
| 409 | return (GPS_STST_OK); |
||
| 410 | break; |
||
| 411 | |||
| 412 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
||
| 413 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
||
| 414 | if (gps_rel_start_position.status >0) |
||
| 415 | { |
||
| 416 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
||
| 417 | { |
||
| 418 | gps_tick++; |
||
| 419 | int d1,d2,d3; |
||
| 420 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
||
| 421 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
||
| 422 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
||
| 423 | |||
| 424 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
||
| 425 | { |
||
| 426 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
||
| 427 | { |
||
| 428 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
||
| 429 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
| 430 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
||
| 431 | } |
||
| 432 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
||
| 433 | { |
||
| 434 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
||
| 435 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
||
| 436 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
||
| 437 | } |
||
| 438 | hold_reset_int = 0; // Integrator einsschalten |
||
| 439 | hold_fast = 1; // Regler fuer schnellen Flug |
||
| 440 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
||
| 441 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
||
| 442 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
| 443 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
| 444 | } |
||
| 445 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
||
| 446 | { |
||
| 447 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
||
| 448 | { |
||
| 449 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
| 450 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
||
| 451 | } |
||
| 452 | else |
||
| 453 | { |
||
| 454 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
||
| 455 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
||
| 456 | } |
||
| 457 | hold_reset_int = 0; // Integrator ausschalten |
||
| 458 | hold_fast = 1; // Wieder normal regeln |
||
| 459 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
||
| 460 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
||
| 461 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
| 462 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
| 463 | } |
||
| 464 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
||
| 465 | { |
||
| 466 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
||
| 467 | { |
||
| 468 | gps_sub_state = GPS_HOME_IN_TOL; |
||
| 469 | hold_fast = 0; // Wieder normal regeln |
||
| 470 | hold_reset_int = 0; // Integrator wieder aktivieren |
||
| 471 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
||
| 472 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
||
| 473 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
||
| 474 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
||
| 475 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
||
| 476 | { |
||
| 477 | gps_rel_hold_position.utm_east = 0; |
||
| 478 | gps_rel_hold_position.utm_north = 0; |
||
| 479 | gps_sub_state = GPS_HOME_FINISHED; |
||
| 480 | } |
||
| 481 | } |
||
| 482 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
||
| 483 | } |
||
| 484 | } |
||
| 485 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
||
| 486 | return (GPS_STST_OK); |
||
| 487 | } |
||
| 488 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
||
| 489 | { |
||
| 490 | gps_state = GPS_CRTL_IDLE; |
||
| 491 | return (GPS_STST_ERR); |
||
| 492 | } |
||
| 493 | break; |
||
| 494 | |||
| 495 | |||
| 496 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
||
| 497 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
||
| 498 | { |
||
| 499 | gps_updte_flag = 0; |
||
| 500 | // ab hier wird geregelt |
||
| 501 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
||
| 502 | diff_north = -dist_north; |
||
| 503 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
||
| 504 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
||
| 505 | int_east += dist_east; |
||
| 506 | int_north += dist_north; |
||
| 507 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
||
| 508 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
||
| 509 | |||
| 510 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
||
| 511 | { |
||
| 512 | diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
||
| 513 | diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
||
| 514 | } |
||
| 515 | else // schwache Filterung |
||
| 516 | { |
||
| 517 | diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
||
| 518 | diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
||
| 519 | } |
||
| 520 | |||
| 521 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
||
| 522 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
||
| 523 | { |
||
| 524 | int_east -= dist_east; |
||
| 525 | int_north -= dist_north; |
||
| 526 | } |
||
| 527 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
||
| 528 | { |
||
| 529 | int_east = 0; |
||
| 530 | int_north = 0; |
||
| 531 | } |
||
| 532 | |||
| 533 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
||
| 534 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
||
| 535 | signed long dist,int_east1,int_north1; |
||
| 536 | int phi; |
||
| 537 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
||
| 538 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
||
| 539 | |||
| 540 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
||
| 541 | { |
||
| 542 | diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
||
| 543 | if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
||
| 544 | } |
||
| 545 | else |
||
| 546 | { |
||
| 547 | diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
||
| 548 | if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
||
| 549 | } |
||
| 550 | |||
| 551 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
||
| 552 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
||
| 553 | else diff_p = GPS_PROP_NRML_V; |
||
| 554 | |||
| 555 | //I Werte begrenzen |
||
| 556 | #define INT1_MAX (20 * GPS_V) |
||
| 557 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
||
| 558 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
||
| 559 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
||
| 560 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
||
| 561 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
||
| 562 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
||
| 563 | |||
| 564 | //PID Regler Werte aufsummieren |
||
| 565 | 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 |
||
| 566 | 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 |
||
| 567 | |||
| 568 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
||
| 569 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
||
| 570 | |||
| 571 | // in Winkel 0...360 Grad umrechnen |
||
| 572 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
||
| 573 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
||
| 574 | |||
| 575 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
||
| 576 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
||
| 577 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
||
| 578 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
||
| 579 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
||
| 580 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
||
| 581 | |||
| 582 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
||
| 583 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
||
| 584 | { |
||
| 585 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
||
| 586 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
||
| 587 | } |
||
| 588 | else |
||
| 589 | { |
||
| 590 | dev = (long)gps_reg_y; |
||
| 591 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
||
| 592 | } |
||
| 593 | GPS_dist_2trgt = (int) dev; |
||
| 594 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
||
| 595 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
||
| 596 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
||
| 597 | |||
| 598 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
||
| 599 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
||
| 600 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
||
| 601 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
||
| 602 | |||
| 603 | //Kleine Werte verstaerken, Grosse abschwaechen |
||
| 604 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
||
| 605 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
| 606 | GPS_Roll = (int) n_l; |
||
| 607 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
||
| 608 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
| 609 | GPS_Nick = (int) n_l; |
||
| 610 | |||
| 611 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
||
| 612 | { |
||
| 613 | GPS_Roll = 0; |
||
| 614 | GPS_Nick = 0; |
||
| 615 | gps_state = GPS_CRTL_IDLE; |
||
| 616 | return (GPS_STST_ERR); |
||
| 617 | break; |
||
| 618 | } |
||
| 619 | else |
||
| 620 | { |
||
| 621 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
| 622 | return (GPS_STST_OK); |
||
| 623 | } |
||
| 624 | } |
||
| 625 | else |
||
| 626 | { |
||
| 627 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
| 628 | return (GPS_STST_OK); |
||
| 629 | } |
||
| 630 | break; |
||
| 631 | |||
| 632 | default: |
||
| 633 | gps_state = GPS_CRTL_IDLE; |
||
| 634 | return (GPS_STST_ERR); |
||
| 635 | break; |
||
| 636 | } |
||
| 637 | return (GPS_STST_ERR); |
||
| 638 | |||
| 639 | } |
||
| 640 |