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

Rev	Author	Line No.	Line
528	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	*/
		23	#include "main.h"
529	salvo	24	#include "math.h"
528	salvo	25	//#include "gps.h"
		26
		27	// Defines fuer ublox Messageformat um Auswertung zu steuern
		28	#define UBLOX_IDLE 0
		29	#define UBLOX_SYNC1 1
		30	#define UBLOX_SYNC2 2
		31	#define UBLOX_CLASS 3
		32	#define UBLOX_ID 4
		33	#define UBLOX_LEN1 5
		34	#define UBLOX_LEN2 6
		35	#define UBLOX_CKA 7
		36	#define UBLOX_CKB 8
		37	#define UBLOX_PAYLOAD 9
		38
		39	// ublox Protokoll Identifier
		40	#define UBLOX_NAV_POSUTM 0x08
		41	#define UBLOX_NAV_STATUS 0x03
		42	#define UBLOX_NAV_VELED 0x12
		43	#define UBLOX_NAV_CLASS 0x01
		44	#define UBLOX_SYNCH1_CHAR 0xB5
		45	#define UBLOX_SYNCH2_CHAR 0x62
		46
		47	signed int GPS_Nick = 0;
		48	signed int GPS_Roll = 0;
		49	short int ublox_msg_state = UBLOX_IDLE;
		50	static uint8_t chk_a =0; //Checksum
		51	static uint8_t chk_b =0;
		52	short int gps_state,gps_sub_state; //Zustaende der Statemachine
		53	short int gps_updte_flag;
		54	signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol
		55	signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters
		56	signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel
		57	signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y;
		58	static unsigned int rx_len;
		59	static unsigned int ptr_payload_data_end;
		60	unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt
		61	signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position
		62	static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt
		63	static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler
		64	static uint8_t *ptr_payload_data;
		65	static uint8_t *ptr_pac_status;
		66	long int dist_flown;
		67
		68	short int Get_GPS_data(void);
		69
		70	NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt
		71	NAV_STATUS_t actual_status; // Aktueller Nav Status
		72	NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten
		73
		74	GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst
		75	GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt
		76	GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
		77	GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode
		78	GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode
		79
		80	// Initialisierung
		81	void GPS_Neutral(void)
		82	{
		83	ublox_msg_state = UBLOX_IDLE;
		84	gps_state = GPS_CRTL_IDLE;
		85	gps_sub_state = GPS_CRTL_IDLE;
		86	actual_pos.status = 0;
		87	actual_speed.status = 0;
		88	actual_status.status = 0;
		89	gps_home_position.status = 0; // Noch keine gueltige Home Position
		90	gps_act_position.status = 0;
		91	gps_rel_act_position.status = 0;
		92	GPS_Nick = 0;
		93	GPS_Roll = 0;
		94	gps_updte_flag = 0;
		95	gps_int_x = 0;
		96	gps_int_y = 0;
		97	gps_alive_cnt = 0;
		98	}
		99
		100	// Home Position sichern falls Daten verfuegbar sind.
		101	void GPS_Save_Home(void)
		102	{
		103	short int n;
		104	n = Get_GPS_data();
		105	if (n == 0) // Gueltige und aktuelle Daten ?
		106	{
		107	// Neue GPS Daten liegen vor
		108	gps_home_position.utm_east = gps_act_position.utm_east;
		109	gps_home_position.utm_north = gps_act_position.utm_north;
		110	gps_home_position.utm_alt = gps_act_position.utm_alt;
		111	gps_home_position.status = 1; // Home Position gueltig
		112	}
		113	}
		114
		115	// Relative Position zur Home Position bestimmen
		116	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		117	short int Get_Rel_Position(void)
		118	{
		119	short int n = 0;
		120	n = Get_GPS_data();
		121	if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
		122	if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
		123	if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
		124	{
		125	gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
		126	gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
		127	gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt);
		128	gps_rel_act_position.status = 1; // gueltige Positionsdaten
		129	n = 0;
		130	gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
		131	}
		132	else
		133	{
		134	n = 2; //keine gueltigen Daten vorhanden
		135	gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
		136	}
		137	return (n);
		138	}
		139
		140	// Daten aus aktuellen ublox Messages extrahieren
		141	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		142	short int Get_GPS_data(void)
		143	{
		144	short int n = 1;
		145
		146	if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist
		147	if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
		148	{
		149	if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
		150	{
		151	gps_act_position.utm_east = actual_pos.utm_east/10;
		152	gps_act_position.utm_north = actual_pos.utm_north/10;
		153	gps_act_position.utm_alt = actual_pos.utm_alt/10;
		154	gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
		155	gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
		156	gps_act_position.heading = actual_speed.heading/100000;
		157	gps_act_position.status = 1;
		158	n = 0; //Daten gueltig
		159	}
		160	else
		161	{
		162	gps_act_position.status = 0; //Keine gueltigen Daten
		163	n = 2;
		164	}
		165	actual_pos.status = 0; //neue ublox Messages anfordern
		166	actual_status.status = 0;
		167	actual_speed.status = 0;
		168	}
		169	return (n);
		170	}
		171
		172	/*
		173	Daten vom GPS im ublox MSG Format auswerten
		174	Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
		175	// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
		176	*/
		177	void Get_Ublox_Msg(uint8_t rx)
		178	{
		179	switch (ublox_msg_state)
		180	{
		181
		182	case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
		183	if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
		184	else ublox_msg_state = UBLOX_IDLE;
		185	break;
		186
		187	case UBLOX_SYNC1:
		188
		189	if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
		190	else ublox_msg_state = UBLOX_IDLE;
		191	chk_a = 0,chk_b = 0;
		192	break;
		193
		194	case UBLOX_SYNC2:
		195	if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
		196	else ublox_msg_state = UBLOX_IDLE;
		197	break;
		198
		199	case UBLOX_CLASS: // Nur NAV Meldungen auswerten
		200	switch (rx)
		201	{
		202	case UBLOX_NAV_POSUTM:
		203	ptr_pac_status = &actual_pos.status;
		204	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
		205	else
		206	{
		207	ptr_payload_data = &actual_pos;
		208	ptr_payload_data_end = &actual_pos.status;
		209	ublox_msg_state = UBLOX_LEN1;
		210	}
		211	break;
		212
		213	case UBLOX_NAV_STATUS:
		214	ptr_pac_status = &actual_status.status;
		215	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		216	else
		217	{
		218	ptr_payload_data = &actual_status;
		219	ptr_payload_data_end = &actual_status.status;
		220	ublox_msg_state = UBLOX_LEN1;
		221	}
		222	break;
		223
		224	case UBLOX_NAV_VELED:
		225	ptr_pac_status = &actual_speed.status;
		226	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		227	else
		228	{
		229	ptr_payload_data = &actual_speed;
		230	ptr_payload_data_end = &actual_speed.status;
		231	ublox_msg_state = UBLOX_LEN1;
		232	}
		233	break;
		234
		235	default:
		236	ublox_msg_state = UBLOX_IDLE;
		237	break;
		238	}
		239	chk_a = UBLOX_NAV_CLASS + rx;
		240	chk_b = UBLOX_NAV_CLASS + chk_a;
		241	break;
		242
		243	case UBLOX_LEN1: // Laenge auswerten
		244	rx_len = rx;
		245	chk_a += rx;
		246	chk_b += chk_a;
		247	ublox_msg_state = UBLOX_LEN2;
		248	break;
		249
		250
		251	case UBLOX_LEN2: // Laenge auswerten
		252	rx_len = rx_len + (rx *256); // Laenge ermitteln
		253	chk_a += rx;
		254	chk_b += chk_a;
		255	ublox_msg_state = UBLOX_PAYLOAD;
		256	break;
		257
		258	case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
		259	if (rx_len > 0)
		260	{
		261	*ptr_payload_data = rx;
		262	chk_a += rx;
		263	chk_b += chk_a;
		264	--rx_len;
		265	if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
		266	{
		267	ptr_payload_data++;
		268	ublox_msg_state = UBLOX_PAYLOAD;
		269	}
		270	else ublox_msg_state = UBLOX_CKA;
		271	}
		272	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		273	break;
		274
		275	case UBLOX_CKA: // Checksum pruefen
		276	if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
		277	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		278	break;
		279
		280	case UBLOX_CKB: // Checksum pruefen
		281	if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
		282	ublox_msg_state = UBLOX_IDLE;
		283	break;
		284
		285	default:
		286	ublox_msg_state = UBLOX_IDLE;
		287	break;
		288	}
		289	}
		290
		291	//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
		292	short int GPS_CRTL(short int cmd)
		293	{
		294	static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen
		295	static signed int int_east,int_north; //Integrierer
		296	static signed int dist_north,dist_east;
		297	static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert)
		298	static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert
		299	signed int n,diff_v;
		300	static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
		301	long signed int dev,n_l;
		302	signed int dist_frm_start_east,dist_frm_start_north;
		303	switch (cmd)
		304	{
		305
		306	case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
		307	if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
		308	{
		309	cnt++;
		310	if (cnt > 500) // erst nach Verzoegerung
		311	{
		312	// Erst mal initialisieren
		313	cnt = 0;
		314	gps_tick = 0;
		315	hold_fast = 0;
		316	hold_reset_int = 0; // Integrator enablen
		317	int_east = 0, int_north = 0;
		318	gps_reg_x = 0, gps_reg_y = 0;
		319	dist_east = 0, dist_north = 0;
		320	diff_east_f = 0, diff_north_f= 0;
		321	diff_east = 0, diff_north = 0;
		322	dist_flown = 0;
		323	gps_g2t_act_v = 0;
		324	gps_sub_state = GPS_CRTL_IDLE;
		325	// aktuelle positionsdaten abspeichern
		326	if (gps_rel_act_position.status > 0)
		327	{
		328	gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
		329	gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
		330	gps_rel_start_position.status = 1; // gueltige Positionsdaten
		331	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		332	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		333	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		334	//Richtung zur Home Position bezogen auf Nordpol bestimmen
		335	hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
		336	// in Winkel 0...360 Grad umrechnen
		337	if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
		338	else hdng_2home = (270 - hdng_2home);
		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
		340	gps_state = GPS_CRTL_HOME_ACTIVE;
		341	return (GPS_STST_OK);
		342	}
		343	else
		344	{
		345	gps_rel_start_position.status = 0; //Keine Daten verfuegbar
		346	gps_state = GPS_CRTL_IDLE;
		347	return(GPS_STST_ERR); // Keine Daten da
		348	}
		349	}
		350	else return(GPS_STST_PEND); // noch warten
		351	}
		352	break;
		353	// ******************************
		354
		355	case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
		356	if (gps_state != GPS_CRTL_HOLD_ACTIVE)
		357	{
		358	cnt++;
		359	if (cnt > 500) // erst nach Verzoegerung
		360	{
		361	cnt = 0;
		362	// aktuelle positionsdaten abspeichern
		363	if (gps_rel_act_position.status > 0)
		364	{
		365	hold_fast = 0;
		366	hold_reset_int = 0; // Integrator enablen
		367	int_east = 0, int_north = 0;
		368	gps_reg_x = 0, gps_reg_y = 0;
		369	dist_east = 0, dist_north = 0;
		370	diff_east_f = 0, diff_north_f= 0;
		371	diff_east = 0, diff_north = 0;
		372	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		373	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		374	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		375	gps_state = GPS_CRTL_HOLD_ACTIVE;
		376	return (GPS_STST_OK);
		377	}
		378	else
		379	{
		380	gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
		381	gps_state = GPS_CRTL_IDLE;
		382	return(GPS_STST_ERR); // Keine Daten da
		383	}
		384	}
		385	else return(GPS_STST_PEND); // noch warten
		386	}
		387	break;
		388
		389	case GPS_CMD_STOP: // Lageregelung beenden
		390	cnt = 0;
		391	GPS_Nick = 0;
		392	GPS_Roll = 0;
		393	gps_int_x = 0;
		394	gps_int_y = 0;
		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_north1/3); //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)
542	salvo	557	int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
		558	int_north = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
528	salvo	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
542	salvo	565	gps_reg_x = ((int)int_east1 + ((dist_east * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(82))+ ((diff_east_f diff_v * (Parameter_UserParam3/GPS_USR_PAR_FKT))/10)); // I + P +D Anteil X Achse
		566	gps_reg_y = ((int)int_north1 + ((dist_north * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(82))+ ((diff_north_f diff_v * (Parameter_UserParam3/GPS_USR_PAR_FKT))/10)); // I + P +D Anteil Y Achse
528	salvo	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_Roll90)/(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_Nick90)/(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

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_v0067g/trunk/GPS.c @ 549 - Rev