WebSVN - FlightCtrl - Blame - Rev 565 - /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
565	salvo	122	if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
528	salvo	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	{
565	salvo	151	actual_status.status = 0;
528	salvo	152	gps_act_position.utm_east = actual_pos.utm_east/10;
		153	gps_act_position.utm_north = actual_pos.utm_north/10;
		154	gps_act_position.utm_alt = actual_pos.utm_alt/10;
565	salvo	155	actual_pos.status = 0; //neue ublox Messages anfordern
		156	// gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
		157	// gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
		158	// gps_act_position.heading = actual_speed.heading/100000;
		159	actual_speed.status = 0;
528	salvo	160	gps_act_position.status = 1;
		161	n = 0; //Daten gueltig
		162	}
		163	else
		164	{
565	salvo	165	gps_act_position.status = 0; //Keine gueltigen Daten
		166	actual_speed.status = 0;
		167	actual_status.status = 0;
		168	actual_pos.status = 0; //neue ublox Messages anfordern
		169	n = 2;
528	salvo	170	}
		171	}
		172	return (n);
		173	}
		174
		175	/*
		176	Daten vom GPS im ublox MSG Format auswerten
		177	Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
		178	// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
		179	*/
		180	void Get_Ublox_Msg(uint8_t rx)
		181	{
		182	switch (ublox_msg_state)
		183	{
		184
		185	case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
		186	if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
		187	else ublox_msg_state = UBLOX_IDLE;
		188	break;
		189
		190	case UBLOX_SYNC1:
		191
		192	if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
		193	else ublox_msg_state = UBLOX_IDLE;
		194	chk_a = 0,chk_b = 0;
		195	break;
		196
		197	case UBLOX_SYNC2:
		198	if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
		199	else ublox_msg_state = UBLOX_IDLE;
		200	break;
		201
		202	case UBLOX_CLASS: // Nur NAV Meldungen auswerten
		203	switch (rx)
		204	{
		205	case UBLOX_NAV_POSUTM:
		206	ptr_pac_status = &actual_pos.status;
		207	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
		208	else
		209	{
		210	ptr_payload_data = &actual_pos;
		211	ptr_payload_data_end = &actual_pos.status;
		212	ublox_msg_state = UBLOX_LEN1;
		213	}
		214	break;
		215
		216	case UBLOX_NAV_STATUS:
		217	ptr_pac_status = &actual_status.status;
		218	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		219	else
		220	{
		221	ptr_payload_data = &actual_status;
		222	ptr_payload_data_end = &actual_status.status;
		223	ublox_msg_state = UBLOX_LEN1;
		224	}
		225	break;
		226
		227	case UBLOX_NAV_VELED:
		228	ptr_pac_status = &actual_speed.status;
		229	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		230	else
		231	{
		232	ptr_payload_data = &actual_speed;
		233	ptr_payload_data_end = &actual_speed.status;
		234	ublox_msg_state = UBLOX_LEN1;
		235	}
		236	break;
		237
		238	default:
		239	ublox_msg_state = UBLOX_IDLE;
		240	break;
		241	}
		242	chk_a = UBLOX_NAV_CLASS + rx;
		243	chk_b = UBLOX_NAV_CLASS + chk_a;
		244	break;
		245
		246	case UBLOX_LEN1: // Laenge auswerten
		247	rx_len = rx;
		248	chk_a += rx;
		249	chk_b += chk_a;
		250	ublox_msg_state = UBLOX_LEN2;
		251	break;
		252
		253
		254	case UBLOX_LEN2: // Laenge auswerten
		255	rx_len = rx_len + (rx *256); // Laenge ermitteln
		256	chk_a += rx;
		257	chk_b += chk_a;
		258	ublox_msg_state = UBLOX_PAYLOAD;
		259	break;
		260
		261	case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
		262	if (rx_len > 0)
		263	{
		264	*ptr_payload_data = rx;
		265	chk_a += rx;
		266	chk_b += chk_a;
		267	--rx_len;
		268	if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
		269	{
		270	ptr_payload_data++;
		271	ublox_msg_state = UBLOX_PAYLOAD;
		272	}
		273	else ublox_msg_state = UBLOX_CKA;
		274	}
		275	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		276	break;
		277
		278	case UBLOX_CKA: // Checksum pruefen
		279	if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
		280	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		281	break;
		282
		283	case UBLOX_CKB: // Checksum pruefen
		284	if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
		285	ublox_msg_state = UBLOX_IDLE;
		286	break;
		287
		288	default:
		289	ublox_msg_state = UBLOX_IDLE;
		290	break;
		291	}
		292	}
		293
		294	//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
		295	short int GPS_CRTL(short int cmd)
		296	{
		297	static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen
		298	static signed int int_east,int_north; //Integrierer
		299	static signed int dist_north,dist_east;
		300	static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert)
		301	static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert
		302	signed int n,diff_v;
		303	static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
		304	long signed int dev,n_l;
		305	signed int dist_frm_start_east,dist_frm_start_north;
		306	switch (cmd)
		307	{
		308
		309	case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
		310	if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
		311	{
		312	cnt++;
565	salvo	313	if (cnt > 200) // erst nach Verzoegerung
528	salvo	314	{
		315	// Erst mal initialisieren
		316	cnt = 0;
		317	gps_tick = 0;
		318	hold_fast = 0;
		319	hold_reset_int = 0; // Integrator enablen
		320	int_east = 0, int_north = 0;
		321	gps_reg_x = 0, gps_reg_y = 0;
		322	dist_east = 0, dist_north = 0;
		323	diff_east_f = 0, diff_north_f= 0;
		324	diff_east = 0, diff_north = 0;
		325	dist_flown = 0;
		326	gps_g2t_act_v = 0;
		327	gps_sub_state = GPS_CRTL_IDLE;
		328	// aktuelle positionsdaten abspeichern
		329	if (gps_rel_act_position.status > 0)
		330	{
		331	gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
		332	gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
		333	gps_rel_start_position.status = 1; // gueltige Positionsdaten
		334	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		335	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		336	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		337	//Richtung zur Home Position bezogen auf Nordpol bestimmen
		338	hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
		339	// in Winkel 0...360 Grad umrechnen
		340	if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
		341	else hdng_2home = (270 - hdng_2home);
		342	dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen
		343	gps_state = GPS_CRTL_HOME_ACTIVE;
		344	return (GPS_STST_OK);
		345	}
		346	else
		347	{
		348	gps_rel_start_position.status = 0; //Keine Daten verfuegbar
		349	gps_state = GPS_CRTL_IDLE;
		350	return(GPS_STST_ERR); // Keine Daten da
		351	}
		352	}
		353	else return(GPS_STST_PEND); // noch warten
		354	}
		355	break;
		356	// ******************************
		357
		358	case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
		359	if (gps_state != GPS_CRTL_HOLD_ACTIVE)
		360	{
		361	cnt++;
565	salvo	362	if (cnt > 400) // erst nach Verzoegerung
528	salvo	363	{
		364	cnt = 0;
		365	// aktuelle positionsdaten abspeichern
		366	if (gps_rel_act_position.status > 0)
		367	{
		368	hold_fast = 0;
		369	hold_reset_int = 0; // Integrator enablen
		370	int_east = 0, int_north = 0;
		371	gps_reg_x = 0, gps_reg_y = 0;
		372	dist_east = 0, dist_north = 0;
		373	diff_east_f = 0, diff_north_f= 0;
		374	diff_east = 0, diff_north = 0;
		375	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		376	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		377	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		378	gps_state = GPS_CRTL_HOLD_ACTIVE;
		379	return (GPS_STST_OK);
		380	}
		381	else
		382	{
		383	gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
		384	gps_state = GPS_CRTL_IDLE;
		385	return(GPS_STST_ERR); // Keine Daten da
		386	}
		387	}
		388	else return(GPS_STST_PEND); // noch warten
		389	}
		390	break;
		391
		392	case GPS_CMD_STOP: // Lageregelung beenden
		393	cnt = 0;
		394	GPS_Nick = 0;
		395	GPS_Roll = 0;
		396	gps_int_x = 0;
		397	gps_int_y = 0;
		398	gps_sub_state = GPS_CRTL_IDLE;
		399	gps_state = GPS_CRTL_IDLE;
		400	return (GPS_STST_OK);
		401	break;
		402
		403	default:
		404	return (GPS_STST_ERR);
		405	break;
		406	}
		407
		408	switch (gps_state)
		409	{
		410	case GPS_CRTL_IDLE:
		411	cnt = 0;
		412	return (GPS_STST_OK);
		413	break;
		414
		415	case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis
		416	//Der Sollwert des Lagereglers wird der Homeposition angenaehert
		417	if (gps_rel_start_position.status >0)
		418	{
		419	if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist
		420	{
		421	gps_tick++;
		422	int d1,d2,d3;
		423	d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east );
		424	d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north );
		425	d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel
		426
		427	if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel
		428	{
		429	if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz
		430	{
		431	if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen
		432	dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
		433	gps_sub_state = GPS_HOME_FAST_IN_TOL;
		434	}
		435	else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz
		436	{
		437	if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren
		438	dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		439	gps_sub_state = GPS_HOME_FAST_OUTOF_TOL;
		440	}
		441	hold_reset_int = 0; // Integrator einsschalten
		442	hold_fast = 1; // Regler fuer schnellen Flug
		443	dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
		444	dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000);
		445	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		446	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		447	}
		448	else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen
		449	{
		450	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL))
		451	{
		452	dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit
		453	gps_sub_state = GPS_HOME_RMPDWN_IN_TOL;
		454	}
		455	else
		456	{
		457	dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		458	gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL;
		459	}
		460	hold_reset_int = 0; // Integrator ausschalten
		461	hold_fast = 1; // Wieder normal regeln
		462	dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
		463	dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000);
		464	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		465	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		466	}
		467	else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt)
		468	{
		469	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln
		470	{
		471	gps_sub_state = GPS_HOME_IN_TOL;
		472	hold_fast = 0; // Wieder normal regeln
		473	hold_reset_int = 0; // Integrator wieder aktivieren
		474	if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN;
		475	else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN;
		476	if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN;
		477	else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN;
		478	if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN))
		479	{
		480	gps_rel_hold_position.utm_east = 0;
		481	gps_rel_hold_position.utm_north = 0;
		482	gps_sub_state = GPS_HOME_FINISHED;
		483	}
		484	}
		485	else gps_sub_state = GPS_HOME_OUTOF_TOL;
		486	}
		487	}
		488	gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung
		489	return (GPS_STST_OK);
		490	}
		491	else // Keine GPS Daten verfuegbar, deswegen Abbruch
		492	{
		493	gps_state = GPS_CRTL_IDLE;
		494	return (GPS_STST_ERR);
		495	}
		496	break;
		497
		498
		499	case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet
		500	if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen
		501	{
		502	gps_updte_flag = 0;
		503	// ab hier wird geregelt
		504	diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen
		505	diff_north = -dist_north;
		506	dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east;
		507	dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north;
		508	int_east += dist_east;
		509	int_north += dist_north;
		510	diff_east += dist_east; // Differenz zur vorhergehenden East Position
		511	diff_north += dist_north; // Differenz zur vorhergehenden North Position
		512
		513	if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen
		514	{
		515	diff_east_f = ((diff_east_f 2)/3) + (diff_east 1/3); //Differenzierer filtern
		516	diff_north_f = ((diff_north_f 2)/3) + (diff_north1/3); //Differenzierer filtern
		517	}
		518	else // schwache Filterung
		519	{
		520	diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern
		521	diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern
		522	}
		523
		524	#define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung
		525	if ((abs(int_east) > GPSINT_MAX) \|\| (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten
		526	{
		527	int_east -= dist_east;
		528	int_north -= dist_north;
		529	}
		530	if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten
		531	{
		532	int_east = 0;
		533	int_north = 0;
		534	}
		535
		536	// Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind
		537	// desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1
		538	signed long dist,int_east1,int_north1;
		539	int phi;
		540	phi = arctan_i(abs(dist_north),abs(dist_east));
		541	dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln
		542
		543	if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer
		544	{
		545	diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10
		546	if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen
		547	}
		548	else
		549	{
		550	diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10
		551	if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen
		552	}
		553
		554	int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung
		555	if (hold_fast > 0) diff_p = GPS_PROP_FAST_V;
		556	else diff_p = GPS_PROP_NRML_V;
		557
		558	//I Werte begrenzen
		559	#define INT1_MAX (20 * GPS_V)
565	salvo	560	int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
		561	int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; //Fehler behoben am 17.12.2007 vorher int_north=
528	salvo	562	if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen
		563	else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX;
		564	if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen
		565	else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX;
		566
		567	//PID Regler Werte aufsummieren
542	salvo	568	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
		569	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	570
		571	//Ziel-Richtung bezogen auf Nordpol bestimmen
		572	GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y);
		573
		574	// in Winkel 0...360 Grad umrechnen
		575	if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt);
		576	else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt);
		577
		578	// Relative Richtung in bezug auf Nordachse des Kopters errechen
		579	n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
		580	GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n;
		581	if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360;
		582	else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt;
		583	else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt;
		584
		585	// Regelabweichung aus x,y zu Ziel in Distanz umrechnen
		586	if (abs(gps_reg_x) > abs(gps_reg_y) )
		587	{
		588	dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen
		589	dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt));
		590	}
		591	else
		592	{
		593	dev = (long)gps_reg_y;
		594	dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt));
		595	}
		596	GPS_dist_2trgt = (int) dev;
		597	// Winkel und Distanz in Nick und Rollgroessen umrechnen
		598	GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000);
		599	GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000);
		600
		601	if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V);
		602	else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V);
		603	if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V);
		604	else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V);
		605
		606	//Kleine Werte verstaerken, Grosse abschwaechen
		607	n = sin_i((GPS_Roll90)/(GPS_NICKROLL_MAX GPS_V));
		608	n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
		609	GPS_Roll = (int) n_l;
		610	n = sin_i((GPS_Nick90)/(GPS_NICKROLL_MAX GPS_V));
		611	n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
		612	GPS_Nick = (int) n_l;
		613
		614	if ((abs(dist_east) > GPS_DIST_MAX) \|\| (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen
		615	{
		616	GPS_Roll = 0;
		617	GPS_Nick = 0;
		618	gps_state = GPS_CRTL_IDLE;
		619	return (GPS_STST_ERR);
		620	break;
		621	}
		622	else
		623	{
		624	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		625	return (GPS_STST_OK);
		626	}
		627	}
		628	else
		629	{
		630	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		631	return (GPS_STST_OK);
		632	}
		633	break;
		634
		635	default:
		636	gps_state = GPS_CRTL_IDLE;
		637	return (GPS_STST_ERR);
		638	break;
		639	}
		640	return (GPS_STST_ERR);
		641
		642	}
		643

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_v0067g/trunk/GPS.c @ 601 - Rev 565