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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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629 | salvo | 15 | von Peter Muehlenbrock alias Salvo |
528 | salvo | 16 | Auswertung der Daten vom GPS im ublox Format |
17 | Hold Modus mit PID Regler |
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18 | Rückstuerz zur Basis Funktion |
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632 | salvo | 19 | Stand 10.1.2008 |
626 | salvo | 20 | |
528 | salvo | 21 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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621 | salvo | 54 | static signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
55 | static signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
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56 | static signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
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632 | salvo | 57 | static signed int gps_int_x,gps_int_y; |
58 | static long signed gps_reg_x,gps_reg_y; |
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528 | salvo | 59 | static unsigned int rx_len; |
60 | static unsigned int ptr_payload_data_end; |
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61 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
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621 | salvo | 62 | static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
528 | salvo | 63 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
64 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
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65 | static uint8_t *ptr_payload_data; |
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66 | static uint8_t *ptr_pac_status; |
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628 | salvo | 67 | static int dist_flown; |
621 | salvo | 68 | static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
528 | salvo | 69 | |
621 | salvo | 70 | |
528 | salvo | 71 | short int Get_GPS_data(void); |
72 | |||
73 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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74 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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75 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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76 | |||
77 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
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78 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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79 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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80 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
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629 | salvo | 81 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
528 | salvo | 82 | |
83 | // Initialisierung |
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84 | void GPS_Neutral(void) |
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85 | { |
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86 | ublox_msg_state = UBLOX_IDLE; |
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87 | gps_state = GPS_CRTL_IDLE; |
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88 | gps_sub_state = GPS_CRTL_IDLE; |
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89 | actual_pos.status = 0; |
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90 | actual_speed.status = 0; |
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91 | actual_status.status = 0; |
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92 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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93 | gps_act_position.status = 0; |
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94 | gps_rel_act_position.status = 0; |
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95 | GPS_Nick = 0; |
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96 | GPS_Roll = 0; |
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97 | gps_updte_flag = 0; |
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98 | gps_int_x = 0; |
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99 | gps_int_y = 0; |
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100 | gps_alive_cnt = 0; |
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101 | } |
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102 | |||
103 | // Home Position sichern falls Daten verfuegbar sind. |
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104 | void GPS_Save_Home(void) |
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105 | { |
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106 | short int n; |
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107 | n = Get_GPS_data(); |
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108 | if (n == 0) // Gueltige und aktuelle Daten ? |
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109 | { |
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110 | // Neue GPS Daten liegen vor |
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111 | gps_home_position.utm_east = gps_act_position.utm_east; |
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112 | gps_home_position.utm_north = gps_act_position.utm_north; |
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113 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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114 | gps_home_position.status = 1; // Home Position gueltig |
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115 | } |
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116 | } |
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117 | |||
118 | // Relative Position zur Home Position bestimmen |
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119 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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120 | short int Get_Rel_Position(void) |
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121 | { |
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122 | short int n = 0; |
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123 | n = Get_GPS_data(); |
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124 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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565 | salvo | 125 | if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
528 | salvo | 126 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
127 | { |
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128 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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129 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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130 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
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131 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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132 | n = 0; |
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133 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
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134 | } |
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135 | else |
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136 | { |
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137 | n = 2; //keine gueltigen Daten vorhanden |
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138 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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139 | } |
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140 | return (n); |
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141 | } |
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142 | |||
143 | // Daten aus aktuellen ublox Messages extrahieren |
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144 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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145 | short int Get_GPS_data(void) |
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146 | { |
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147 | short int n = 1; |
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148 | |||
149 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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150 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
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151 | { |
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152 | 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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153 | { |
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565 | salvo | 154 | actual_status.status = 0; |
528 | salvo | 155 | gps_act_position.utm_east = actual_pos.utm_east/10; |
156 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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157 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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629 | salvo | 158 | actual_pos.status = 0; //neue ublox Messages anfordern |
622 | salvo | 159 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
160 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
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161 | gps_act_position.heading = actual_speed.heading/100000; |
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565 | salvo | 162 | actual_speed.status = 0; |
528 | salvo | 163 | gps_act_position.status = 1; |
629 | salvo | 164 | n = 0; //Daten gueltig |
528 | salvo | 165 | } |
166 | else |
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167 | { |
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629 | salvo | 168 | gps_act_position.status = 0; //Keine gueltigen Daten |
169 | actual_speed.status = 0; |
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170 | actual_status.status = 0; |
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171 | actual_pos.status = 0; //neue ublox Messages anfordern |
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172 | n = 2; |
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528 | salvo | 173 | } |
174 | } |
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175 | return (n); |
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176 | } |
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177 | |||
178 | /* |
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179 | Daten vom GPS im ublox MSG Format auswerten |
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180 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
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181 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
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182 | */ |
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183 | void Get_Ublox_Msg(uint8_t rx) |
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184 | { |
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185 | switch (ublox_msg_state) |
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186 | { |
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187 | |||
188 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
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189 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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190 | else ublox_msg_state = UBLOX_IDLE; |
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191 | break; |
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192 | |||
193 | case UBLOX_SYNC1: |
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194 | |||
195 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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196 | else ublox_msg_state = UBLOX_IDLE; |
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197 | chk_a = 0,chk_b = 0; |
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198 | break; |
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199 | |||
200 | case UBLOX_SYNC2: |
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201 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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202 | else ublox_msg_state = UBLOX_IDLE; |
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203 | break; |
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204 | |||
205 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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206 | switch (rx) |
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207 | { |
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208 | case UBLOX_NAV_POSUTM: |
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209 | ptr_pac_status = &actual_pos.status; |
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210 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
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211 | else |
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212 | { |
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213 | ptr_payload_data = &actual_pos; |
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214 | ptr_payload_data_end = &actual_pos.status; |
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629 | salvo | 215 | ublox_msg_state = UBLOX_LEN1; |
528 | salvo | 216 | } |
217 | break; |
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218 | |||
219 | case UBLOX_NAV_STATUS: |
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220 | ptr_pac_status = &actual_status.status; |
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221 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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222 | else |
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223 | { |
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224 | ptr_payload_data = &actual_status; |
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225 | ptr_payload_data_end = &actual_status.status; |
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226 | ublox_msg_state = UBLOX_LEN1; |
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227 | } |
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228 | break; |
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229 | |||
230 | case UBLOX_NAV_VELED: |
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231 | ptr_pac_status = &actual_speed.status; |
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232 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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233 | else |
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234 | { |
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235 | ptr_payload_data = &actual_speed; |
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236 | ptr_payload_data_end = &actual_speed.status; |
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237 | ublox_msg_state = UBLOX_LEN1; |
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238 | } |
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239 | break; |
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240 | |||
241 | default: |
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242 | ublox_msg_state = UBLOX_IDLE; |
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243 | break; |
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244 | } |
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245 | chk_a = UBLOX_NAV_CLASS + rx; |
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246 | chk_b = UBLOX_NAV_CLASS + chk_a; |
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247 | break; |
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248 | |||
249 | case UBLOX_LEN1: // Laenge auswerten |
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250 | rx_len = rx; |
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251 | chk_a += rx; |
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252 | chk_b += chk_a; |
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253 | ublox_msg_state = UBLOX_LEN2; |
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254 | break; |
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255 | |||
256 | |||
257 | case UBLOX_LEN2: // Laenge auswerten |
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258 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
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259 | chk_a += rx; |
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260 | chk_b += chk_a; |
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261 | ublox_msg_state = UBLOX_PAYLOAD; |
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262 | break; |
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263 | |||
264 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
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265 | if (rx_len > 0) |
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266 | { |
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267 | *ptr_payload_data = rx; |
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268 | chk_a += rx; |
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269 | chk_b += chk_a; |
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270 | --rx_len; |
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271 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
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272 | { |
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273 | ptr_payload_data++; |
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274 | ublox_msg_state = UBLOX_PAYLOAD; |
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275 | } |
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276 | else ublox_msg_state = UBLOX_CKA; |
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277 | } |
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278 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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279 | break; |
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280 | |||
281 | case UBLOX_CKA: // Checksum pruefen |
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282 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
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283 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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284 | break; |
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285 | |||
286 | case UBLOX_CKB: // Checksum pruefen |
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287 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
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288 | ublox_msg_state = UBLOX_IDLE; |
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289 | break; |
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290 | |||
291 | default: |
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292 | ublox_msg_state = UBLOX_IDLE; |
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293 | break; |
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294 | } |
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295 | } |
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296 | |||
297 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
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298 | short int GPS_CRTL(short int cmd) |
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299 | { |
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621 | salvo | 300 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
301 | static signed int dist_north,dist_east; // Distanz zur Sollpoistion |
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302 | signed int n,n1; |
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303 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
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304 | long signed int dev; |
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305 | signed int dist_frm_start_east,dist_frm_start_north; |
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626 | salvo | 306 | int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil |
621 | salvo | 307 | static signed int int_east,int_north; //Integrierer |
632 | salvo | 308 | long int speed_east,speed_north; //Aktuelle Geschwindigkeit |
622 | salvo | 309 | signed long int_east1,int_north1; |
621 | salvo | 310 | // signed long dist; |
602 | salvo | 311 | |
528 | salvo | 312 | switch (cmd) |
313 | { |
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314 | |||
315 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
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316 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
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317 | { |
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318 | cnt++; |
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629 | salvo | 319 | if (cnt > 50) // erst nach Verzoegerung |
528 | salvo | 320 | { |
321 | // Erst mal initialisieren |
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629 | salvo | 322 | cnt = 0; |
528 | salvo | 323 | gps_tick = 0; |
324 | hold_fast = 0; |
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325 | hold_reset_int = 0; // Integrator enablen |
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326 | int_east = 0, int_north = 0; |
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327 | gps_reg_x = 0, gps_reg_y = 0; |
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328 | dist_east = 0, dist_north = 0; |
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329 | dist_flown = 0; |
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330 | gps_g2t_act_v = 0; |
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331 | gps_sub_state = GPS_CRTL_IDLE; |
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332 | // aktuelle positionsdaten abspeichern |
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333 | if (gps_rel_act_position.status > 0) |
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334 | { |
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335 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
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336 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
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337 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
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338 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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339 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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340 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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341 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
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342 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
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343 | // in Winkel 0...360 Grad umrechnen |
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344 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
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345 | else hdng_2home = (270 - hdng_2home); |
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346 | 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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347 | gps_state = GPS_CRTL_HOME_ACTIVE; |
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348 | return (GPS_STST_OK); |
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349 | } |
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350 | else |
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351 | { |
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352 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
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629 | salvo | 353 | gps_state = GPS_CRTL_IDLE; |
528 | salvo | 354 | return(GPS_STST_ERR); // Keine Daten da |
355 | } |
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356 | } |
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357 | else return(GPS_STST_PEND); // noch warten |
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358 | } |
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359 | break; |
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360 | // ****************************** |
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361 | |||
362 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
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363 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
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364 | { |
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365 | cnt++; |
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628 | salvo | 366 | if (cnt > 700) // erst nach Verzoegerung |
528 | salvo | 367 | { |
368 | cnt = 0; |
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369 | // aktuelle positionsdaten abspeichern |
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370 | if (gps_rel_act_position.status > 0) |
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371 | { |
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372 | hold_fast = 0; |
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373 | hold_reset_int = 0; // Integrator enablen |
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631 | salvo | 374 | int_east = 0, int_north = 0; |
375 | gps_reg_x = 0, gps_reg_y = 0; |
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376 | dist_east = 0, dist_north = 0; |
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377 | speed_east = 0; speed_north= 0; |
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378 | int_ovfl_cnt = 0; |
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528 | salvo | 379 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
380 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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381 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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382 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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383 | return (GPS_STST_OK); |
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384 | } |
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385 | else |
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386 | { |
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631 | salvo | 387 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
528 | salvo | 388 | gps_state = GPS_CRTL_IDLE; |
389 | return(GPS_STST_ERR); // Keine Daten da |
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390 | } |
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391 | } |
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392 | else return(GPS_STST_PEND); // noch warten |
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393 | } |
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394 | break; |
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395 | |||
396 | case GPS_CMD_STOP: // Lageregelung beenden |
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397 | cnt = 0; |
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398 | GPS_Nick = 0; |
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399 | GPS_Roll = 0; |
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400 | gps_int_x = 0; |
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401 | gps_int_y = 0; |
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402 | gps_sub_state = GPS_CRTL_IDLE; |
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403 | gps_state = GPS_CRTL_IDLE; |
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404 | return (GPS_STST_OK); |
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405 | break; |
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406 | |||
407 | default: |
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408 | return (GPS_STST_ERR); |
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409 | break; |
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410 | } |
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411 | |||
412 | switch (gps_state) |
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413 | { |
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414 | case GPS_CRTL_IDLE: |
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415 | cnt = 0; |
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416 | return (GPS_STST_OK); |
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417 | break; |
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418 | |||
419 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
||
420 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
||
421 | if (gps_rel_start_position.status >0) |
||
422 | { |
||
423 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
||
424 | { |
||
425 | gps_tick++; |
||
426 | int d1,d2,d3; |
||
427 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
||
428 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
||
628 | salvo | 429 | d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel |
632 | salvo | 430 | // debug_gp_2 = dist_2home; // zum Debuggen |
431 | // debug_gp_3 = dist_flown; // zum Debuggen |
||
432 | // debug_gp_4 = hdng_2home; // zum Debuggen |
||
628 | salvo | 433 | // debug_gp_5 = amplfy_speed_north; // zum Debuggen |
528 | salvo | 434 | |
435 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
||
436 | { |
||
437 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
||
438 | { |
||
631 | salvo | 439 | if (gps_g2t_act_v < GPS_G2T_V_MAX-3) gps_g2t_act_v += 4; //Geschwindigkeit flott erhoehen |
628 | salvo | 440 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
528 | salvo | 441 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
442 | } |
||
443 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
||
444 | { |
||
445 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
||
629 | salvo | 446 | // dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
528 | salvo | 447 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
448 | } |
||
629 | salvo | 449 | hold_reset_int = 0; // Integrator einsschalten |
450 | hold_fast = 1; // Regler fuer schnellen Flug |
||
451 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
||
452 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
||
528 | salvo | 453 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
454 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
455 | } |
||
456 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
||
457 | { |
||
458 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
||
459 | { |
||
460 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
461 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
||
462 | } |
||
463 | else |
||
464 | { |
||
629 | salvo | 465 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
528 | salvo | 466 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
467 | } |
||
629 | salvo | 468 | hold_reset_int = 0; // Integrator einsschalten |
469 | hold_fast = 1; // Regler fuer schnellen Flug |
||
470 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
||
471 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
||
528 | salvo | 472 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
473 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
474 | } |
||
475 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
||
476 | { |
||
477 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
||
478 | { |
||
479 | gps_sub_state = GPS_HOME_IN_TOL; |
||
629 | salvo | 480 | hold_fast = 0; // Wieder normal regeln |
481 | hold_reset_int = 0; // Integrator einsschalten |
||
528 | salvo | 482 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
483 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
||
484 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
||
485 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
||
486 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
||
487 | { |
||
488 | gps_rel_hold_position.utm_east = 0; |
||
489 | gps_rel_hold_position.utm_north = 0; |
||
631 | salvo | 490 | gps_sub_state = GPS_HOME_FINISHED; |
528 | salvo | 491 | } |
492 | } |
||
493 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
||
494 | } |
||
495 | } |
||
496 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
||
497 | return (GPS_STST_OK); |
||
498 | } |
||
499 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
||
500 | { |
||
629 | salvo | 501 | gps_state = GPS_CRTL_IDLE; |
528 | salvo | 502 | return (GPS_STST_ERR); |
503 | } |
||
504 | break; |
||
505 | |||
506 | |||
507 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
||
508 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
||
509 | { |
||
510 | // ab hier wird geregelt |
||
632 | salvo | 511 | dist_east = gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east; |
512 | dist_north = gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north; |
||
528 | salvo | 513 | int_east += dist_east; |
629 | salvo | 514 | int_north += dist_north; |
632 | salvo | 515 | speed_east = actual_speed.speed_e; |
516 | speed_north = actual_speed.speed_n; |
||
629 | salvo | 517 | gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden |
632 | salvo | 518 | debug_gp_2 = dist_east; // zum Debuggen |
519 | debug_gp_3 = dist_north; // zum Debuggen |
||
520 | |||
528 | salvo | 521 | |
602 | salvo | 522 | #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
523 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) |
||
528 | salvo | 524 | { |
621 | salvo | 525 | if (int_ovfl_cnt < 40) int_ovfl_cnt += 1; // Zahl der Overflows zaehlen |
528 | salvo | 526 | } |
621 | salvo | 527 | if (int_ovfl_cnt > 0) //bei Overflow Wert Integratorwert reduzieren |
602 | salvo | 528 | { |
529 | int_ovfl_cnt -= 1; |
||
629 | salvo | 530 | int_east = (int_east*7)/8; // Wert reduzieren |
602 | salvo | 531 | int_north = (int_north*7)/8; |
532 | } |
||
533 | |||
528 | salvo | 534 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
535 | { |
||
536 | int_east = 0; |
||
537 | int_north = 0; |
||
538 | } |
||
631 | salvo | 539 | if (hold_fast > 0) //schneller Coming Home Modus |
628 | salvo | 540 | { |
631 | salvo | 541 | // Verstaerkungsfaktor fuer D-Anteil ermitteln um exponentielles Verhalten zu erzielen |
542 | amplfy_speed_east = (((abs(speed_east)) *(DIFF_Y_F_MAX-1)*10)/DIFF_X_F_MAX) +10; |
||
543 | amplfy_speed_north = (((abs(speed_north))*(DIFF_Y_F_MAX-1)*10)/DIFF_X_F_MAX) +10; |
||
544 | if (amplfy_speed_east > (DIFF_Y_F_MAX *10)) amplfy_speed_east = DIFF_Y_F_MAX *10; // Begrenzung |
||
545 | if (amplfy_speed_north > (DIFF_Y_F_MAX *10)) amplfy_speed_north = DIFF_Y_F_MAX *10; // Begrenzung |
||
546 | amplfy_speed_east *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
||
547 | amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
||
628 | salvo | 548 | } |
549 | else //langsamer Holdmodus |
||
550 | { |
||
631 | salvo | 551 | // Verstaerkungsfaktor fuer D-Anteil ermitteln um exponentielles Verhalten zu erzielen |
552 | amplfy_speed_east = (((abs(speed_east)) *(DIFF_Y_N_MAX-1)*10)/DIFF_X_N_MAX) +10; |
||
553 | amplfy_speed_north = (((abs(speed_north))*(DIFF_Y_N_MAX-1)*10)/DIFF_X_N_MAX) +10; |
||
554 | if (amplfy_speed_east > (DIFF_Y_N_MAX *10)) amplfy_speed_east = DIFF_Y_N_MAX *10; // Begrenzung |
||
555 | if (amplfy_speed_north > (DIFF_Y_N_MAX *10)) amplfy_speed_north = DIFF_Y_N_MAX *10; // Begrenzung |
||
628 | salvo | 556 | amplfy_speed_east *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
557 | amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
||
632 | salvo | 558 | speed_east = speed_east * abs(speed_east) /100; //quadrieren |
559 | speed_north = speed_north * abs(speed_north) /100; //quadrieren |
||
628 | salvo | 560 | } |
632 | salvo | 561 | // amplfy_speed_east /= 10; |
562 | // amplfy_speed_north /= 10; |
||
563 | debug_gp_4 = (int)speed_east; // zum Debuggen |
||
564 | debug_gp_5 = (int)speed_north; // zum Debuggen |
||
528 | salvo | 565 | |
566 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
||
567 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
||
568 | else diff_p = GPS_PROP_NRML_V; |
||
569 | |||
570 | //I Werte begrenzen |
||
602 | salvo | 571 | #define INT1_MAX (GPS_NICKROLL_MAX * GPS_V)/2 //ab 30.12.2007 auf Halben Maximalen Nick/Rollwert begrenzen |
565 | salvo | 572 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
631 | salvo | 573 | int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
528 | salvo | 574 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
575 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
||
576 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
||
577 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
||
578 | |||
579 | //PID Regler Werte aufsummieren |
||
632 | salvo | 580 | gps_reg_x = -(int_east1 + (long)((dist_east * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((speed_east * (long)amplfy_speed_east )/(100L))); // I + P +D Anteil X Achse |
581 | gps_reg_y = -(int_north1 + (long)((dist_north * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((speed_north * (long)amplfy_speed_north )/(100L))); // I + P +D Anteil Y Achse |
||
582 | debug_gp_0 = (int)gps_reg_x; // zum Debuggen |
||
583 | debug_gp_1 = (int)gps_reg_y; // zum Debuggen |
||
528 | salvo | 584 | |
585 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
||
632 | salvo | 586 | GPS_hdng_abs_2trgt = arctan_i((int)gps_reg_x,(int)gps_reg_y); |
528 | salvo | 587 | |
588 | // in Winkel 0...360 Grad umrechnen |
||
589 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
||
590 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
||
591 | |||
592 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
||
593 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
||
594 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
||
595 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
||
596 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
||
597 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
||
598 | |||
599 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
||
600 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
||
601 | { |
||
632 | salvo | 602 | dev = gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
528 | salvo | 603 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
604 | } |
||
605 | else |
||
606 | { |
||
607 | dev = (long)gps_reg_y; |
||
608 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
||
609 | } |
||
610 | GPS_dist_2trgt = (int) dev; |
||
611 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
||
621 | salvo | 612 | n = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); //Rollwert bestimmen |
613 | n1 = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); //Nickwert bestimmen |
||
528 | salvo | 614 | |
621 | salvo | 615 | if (n > (GPS_NICKROLL_MAX * GPS_V)) n = (GPS_NICKROLL_MAX * GPS_V); |
616 | else if (n < -(GPS_NICKROLL_MAX * GPS_V)) n = -(GPS_NICKROLL_MAX * GPS_V); |
||
617 | if (n1 > (GPS_NICKROLL_MAX * GPS_V)) n1 = (GPS_NICKROLL_MAX * GPS_V); |
||
618 | else if (n1 < -(GPS_NICKROLL_MAX * GPS_V)) n1 = -(GPS_NICKROLL_MAX * GPS_V); |
||
619 | n = n/GPS_V; |
||
620 | n1 = n1/GPS_V; |
||
528 | salvo | 621 | //Kleine Werte verstaerken, Grosse abschwaechen |
631 | salvo | 622 | /* n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
623 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
528 | salvo | 624 | GPS_Roll = (int) n_l; |
631 | salvo | 625 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
626 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
629 | salvo | 627 | GPS_Nick = (int) n_l; |
628 | */ |
||
621 | salvo | 629 | |
528 | salvo | 630 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
631 | { |
||
632 | GPS_Roll = 0; |
||
633 | GPS_Nick = 0; |
||
634 | gps_state = GPS_CRTL_IDLE; |
||
635 | return (GPS_STST_ERR); |
||
636 | break; |
||
637 | } |
||
638 | else |
||
639 | { |
||
621 | salvo | 640 | GPS_Roll = n; |
641 | GPS_Nick = n1; |
||
528 | salvo | 642 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
643 | return (GPS_STST_OK); |
||
644 | } |
||
645 | } |
||
646 | else |
||
647 | { |
||
648 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
649 | return (GPS_STST_OK); |
||
650 | } |
||
651 | break; |
||
652 | |||
653 | default: |
||
654 | gps_state = GPS_CRTL_IDLE; |
||
655 | return (GPS_STST_ERR); |
||
656 | break; |
||
657 | } |
||
658 | return (GPS_STST_ERR); |
||
659 | |||
660 | } |
||
661 |