Rev 616 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
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 | Rückstuerz 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; |
||
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 |
||
56 | static signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
||
57 | static signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
||
528 | salvo | 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 |
||
621 | salvo | 61 | static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
528 | salvo | 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; |
||
621 | salvo | 66 | static long int dist_flown; |
67 | static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
||
528 | salvo | 68 | |
621 | salvo | 69 | |
528 | salvo | 70 | short int Get_GPS_data(void); |
71 | |||
72 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
||
73 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
||
74 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
||
75 | |||
76 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
||
77 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
||
78 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
||
79 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
||
80 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
||
81 | |||
82 | // Initialisierung |
||
83 | void GPS_Neutral(void) |
||
84 | { |
||
85 | ublox_msg_state = UBLOX_IDLE; |
||
86 | gps_state = GPS_CRTL_IDLE; |
||
87 | gps_sub_state = GPS_CRTL_IDLE; |
||
88 | actual_pos.status = 0; |
||
89 | actual_speed.status = 0; |
||
90 | actual_status.status = 0; |
||
91 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
||
92 | gps_act_position.status = 0; |
||
93 | gps_rel_act_position.status = 0; |
||
94 | GPS_Nick = 0; |
||
95 | GPS_Roll = 0; |
||
96 | gps_updte_flag = 0; |
||
97 | gps_int_x = 0; |
||
98 | gps_int_y = 0; |
||
99 | gps_alive_cnt = 0; |
||
100 | } |
||
101 | |||
102 | // Home Position sichern falls Daten verfuegbar sind. |
||
103 | void GPS_Save_Home(void) |
||
104 | { |
||
105 | short int n; |
||
106 | n = Get_GPS_data(); |
||
107 | if (n == 0) // Gueltige und aktuelle Daten ? |
||
108 | { |
||
109 | // Neue GPS Daten liegen vor |
||
110 | gps_home_position.utm_east = gps_act_position.utm_east; |
||
111 | gps_home_position.utm_north = gps_act_position.utm_north; |
||
112 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
||
113 | gps_home_position.status = 1; // Home Position gueltig |
||
114 | } |
||
115 | } |
||
116 | |||
117 | // Relative Position zur Home Position bestimmen |
||
118 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
||
119 | short int Get_Rel_Position(void) |
||
120 | { |
||
121 | short int n = 0; |
||
122 | n = Get_GPS_data(); |
||
123 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
||
565 | salvo | 124 | if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
528 | salvo | 125 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
126 | { |
||
127 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
||
128 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
||
129 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
||
130 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
||
131 | n = 0; |
||
132 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
||
133 | } |
||
134 | else |
||
135 | { |
||
136 | n = 2; //keine gueltigen Daten vorhanden |
||
137 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
||
138 | } |
||
139 | return (n); |
||
140 | } |
||
141 | |||
142 | // Daten aus aktuellen ublox Messages extrahieren |
||
143 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
||
144 | short int Get_GPS_data(void) |
||
145 | { |
||
146 | short int n = 1; |
||
147 | |||
148 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
||
149 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
||
150 | { |
||
151 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
||
152 | { |
||
565 | salvo | 153 | actual_status.status = 0; |
528 | salvo | 154 | gps_act_position.utm_east = actual_pos.utm_east/10; |
155 | gps_act_position.utm_north = actual_pos.utm_north/10; |
||
156 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
||
565 | salvo | 157 | actual_pos.status = 0; //neue ublox Messages anfordern |
158 | // gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
||
159 | // gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
||
160 | // gps_act_position.heading = actual_speed.heading/100000; |
||
161 | actual_speed.status = 0; |
||
528 | salvo | 162 | gps_act_position.status = 1; |
163 | n = 0; //Daten gueltig |
||
164 | } |
||
165 | else |
||
166 | { |
||
565 | salvo | 167 | gps_act_position.status = 0; //Keine gueltigen Daten |
168 | actual_speed.status = 0; |
||
169 | actual_status.status = 0; |
||
170 | actual_pos.status = 0; //neue ublox Messages anfordern |
||
171 | n = 2; |
||
528 | salvo | 172 | } |
173 | } |
||
174 | return (n); |
||
175 | } |
||
176 | |||
177 | /* |
||
178 | Daten vom GPS im ublox MSG Format auswerten |
||
179 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
||
180 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
||
181 | */ |
||
182 | void Get_Ublox_Msg(uint8_t rx) |
||
183 | { |
||
184 | switch (ublox_msg_state) |
||
185 | { |
||
186 | |||
187 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
||
188 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
||
189 | else ublox_msg_state = UBLOX_IDLE; |
||
190 | break; |
||
191 | |||
192 | case UBLOX_SYNC1: |
||
193 | |||
194 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
||
195 | else ublox_msg_state = UBLOX_IDLE; |
||
196 | chk_a = 0,chk_b = 0; |
||
197 | break; |
||
198 | |||
199 | case UBLOX_SYNC2: |
||
200 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
||
201 | else ublox_msg_state = UBLOX_IDLE; |
||
202 | break; |
||
203 | |||
204 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
||
205 | switch (rx) |
||
206 | { |
||
207 | case UBLOX_NAV_POSUTM: |
||
208 | ptr_pac_status = &actual_pos.status; |
||
209 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
||
210 | else |
||
211 | { |
||
212 | ptr_payload_data = &actual_pos; |
||
213 | ptr_payload_data_end = &actual_pos.status; |
||
214 | ublox_msg_state = UBLOX_LEN1; |
||
215 | } |
||
216 | break; |
||
217 | |||
218 | case UBLOX_NAV_STATUS: |
||
219 | ptr_pac_status = &actual_status.status; |
||
220 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
||
221 | else |
||
222 | { |
||
223 | ptr_payload_data = &actual_status; |
||
224 | ptr_payload_data_end = &actual_status.status; |
||
225 | ublox_msg_state = UBLOX_LEN1; |
||
226 | } |
||
227 | break; |
||
228 | |||
229 | case UBLOX_NAV_VELED: |
||
230 | ptr_pac_status = &actual_speed.status; |
||
231 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
||
232 | else |
||
233 | { |
||
234 | ptr_payload_data = &actual_speed; |
||
235 | ptr_payload_data_end = &actual_speed.status; |
||
236 | ublox_msg_state = UBLOX_LEN1; |
||
237 | } |
||
238 | break; |
||
239 | |||
240 | default: |
||
241 | ublox_msg_state = UBLOX_IDLE; |
||
242 | break; |
||
243 | } |
||
244 | chk_a = UBLOX_NAV_CLASS + rx; |
||
245 | chk_b = UBLOX_NAV_CLASS + chk_a; |
||
246 | break; |
||
247 | |||
248 | case UBLOX_LEN1: // Laenge auswerten |
||
249 | rx_len = rx; |
||
250 | chk_a += rx; |
||
251 | chk_b += chk_a; |
||
252 | ublox_msg_state = UBLOX_LEN2; |
||
253 | break; |
||
254 | |||
255 | |||
256 | case UBLOX_LEN2: // Laenge auswerten |
||
257 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
||
258 | chk_a += rx; |
||
259 | chk_b += chk_a; |
||
260 | ublox_msg_state = UBLOX_PAYLOAD; |
||
261 | break; |
||
262 | |||
263 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
||
264 | if (rx_len > 0) |
||
265 | { |
||
266 | *ptr_payload_data = rx; |
||
267 | chk_a += rx; |
||
268 | chk_b += chk_a; |
||
269 | --rx_len; |
||
270 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
||
271 | { |
||
272 | ptr_payload_data++; |
||
273 | ublox_msg_state = UBLOX_PAYLOAD; |
||
274 | } |
||
275 | else ublox_msg_state = UBLOX_CKA; |
||
276 | } |
||
277 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
||
278 | break; |
||
279 | |||
280 | case UBLOX_CKA: // Checksum pruefen |
||
281 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
||
282 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
||
283 | break; |
||
284 | |||
285 | case UBLOX_CKB: // Checksum pruefen |
||
286 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
||
287 | ublox_msg_state = UBLOX_IDLE; |
||
288 | break; |
||
289 | |||
290 | default: |
||
291 | ublox_msg_state = UBLOX_IDLE; |
||
292 | break; |
||
293 | } |
||
294 | } |
||
295 | |||
296 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
||
297 | short int GPS_CRTL(short int cmd) |
||
298 | { |
||
621 | salvo | 299 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
300 | static signed int dist_north,dist_east; // Distanz zur Sollpoistion |
||
301 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
||
302 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
||
303 | signed int n,n1; |
||
304 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
||
305 | long signed int dev; |
||
306 | signed int dist_frm_start_east,dist_frm_start_north; |
||
307 | int diff_v_east,diff_v_north; //Verstaerkungsfaktoren fuer Differenzierer |
||
308 | static signed int int_east,int_north; //Integrierer |
||
309 | // signed long dist; |
||
602 | salvo | 310 | |
528 | salvo | 311 | switch (cmd) |
312 | { |
||
313 | |||
314 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
||
315 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
||
316 | { |
||
317 | cnt++; |
||
565 | salvo | 318 | if (cnt > 200) // erst nach Verzoegerung |
528 | salvo | 319 | { |
320 | // Erst mal initialisieren |
||
321 | cnt = 0; |
||
322 | gps_tick = 0; |
||
323 | hold_fast = 0; |
||
324 | hold_reset_int = 0; // Integrator enablen |
||
325 | int_east = 0, int_north = 0; |
||
326 | gps_reg_x = 0, gps_reg_y = 0; |
||
327 | dist_east = 0, dist_north = 0; |
||
328 | diff_east_f = 0, diff_north_f= 0; |
||
329 | diff_east = 0, diff_north = 0; |
||
330 | dist_flown = 0; |
||
331 | gps_g2t_act_v = 0; |
||
332 | gps_sub_state = GPS_CRTL_IDLE; |
||
333 | // aktuelle positionsdaten abspeichern |
||
334 | if (gps_rel_act_position.status > 0) |
||
335 | { |
||
336 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
||
337 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
||
338 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
||
339 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
||
340 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
||
341 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
||
342 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
||
343 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
||
344 | // in Winkel 0...360 Grad umrechnen |
||
345 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
||
346 | else hdng_2home = (270 - hdng_2home); |
||
347 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
||
348 | gps_state = GPS_CRTL_HOME_ACTIVE; |
||
349 | return (GPS_STST_OK); |
||
350 | } |
||
351 | else |
||
352 | { |
||
353 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
||
354 | gps_state = GPS_CRTL_IDLE; |
||
355 | return(GPS_STST_ERR); // Keine Daten da |
||
356 | } |
||
357 | } |
||
358 | else return(GPS_STST_PEND); // noch warten |
||
359 | } |
||
360 | break; |
||
361 | // ****************************** |
||
362 | |||
363 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
||
364 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
||
365 | { |
||
366 | cnt++; |
||
621 | salvo | 367 | if (cnt > 500) // erst nach Verzoegerung |
528 | salvo | 368 | { |
369 | cnt = 0; |
||
370 | // aktuelle positionsdaten abspeichern |
||
371 | if (gps_rel_act_position.status > 0) |
||
372 | { |
||
373 | hold_fast = 0; |
||
374 | hold_reset_int = 0; // Integrator enablen |
||
375 | int_east = 0, int_north = 0; |
||
376 | gps_reg_x = 0, gps_reg_y = 0; |
||
377 | dist_east = 0, dist_north = 0; |
||
378 | diff_east_f = 0, diff_north_f= 0; |
||
379 | diff_east = 0, diff_north = 0; |
||
602 | salvo | 380 | int_ovfl_cnt = 0; |
528 | salvo | 381 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
382 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
||
383 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
||
384 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
||
385 | return (GPS_STST_OK); |
||
386 | } |
||
387 | else |
||
388 | { |
||
389 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
||
390 | gps_state = GPS_CRTL_IDLE; |
||
391 | return(GPS_STST_ERR); // Keine Daten da |
||
392 | } |
||
393 | } |
||
394 | else return(GPS_STST_PEND); // noch warten |
||
395 | } |
||
396 | break; |
||
397 | |||
398 | case GPS_CMD_STOP: // Lageregelung beenden |
||
399 | cnt = 0; |
||
400 | GPS_Nick = 0; |
||
401 | GPS_Roll = 0; |
||
402 | gps_int_x = 0; |
||
403 | gps_int_y = 0; |
||
404 | gps_sub_state = GPS_CRTL_IDLE; |
||
405 | gps_state = GPS_CRTL_IDLE; |
||
406 | return (GPS_STST_OK); |
||
407 | break; |
||
408 | |||
409 | default: |
||
410 | return (GPS_STST_ERR); |
||
411 | break; |
||
412 | } |
||
413 | |||
414 | switch (gps_state) |
||
415 | { |
||
416 | case GPS_CRTL_IDLE: |
||
417 | cnt = 0; |
||
418 | return (GPS_STST_OK); |
||
419 | break; |
||
420 | |||
421 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
||
422 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
||
423 | if (gps_rel_start_position.status >0) |
||
424 | { |
||
425 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
||
426 | { |
||
427 | gps_tick++; |
||
428 | int d1,d2,d3; |
||
429 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
||
430 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
||
431 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
||
432 | |||
433 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
||
434 | { |
||
435 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
||
436 | { |
||
437 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
||
438 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
439 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
||
440 | } |
||
441 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
||
442 | { |
||
443 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
||
444 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
||
445 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
||
446 | } |
||
447 | hold_reset_int = 0; // Integrator einsschalten |
||
448 | hold_fast = 1; // Regler fuer schnellen Flug |
||
449 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
||
450 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
||
451 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
452 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
453 | } |
||
454 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
||
455 | { |
||
456 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
||
457 | { |
||
458 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
459 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
||
460 | } |
||
461 | else |
||
462 | { |
||
463 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
||
464 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
||
465 | } |
||
466 | hold_reset_int = 0; // Integrator ausschalten |
||
467 | hold_fast = 1; // Wieder normal regeln |
||
468 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
||
469 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
||
470 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
471 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
472 | } |
||
473 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
||
474 | { |
||
475 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
||
476 | { |
||
477 | gps_sub_state = GPS_HOME_IN_TOL; |
||
478 | hold_fast = 0; // Wieder normal regeln |
||
479 | hold_reset_int = 0; // Integrator wieder aktivieren |
||
480 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
||
481 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
||
482 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
||
483 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
||
484 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
||
485 | { |
||
486 | gps_rel_hold_position.utm_east = 0; |
||
487 | gps_rel_hold_position.utm_north = 0; |
||
488 | gps_sub_state = GPS_HOME_FINISHED; |
||
489 | } |
||
490 | } |
||
491 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
||
492 | } |
||
493 | } |
||
494 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
||
495 | return (GPS_STST_OK); |
||
496 | } |
||
497 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
||
498 | { |
||
499 | gps_state = GPS_CRTL_IDLE; |
||
500 | return (GPS_STST_ERR); |
||
501 | } |
||
502 | break; |
||
503 | |||
504 | |||
505 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
||
506 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
||
507 | { |
||
508 | gps_updte_flag = 0; |
||
509 | // ab hier wird geregelt |
||
621 | salvo | 510 | diff_east = dist_east; //Alten Wert fuer Differenzierer schon mal addieren |
511 | diff_north = dist_north; |
||
528 | salvo | 512 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
513 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
||
514 | int_east += dist_east; |
||
515 | int_north += dist_north; |
||
621 | salvo | 516 | diff_east -= dist_east; // Differenz zur vorhergehenden East Position |
517 | diff_north -= dist_north; // Differenz zur vorhergehenden North Position |
||
528 | salvo | 518 | |
519 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
||
520 | { |
||
615 | salvo | 521 | diff_east_f = (((diff_east_f *2)/3) + ((diff_east *1*10)/3)); //Differenzierer filtern |
522 | diff_north_f = (((diff_north_f *2)/3) + ((diff_north*1*10)/3)); //Differenzierer filtern |
||
528 | salvo | 523 | } |
524 | else // schwache Filterung |
||
525 | { |
||
621 | salvo | 526 | diff_east_f = (((diff_east_f * 1)/4) + ((diff_east *3*10)/4)); //Differenzierer filtern |
527 | diff_north_f = (((diff_north_f * 1)/4) + ((diff_north*3*10)/4)); //Differenzierer filtern |
||
528 | salvo | 528 | } |
529 | |||
602 | salvo | 530 | #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
531 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) |
||
528 | salvo | 532 | { |
621 | salvo | 533 | if (int_ovfl_cnt < 40) int_ovfl_cnt += 1; // Zahl der Overflows zaehlen |
602 | salvo | 534 | // int_east -= dist_east; auf alten Wert halten |
535 | // int_north -= dist_north; |
||
528 | salvo | 536 | } |
621 | salvo | 537 | if (int_ovfl_cnt > 0) //bei Overflow Wert Integratorwert reduzieren |
602 | salvo | 538 | { |
539 | int_ovfl_cnt -= 1; |
||
540 | int_east = (int_east*7)/8; // Wert reduzieren |
||
541 | int_north = (int_north*7)/8; |
||
542 | } |
||
543 | |||
528 | salvo | 544 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
545 | { |
||
546 | int_east = 0; |
||
547 | int_north = 0; |
||
548 | } |
||
549 | |||
550 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
||
551 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
||
613 | salvo | 552 | signed long int_east1,int_north1; |
553 | |||
621 | salvo | 554 | // int phi; |
555 | // phi = arctan_i(abs(dist_north),abs(dist_east)); |
||
556 | // dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
||
528 | salvo | 557 | |
558 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
||
559 | { |
||
613 | salvo | 560 | // diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
561 | // if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
||
615 | salvo | 562 | // diff_v = GPS_DIFF_NRML_MAX_V ; //variable Versterkung raus 31.12.2007 |
528 | salvo | 563 | } |
564 | else |
||
565 | { |
||
613 | salvo | 566 | // diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
567 | // if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
||
615 | salvo | 568 | // diff_v = GPS_DIFF_FAST_MAX_V ; //variable Versterkung raus 31.12.2007 |
528 | salvo | 569 | } |
615 | salvo | 570 | diff_v_east = (((abs(diff_east_f)) *(DIFF_Y_MAX-1))/DIFF_X_MAX) +10; |
571 | diff_v_north = (((abs(diff_north_f))*(DIFF_Y_MAX-1))/DIFF_X_MAX) +10; |
||
572 | if (diff_v_east > (DIFF_Y_MAX *10)) diff_v_east = DIFF_Y_MAX *10; // Begrenzung |
||
573 | if (diff_v_north > (DIFF_Y_MAX *10)) diff_v_north = DIFF_Y_MAX *10; // Begrenzung |
||
574 | diff_v_east *= 2; |
||
575 | diff_v_north *= 2; |
||
528 | salvo | 576 | |
616 | salvo | 577 | // debug_gp_2 = diff_v_east; // zum Debuggen |
578 | // debug_gp_3 = diff_v_north; // zum Debuggen |
||
579 | // debug_gp_4 = diff_east_f; // zum Debuggen |
||
580 | // debug_gp_5 = diff_north_f; // zum Debuggen |
||
613 | salvo | 581 | |
528 | salvo | 582 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
583 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
||
584 | else diff_p = GPS_PROP_NRML_V; |
||
585 | |||
586 | //I Werte begrenzen |
||
602 | salvo | 587 | #define INT1_MAX (GPS_NICKROLL_MAX * GPS_V)/2 //ab 30.12.2007 auf Halben Maximalen Nick/Rollwert begrenzen |
565 | salvo | 588 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
589 | int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; //Fehler behoben am 17.12.2007 vorher int_north= |
||
528 | salvo | 590 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
591 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
||
592 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
||
593 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
||
594 | |||
595 | //PID Regler Werte aufsummieren |
||
615 | salvo | 596 | gps_reg_x = ((int)int_east1 + ((dist_east * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_east_f * diff_v_east * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil X Achse |
597 | gps_reg_y = ((int)int_north1 + ((dist_north * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_north_f * diff_v_north * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil Y Achse |
||
598 | debug_gp_0 = gps_reg_x; // zum Debuggen |
||
599 | debug_gp_1 = gps_reg_y; // zum Debuggen |
||
528 | salvo | 600 | |
601 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
||
602 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
||
603 | |||
604 | // in Winkel 0...360 Grad umrechnen |
||
605 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
||
606 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
||
607 | |||
608 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
||
609 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
||
610 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
||
611 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
||
612 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
||
613 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
||
614 | |||
615 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
||
616 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
||
617 | { |
||
618 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
||
619 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
||
620 | } |
||
621 | else |
||
622 | { |
||
623 | dev = (long)gps_reg_y; |
||
624 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
||
625 | } |
||
626 | GPS_dist_2trgt = (int) dev; |
||
627 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
||
621 | salvo | 628 | n = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); //Rollwert bestimmen |
629 | n1 = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); //Nickwert bestimmen |
||
630 | |||
631 | // GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
||
632 | // GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
||
528 | salvo | 633 | |
621 | salvo | 634 | if (n > (GPS_NICKROLL_MAX * GPS_V)) n = (GPS_NICKROLL_MAX * GPS_V); |
635 | else if (n < -(GPS_NICKROLL_MAX * GPS_V)) n = -(GPS_NICKROLL_MAX * GPS_V); |
||
636 | if (n1 > (GPS_NICKROLL_MAX * GPS_V)) n1 = (GPS_NICKROLL_MAX * GPS_V); |
||
637 | else if (n1 < -(GPS_NICKROLL_MAX * GPS_V)) n1 = -(GPS_NICKROLL_MAX * GPS_V); |
||
638 | n = n/GPS_V; |
||
639 | n1 = n1/GPS_V; |
||
528 | salvo | 640 | //Kleine Werte verstaerken, Grosse abschwaechen |
621 | salvo | 641 | /* n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
528 | salvo | 642 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
643 | GPS_Roll = (int) n_l; |
||
644 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
||
645 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
646 | GPS_Nick = (int) n_l; |
||
621 | salvo | 647 | */ |
648 | |||
528 | salvo | 649 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
650 | { |
||
651 | GPS_Roll = 0; |
||
652 | GPS_Nick = 0; |
||
653 | gps_state = GPS_CRTL_IDLE; |
||
654 | return (GPS_STST_ERR); |
||
655 | break; |
||
656 | } |
||
657 | else |
||
658 | { |
||
621 | salvo | 659 | GPS_Roll = n; |
660 | GPS_Nick = n1; |
||
528 | salvo | 661 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
662 | return (GPS_STST_OK); |
||
663 | } |
||
664 | } |
||
665 | else |
||
666 | { |
||
667 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
668 | return (GPS_STST_OK); |
||
669 | } |
||
670 | break; |
||
671 | |||
672 | default: |
||
673 | gps_state = GPS_CRTL_IDLE; |
||
674 | return (GPS_STST_ERR); |
||
675 | break; |
||
676 | } |
||
677 | return (GPS_STST_ERR); |
||
678 | |||
679 | } |
||
680 |