WebSVN - FlightCtrl - Blame - Rev 622 - /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;
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
622	salvo	158	gps_act_position.speed_gnd = actual_speed.speed_gnd;
		159	gps_act_position.speed_gnd = actual_speed.speed_gnd;
		160	gps_act_position.heading = actual_speed.heading/100000;
565	salvo	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
622	salvo	309	int speed_east,speed_north; //Aktuelle Geschwindigkeit
		310	signed long int_east1,int_north1;
621	salvo	311	// signed long dist;
602	salvo	312
528	salvo	313	switch (cmd)
		314	{
		315
		316	case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
		317	if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
		318	{
		319	cnt++;
565	salvo	320	if (cnt > 200) // erst nach Verzoegerung
528	salvo	321	{
		322	// Erst mal initialisieren
		323	cnt = 0;
		324	gps_tick = 0;
		325	hold_fast = 0;
		326	hold_reset_int = 0; // Integrator enablen
		327	int_east = 0, int_north = 0;
		328	gps_reg_x = 0, gps_reg_y = 0;
		329	dist_east = 0, dist_north = 0;
		330	diff_east_f = 0, diff_north_f= 0;
		331	diff_east = 0, diff_north = 0;
		332	dist_flown = 0;
		333	gps_g2t_act_v = 0;
		334	gps_sub_state = GPS_CRTL_IDLE;
		335	// aktuelle positionsdaten abspeichern
		336	if (gps_rel_act_position.status > 0)
		337	{
		338	gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
		339	gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
		340	gps_rel_start_position.status = 1; // gueltige Positionsdaten
		341	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		342	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		343	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		344	//Richtung zur Home Position bezogen auf Nordpol bestimmen
		345	hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
		346	// in Winkel 0...360 Grad umrechnen
		347	if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
		348	else hdng_2home = (270 - hdng_2home);
		349	dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen
		350	gps_state = GPS_CRTL_HOME_ACTIVE;
		351	return (GPS_STST_OK);
		352	}
		353	else
		354	{
		355	gps_rel_start_position.status = 0; //Keine Daten verfuegbar
		356	gps_state = GPS_CRTL_IDLE;
		357	return(GPS_STST_ERR); // Keine Daten da
		358	}
		359	}
		360	else return(GPS_STST_PEND); // noch warten
		361	}
		362	break;
		363	// ******************************
		364
		365	case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
		366	if (gps_state != GPS_CRTL_HOLD_ACTIVE)
		367	{
		368	cnt++;
621	salvo	369	if (cnt > 500) // erst nach Verzoegerung
528	salvo	370	{
		371	cnt = 0;
		372	// aktuelle positionsdaten abspeichern
		373	if (gps_rel_act_position.status > 0)
		374	{
		375	hold_fast = 0;
		376	hold_reset_int = 0; // Integrator enablen
		377	int_east = 0, int_north = 0;
		378	gps_reg_x = 0, gps_reg_y = 0;
		379	dist_east = 0, dist_north = 0;
		380	diff_east_f = 0, diff_north_f= 0;
		381	diff_east = 0, diff_north = 0;
622	salvo	382	speed_east = 0; speed_north= 0;
602	salvo	383	int_ovfl_cnt = 0;
528	salvo	384	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		385	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		386	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		387	gps_state = GPS_CRTL_HOLD_ACTIVE;
		388	return (GPS_STST_OK);
		389	}
		390	else
		391	{
		392	gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
		393	gps_state = GPS_CRTL_IDLE;
		394	return(GPS_STST_ERR); // Keine Daten da
		395	}
		396	}
		397	else return(GPS_STST_PEND); // noch warten
		398	}
		399	break;
		400
		401	case GPS_CMD_STOP: // Lageregelung beenden
		402	cnt = 0;
		403	GPS_Nick = 0;
		404	GPS_Roll = 0;
		405	gps_int_x = 0;
		406	gps_int_y = 0;
		407	gps_sub_state = GPS_CRTL_IDLE;
		408	gps_state = GPS_CRTL_IDLE;
		409	return (GPS_STST_OK);
		410	break;
		411
		412	default:
		413	return (GPS_STST_ERR);
		414	break;
		415	}
		416
		417	switch (gps_state)
		418	{
		419	case GPS_CRTL_IDLE:
		420	cnt = 0;
		421	return (GPS_STST_OK);
		422	break;
		423
		424	case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis
		425	//Der Sollwert des Lagereglers wird der Homeposition angenaehert
		426	if (gps_rel_start_position.status >0)
		427	{
		428	if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist
		429	{
		430	gps_tick++;
		431	int d1,d2,d3;
		432	d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east );
		433	d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north );
		434	d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel
		435
		436	if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel
		437	{
		438	if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz
		439	{
		440	if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen
		441	dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
		442	gps_sub_state = GPS_HOME_FAST_IN_TOL;
		443	}
		444	else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz
		445	{
		446	if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren
		447	dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		448	gps_sub_state = GPS_HOME_FAST_OUTOF_TOL;
		449	}
		450	hold_reset_int = 0; // Integrator einsschalten
		451	hold_fast = 1; // Regler fuer schnellen Flug
		452	dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
		453	dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000);
		454	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		455	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		456	}
		457	else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen
		458	{
		459	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL))
		460	{
		461	dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit
		462	gps_sub_state = GPS_HOME_RMPDWN_IN_TOL;
		463	}
		464	else
		465	{
		466	dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
		467	gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL;
		468	}
		469	hold_reset_int = 0; // Integrator ausschalten
		470	hold_fast = 1; // Wieder normal regeln
		471	dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
		472	dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000);
		473	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		474	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		475	}
		476	else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt)
		477	{
		478	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln
		479	{
		480	gps_sub_state = GPS_HOME_IN_TOL;
		481	hold_fast = 0; // Wieder normal regeln
		482	hold_reset_int = 0; // Integrator wieder aktivieren
		483	if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN;
		484	else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN;
		485	if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN;
		486	else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN;
		487	if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN))
		488	{
		489	gps_rel_hold_position.utm_east = 0;
		490	gps_rel_hold_position.utm_north = 0;
		491	gps_sub_state = GPS_HOME_FINISHED;
		492	}
		493	}
		494	else gps_sub_state = GPS_HOME_OUTOF_TOL;
		495	}
		496	}
		497	gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung
		498	return (GPS_STST_OK);
		499	}
		500	else // Keine GPS Daten verfuegbar, deswegen Abbruch
		501	{
		502	gps_state = GPS_CRTL_IDLE;
		503	return (GPS_STST_ERR);
		504	}
		505	break;
		506
		507
		508	case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet
		509	if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen
		510	{
		511	// ab hier wird geregelt
621	salvo	512	diff_east = dist_east; //Alten Wert fuer Differenzierer schon mal addieren
		513	diff_north = dist_north;
528	salvo	514	dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east;
		515	dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north;
		516	int_east += dist_east;
		517	int_north += dist_north;
621	salvo	518	diff_east -= dist_east; // Differenz zur vorhergehenden East Position
		519	diff_north -= dist_north; // Differenz zur vorhergehenden North Position
622	salvo	520	speed_east = (int) actual_speed.speed_e;
		521	speed_north = (int) actual_speed.speed_n;
		522	gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden
528	salvo	523
622	salvo	524	debug_gp_2 = speed_east; // zum Debuggen
		525	debug_gp_3 = speed_north; // zum Debuggen
		526
528	salvo	527	if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen
		528	{
615	salvo	529	diff_east_f = (((diff_east_f 2)/3) + ((diff_east 1*10)/3)); //Differenzierer filtern
		530	diff_north_f = (((diff_north_f 2)/3) + ((diff_north1*10)/3)); //Differenzierer filtern
528	salvo	531	}
		532	else // schwache Filterung
		533	{
622	salvo	534	diff_east_f = (((diff_east_f * 2)/4) + ((diff_east 210)/4)); //Differenzierer filtern
		535	diff_north_f = (((diff_north_f * 2)/4) + ((diff_north210)/4)); //Differenzierer filtern
528	salvo	536	}
		537
622	salvo	538	// Differenz aus Distanz durch eche geschwindigkeit aus VELNED Msg ersetzten
		539	diff_east_f = -speed_east;
		540	diff_north_f = speed_north;
		541
602	salvo	542	#define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow
		543	if ((abs(int_east) > GPSINT_MAX) \|\| (abs(int_north)> GPSINT_MAX))
528	salvo	544	{
621	salvo	545	if (int_ovfl_cnt < 40) int_ovfl_cnt += 1; // Zahl der Overflows zaehlen
602	salvo	546	// int_east -= dist_east; auf alten Wert halten
		547	// int_north -= dist_north;
528	salvo	548	}
621	salvo	549	if (int_ovfl_cnt > 0) //bei Overflow Wert Integratorwert reduzieren
602	salvo	550	{
		551	int_ovfl_cnt -= 1;
		552	int_east = (int_east*7)/8; // Wert reduzieren
		553	int_north = (int_north*7)/8;
		554	}
		555
528	salvo	556	if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten
		557	{
		558	int_east = 0;
		559	int_north = 0;
		560	}
		561
621	salvo	562	// int phi;
		563	// phi = arctan_i(abs(dist_north),abs(dist_east));
		564	// dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln
528	salvo	565
		566	if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer
		567	{
613	salvo	568	// diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10
		569	// if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen
615	salvo	570	// diff_v = GPS_DIFF_NRML_MAX_V ; //variable Versterkung raus 31.12.2007
528	salvo	571	}
		572	else
		573	{
613	salvo	574	// diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10
		575	// if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen
615	salvo	576	// diff_v = GPS_DIFF_FAST_MAX_V ; //variable Versterkung raus 31.12.2007
528	salvo	577	}
615	salvo	578	diff_v_east = (((abs(diff_east_f)) *(DIFF_Y_MAX-1))/DIFF_X_MAX) +10;
		579	diff_v_north = (((abs(diff_north_f))*(DIFF_Y_MAX-1))/DIFF_X_MAX) +10;
		580	if (diff_v_east > (DIFF_Y_MAX 10)) diff_v_east = DIFF_Y_MAX 10; // Begrenzung
		581	if (diff_v_north > (DIFF_Y_MAX 10)) diff_v_north = DIFF_Y_MAX 10; // Begrenzung
622	salvo	582	// diff_v_east *= 2;
		583	// diff_v_north *= 2;
528	salvo	584
616	salvo	585	// debug_gp_2 = diff_v_east; // zum Debuggen
		586	// debug_gp_3 = diff_v_north; // zum Debuggen
		587	// debug_gp_4 = diff_east_f; // zum Debuggen
		588	// debug_gp_5 = diff_north_f; // zum Debuggen
613	salvo	589
528	salvo	590	int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung
		591	if (hold_fast > 0) diff_p = GPS_PROP_FAST_V;
		592	else diff_p = GPS_PROP_NRML_V;
		593
		594	//I Werte begrenzen
602	salvo	595	#define INT1_MAX (GPS_NICKROLL_MAX * GPS_V)/2 //ab 30.12.2007 auf Halben Maximalen Nick/Rollwert begrenzen
565	salvo	596	int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
		597	int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; //Fehler behoben am 17.12.2007 vorher int_north=
528	salvo	598	if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen
		599	else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX;
		600	if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen
		601	else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX;
		602
		603	//PID Regler Werte aufsummieren
615	salvo	604	gps_reg_x = ((int)int_east1 + ((dist_east * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(82))+ ((diff_east_f diff_v_east * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil X Achse
		605	gps_reg_y = ((int)int_north1 + ((dist_north * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(82))+ ((diff_north_f diff_v_north * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil Y Achse
		606	debug_gp_0 = gps_reg_x; // zum Debuggen
		607	debug_gp_1 = gps_reg_y; // zum Debuggen
528	salvo	608
		609	//Ziel-Richtung bezogen auf Nordpol bestimmen
		610	GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y);
		611
		612	// in Winkel 0...360 Grad umrechnen
		613	if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt);
		614	else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt);
		615
		616	// Relative Richtung in bezug auf Nordachse des Kopters errechen
		617	n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
		618	GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n;
		619	if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360;
		620	else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt;
		621	else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt;
		622
		623	// Regelabweichung aus x,y zu Ziel in Distanz umrechnen
		624	if (abs(gps_reg_x) > abs(gps_reg_y) )
		625	{
		626	dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen
		627	dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt));
		628	}
		629	else
		630	{
		631	dev = (long)gps_reg_y;
		632	dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt));
		633	}
		634	GPS_dist_2trgt = (int) dev;
		635	// Winkel und Distanz in Nick und Rollgroessen umrechnen
621	salvo	636	n = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); //Rollwert bestimmen
		637	n1 = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); //Nickwert bestimmen
		638
		639	// GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000);
		640	// GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000);
528	salvo	641
621	salvo	642	if (n > (GPS_NICKROLL_MAX * GPS_V)) n = (GPS_NICKROLL_MAX * GPS_V);
		643	else if (n < -(GPS_NICKROLL_MAX * GPS_V)) n = -(GPS_NICKROLL_MAX * GPS_V);
		644	if (n1 > (GPS_NICKROLL_MAX * GPS_V)) n1 = (GPS_NICKROLL_MAX * GPS_V);
		645	else if (n1 < -(GPS_NICKROLL_MAX * GPS_V)) n1 = -(GPS_NICKROLL_MAX * GPS_V);
		646	n = n/GPS_V;
		647	n1 = n1/GPS_V;
528	salvo	648	//Kleine Werte verstaerken, Grosse abschwaechen
621	salvo	649	/* n = sin_i((GPS_Roll90)/(GPS_NICKROLL_MAX GPS_V));
528	salvo	650	n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
		651	GPS_Roll = (int) n_l;
		652	n = sin_i((GPS_Nick90)/(GPS_NICKROLL_MAX GPS_V));
		653	n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
		654	GPS_Nick = (int) n_l;
621	salvo	655	*/
		656
528	salvo	657	if ((abs(dist_east) > GPS_DIST_MAX) \|\| (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen
		658	{
		659	GPS_Roll = 0;
		660	GPS_Nick = 0;
		661	gps_state = GPS_CRTL_IDLE;
		662	return (GPS_STST_ERR);
		663	break;
		664	}
		665	else
		666	{
621	salvo	667	GPS_Roll = n;
		668	GPS_Nick = n1;
528	salvo	669	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		670	return (GPS_STST_OK);
		671	}
		672	}
		673	else
		674	{
		675	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		676	return (GPS_STST_OK);
		677	}
		678	break;
		679
		680	default:
		681	gps_state = GPS_CRTL_IDLE;
		682	return (GPS_STST_ERR);
		683	break;
		684	}
		685	return (GPS_STST_ERR);
		686
		687	}
		688

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_v0067g/trunk/GPS.c @ 633 - Rev 622