WebSVN - FlightCtrl - Blame - Rev 633 - /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	/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
		18	R�ckstuerz zur Basis Funktion
632	salvo	19	Stand 10.1.2008
626	salvo	20
528	salvo	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
632	salvo	57	static signed int gps_int_x,gps_int_y;
		58	static long signed gps_reg_x,gps_reg_y;
528	salvo	59	static unsigned int rx_len;
		60	static unsigned int ptr_payload_data_end;
		61	unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt
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
		65	static uint8_t *ptr_payload_data;
		66	static uint8_t *ptr_pac_status;
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
		74	NAV_STATUS_t actual_status; // Aktueller Nav Status
		75	NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten
		76
		77	GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst
		78	GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt
		79	GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
		80	GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode
629	salvo	81	GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode
528	salvo	82
		83	// Initialisierung
		84	void GPS_Neutral(void)
		85	{
		86	ublox_msg_state = UBLOX_IDLE;
		87	gps_state = GPS_CRTL_IDLE;
		88	gps_sub_state = GPS_CRTL_IDLE;
		89	actual_pos.status = 0;
		90	actual_speed.status = 0;
		91	actual_status.status = 0;
		92	gps_home_position.status = 0; // Noch keine gueltige Home Position
		93	gps_act_position.status = 0;
		94	gps_rel_act_position.status = 0;
		95	GPS_Nick = 0;
		96	GPS_Roll = 0;
		97	gps_updte_flag = 0;
		98	gps_int_x = 0;
		99	gps_int_y = 0;
		100	gps_alive_cnt = 0;
		101	}
		102
		103	// Home Position sichern falls Daten verfuegbar sind.
		104	void GPS_Save_Home(void)
		105	{
		106	short int n;
		107	n = Get_GPS_data();
		108	if (n == 0) // Gueltige und aktuelle Daten ?
		109	{
		110	// Neue GPS Daten liegen vor
		111	gps_home_position.utm_east = gps_act_position.utm_east;
		112	gps_home_position.utm_north = gps_act_position.utm_north;
		113	gps_home_position.utm_alt = gps_act_position.utm_alt;
		114	gps_home_position.status = 1; // Home Position gueltig
		115	}
		116	}
		117
		118	// Relative Position zur Home Position bestimmen
		119	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		120	short int Get_Rel_Position(void)
		121	{
		122	short int n = 0;
		123	n = Get_GPS_data();
		124	if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
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	{
		128	gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
		129	gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
		130	gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt);
		131	gps_rel_act_position.status = 1; // gueltige Positionsdaten
		132	n = 0;
		133	gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
		134	}
		135	else
		136	{
		137	n = 2; //keine gueltigen Daten vorhanden
		138	gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
		139	}
		140	return (n);
		141	}
		142
		143	// Daten aus aktuellen ublox Messages extrahieren
		144	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		145	short int Get_GPS_data(void)
		146	{
		147	short int n = 1;
		148
		149	if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist
		150	if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
		151	{
		152	if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
		153	{
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;
		157	gps_act_position.utm_alt = actual_pos.utm_alt/10;
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;
		161	gps_act_position.heading = actual_speed.heading/100000;
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
		167	{
629	salvo	168	gps_act_position.status = 0; //Keine gueltigen Daten
		169	actual_speed.status = 0;
		170	actual_status.status = 0;
		171	actual_pos.status = 0; //neue ublox Messages anfordern
		172	n = 2;
528	salvo	173	}
		174	}
		175	return (n);
		176	}
		177
		178	/*
		179	Daten vom GPS im ublox MSG Format auswerten
		180	Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
		181	// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
		182	*/
		183	void Get_Ublox_Msg(uint8_t rx)
		184	{
		185	switch (ublox_msg_state)
		186	{
		187
		188	case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
		189	if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
		190	else ublox_msg_state = UBLOX_IDLE;
		191	break;
		192
		193	case UBLOX_SYNC1:
		194
		195	if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
		196	else ublox_msg_state = UBLOX_IDLE;
		197	chk_a = 0,chk_b = 0;
		198	break;
		199
		200	case UBLOX_SYNC2:
		201	if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
		202	else ublox_msg_state = UBLOX_IDLE;
		203	break;
		204
		205	case UBLOX_CLASS: // Nur NAV Meldungen auswerten
		206	switch (rx)
		207	{
		208	case UBLOX_NAV_POSUTM:
		209	ptr_pac_status = &actual_pos.status;
		210	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
		211	else
		212	{
		213	ptr_payload_data = &actual_pos;
		214	ptr_payload_data_end = &actual_pos.status;
629	salvo	215	ublox_msg_state = UBLOX_LEN1;
528	salvo	216	}
		217	break;
		218
		219	case UBLOX_NAV_STATUS:
		220	ptr_pac_status = &actual_status.status;
		221	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		222	else
		223	{
		224	ptr_payload_data = &actual_status;
		225	ptr_payload_data_end = &actual_status.status;
		226	ublox_msg_state = UBLOX_LEN1;
		227	}
		228	break;
		229
		230	case UBLOX_NAV_VELED:
		231	ptr_pac_status = &actual_speed.status;
		232	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		233	else
		234	{
		235	ptr_payload_data = &actual_speed;
		236	ptr_payload_data_end = &actual_speed.status;
		237	ublox_msg_state = UBLOX_LEN1;
		238	}
		239	break;
		240
		241	default:
		242	ublox_msg_state = UBLOX_IDLE;
		243	break;
		244	}
		245	chk_a = UBLOX_NAV_CLASS + rx;
		246	chk_b = UBLOX_NAV_CLASS + chk_a;
		247	break;
		248
		249	case UBLOX_LEN1: // Laenge auswerten
		250	rx_len = rx;
		251	chk_a += rx;
		252	chk_b += chk_a;
		253	ublox_msg_state = UBLOX_LEN2;
		254	break;
		255
		256
		257	case UBLOX_LEN2: // Laenge auswerten
		258	rx_len = rx_len + (rx *256); // Laenge ermitteln
		259	chk_a += rx;
		260	chk_b += chk_a;
		261	ublox_msg_state = UBLOX_PAYLOAD;
		262	break;
		263
		264	case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
		265	if (rx_len > 0)
		266	{
		267	*ptr_payload_data = rx;
		268	chk_a += rx;
		269	chk_b += chk_a;
		270	--rx_len;
		271	if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
		272	{
		273	ptr_payload_data++;
		274	ublox_msg_state = UBLOX_PAYLOAD;
		275	}
		276	else ublox_msg_state = UBLOX_CKA;
		277	}
		278	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		279	break;
		280
		281	case UBLOX_CKA: // Checksum pruefen
		282	if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
		283	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		284	break;
		285
		286	case UBLOX_CKB: // Checksum pruefen
		287	if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
		288	ublox_msg_state = UBLOX_IDLE;
		289	break;
		290
		291	default:
		292	ublox_msg_state = UBLOX_IDLE;
		293	break;
		294	}
		295	}
		296
		297	//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
		298	short int GPS_CRTL(short int cmd)
		299	{
633	salvo	300	static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen
		301	static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition
621	salvo	302	signed int n,n1;
		303	static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
		304	long signed int dev;
		305	signed int dist_frm_start_east,dist_frm_start_north;
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;
633	salvo	310	int dist_east,dist_north;
		311	int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung
602	salvo	312
633	salvo	313
528	salvo	314	switch (cmd)
		315	{
		316
		317	case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
		318	if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
		319	{
		320	cnt++;
629	salvo	321	if (cnt > 50) // erst nach Verzoegerung
528	salvo	322	{
		323	// Erst mal initialisieren
629	salvo	324	cnt = 0;
528	salvo	325	gps_tick = 0;
		326	hold_fast = 0;
		327	hold_reset_int = 0; // Integrator enablen
		328	int_east = 0, int_north = 0;
		329	gps_reg_x = 0, gps_reg_y = 0;
633	salvo	330	delta_east = 0, delta_north = 0;
528	salvo	331	dist_flown = 0;
		332	gps_g2t_act_v = 0;
		333	gps_sub_state = GPS_CRTL_IDLE;
		334	// aktuelle positionsdaten abspeichern
		335	if (gps_rel_act_position.status > 0)
		336	{
		337	gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
		338	gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
		339	gps_rel_start_position.status = 1; // gueltige Positionsdaten
		340	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		341	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		342	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		343	//Richtung zur Home Position bezogen auf Nordpol bestimmen
		344	hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
		345	// in Winkel 0...360 Grad umrechnen
		346	if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
		347	else hdng_2home = (270 - hdng_2home);
		348	dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen
		349	gps_state = GPS_CRTL_HOME_ACTIVE;
		350	return (GPS_STST_OK);
		351	}
		352	else
		353	{
		354	gps_rel_start_position.status = 0; //Keine Daten verfuegbar
629	salvo	355	gps_state = GPS_CRTL_IDLE;
528	salvo	356	return(GPS_STST_ERR); // Keine Daten da
		357	}
		358	}
		359	else return(GPS_STST_PEND); // noch warten
		360	}
		361	break;
		362	// ******************************
		363
		364	case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
		365	if (gps_state != GPS_CRTL_HOLD_ACTIVE)
		366	{
		367	cnt++;
628	salvo	368	if (cnt > 700) // erst nach Verzoegerung
528	salvo	369	{
		370	cnt = 0;
		371	// aktuelle positionsdaten abspeichern
		372	if (gps_rel_act_position.status > 0)
		373	{
		374	hold_fast = 0;
		375	hold_reset_int = 0; // Integrator enablen
631	salvo	376	int_east = 0, int_north = 0;
		377	gps_reg_x = 0, gps_reg_y = 0;
633	salvo	378	delta_east = 0, delta_north = 0;
631	salvo	379	speed_east = 0; speed_north= 0;
		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	{
631	salvo	389	gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
528	salvo	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 );
628	salvo	431	d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel
632	salvo	432	// debug_gp_2 = dist_2home; // zum Debuggen
		433	// debug_gp_3 = dist_flown; // zum Debuggen
		434	// debug_gp_4 = hdng_2home; // zum Debuggen
628	salvo	435	// debug_gp_5 = amplfy_speed_north; // zum Debuggen
528	salvo	436
		437	if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel
		438	{
		439	if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz
		440	{
633	salvo	441	if (gps_g2t_act_v < GPS_G2T_V_MAX-3) gps_g2t_act_v += 4; //Geschwindigkeit erhoehen
628	salvo	442	dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
528	salvo	443	gps_sub_state = GPS_HOME_FAST_IN_TOL;
		444	}
		445	else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz
		446	{
		447	if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren
629	salvo	448	// dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
528	salvo	449	gps_sub_state = GPS_HOME_FAST_OUTOF_TOL;
		450	}
629	salvo	451	hold_reset_int = 0; // Integrator einsschalten
		452	hold_fast = 1; // Regler fuer schnellen Flug
		453	dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000);
		454	dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000);
528	salvo	455	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		456	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		457	}
		458	else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen
		459	{
		460	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL))
		461	{
		462	dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit
		463	gps_sub_state = GPS_HOME_RMPDWN_IN_TOL;
		464	}
		465	else
		466	{
629	salvo	467	dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
528	salvo	468	gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL;
		469	}
629	salvo	470	hold_reset_int = 0; // Integrator einsschalten
		471	hold_fast = 1; // Regler fuer schnellen Flug
		472	dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000);
		473	dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000);
528	salvo	474	gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
		475	gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
		476	}
		477	else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt)
		478	{
		479	if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln
		480	{
		481	gps_sub_state = GPS_HOME_IN_TOL;
629	salvo	482	hold_fast = 0; // Wieder normal regeln
		483	hold_reset_int = 0; // Integrator einsschalten
528	salvo	484	if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN;
		485	else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN;
		486	if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN;
		487	else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN;
		488	if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN))
		489	{
		490	gps_rel_hold_position.utm_east = 0;
		491	gps_rel_hold_position.utm_north = 0;
631	salvo	492	gps_sub_state = GPS_HOME_FINISHED;
528	salvo	493	}
		494	}
		495	else gps_sub_state = GPS_HOME_OUTOF_TOL;
		496	}
		497	}
		498	gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung
		499	return (GPS_STST_OK);
		500	}
		501	else // Keine GPS Daten verfuegbar, deswegen Abbruch
		502	{
629	salvo	503	gps_state = GPS_CRTL_IDLE;
528	salvo	504	return (GPS_STST_ERR);
		505	}
		506	break;
		507
		508
		509	case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet
		510	if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen
		511	{
		512	// ab hier wird geregelt
633	salvo	513	delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east);
		514	delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north);
		515	int_east += (int)delta_east;
		516	int_north += (int)delta_north;
632	salvo	517	speed_east = actual_speed.speed_e;
		518	speed_north = actual_speed.speed_n;
629	salvo	519	gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden
633	salvo	520	dist_east = (int)delta_east; //merken
		521	dist_north = (int)delta_north;
632	salvo	522
528	salvo	523
602	salvo	524	#define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow
		525	if ((abs(int_east) > GPSINT_MAX) \|\| (abs(int_north)> GPSINT_MAX))
528	salvo	526	{
621	salvo	527	if (int_ovfl_cnt < 40) int_ovfl_cnt += 1; // Zahl der Overflows zaehlen
528	salvo	528	}
621	salvo	529	if (int_ovfl_cnt > 0) //bei Overflow Wert Integratorwert reduzieren
602	salvo	530	{
		531	int_ovfl_cnt -= 1;
633	salvo	532	int_east = (int_east*7)/8; // Wert reduzieren
602	salvo	533	int_north = (int_north*7)/8;
		534	}
		535
528	salvo	536	if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten
		537	{
		538	int_east = 0;
		539	int_north = 0;
		540	}
631	salvo	541	if (hold_fast > 0) //schneller Coming Home Modus
628	salvo	542	{
631	salvo	543	// Verstaerkungsfaktor fuer D-Anteil ermitteln um exponentielles Verhalten zu erzielen
		544	amplfy_speed_east = (((abs(speed_east)) (DIFF_Y_F_MAX-1)10)/DIFF_X_F_MAX) +10;
		545	amplfy_speed_north = (((abs(speed_north))(DIFF_Y_F_MAX-1)10)/DIFF_X_F_MAX) +10;
		546	if (amplfy_speed_east > (DIFF_Y_F_MAX 10)) amplfy_speed_east = DIFF_Y_F_MAX 10; // Begrenzung
		547	if (amplfy_speed_north > (DIFF_Y_F_MAX 10)) amplfy_speed_north = DIFF_Y_F_MAX 10; // Begrenzung
		548	amplfy_speed_east *= (Parameter_UserParam3/GPS_USR_PAR_FKT);
		549	amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT);
633	salvo	550	speed_east = speed_east * abs(speed_east) /200; //quadrieren
		551	speed_north = speed_north * abs(speed_north) /200; //quadrieren
		552	diff_p = (Parameter_UserParam1 * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil
628	salvo	553	}
		554	else //langsamer Holdmodus
		555	{
631	salvo	556	// Verstaerkungsfaktor fuer D-Anteil ermitteln um exponentielles Verhalten zu erzielen
		557	amplfy_speed_east = (((abs(speed_east)) (DIFF_Y_N_MAX-1)10)/DIFF_X_N_MAX) +10;
		558	amplfy_speed_north = (((abs(speed_north))(DIFF_Y_N_MAX-1)10)/DIFF_X_N_MAX) +10;
		559	if (amplfy_speed_east > (DIFF_Y_N_MAX 10)) amplfy_speed_east = DIFF_Y_N_MAX 10; // Begrenzung
		560	if (amplfy_speed_north > (DIFF_Y_N_MAX 10)) amplfy_speed_north = DIFF_Y_N_MAX 10; // Begrenzung
628	salvo	561	amplfy_speed_east *= (Parameter_UserParam3/GPS_USR_PAR_FKT);
		562	amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT);
633	salvo	563	speed_east = speed_east * abs(speed_east) /100; //quadrieren
632	salvo	564	speed_north = speed_north * abs(speed_north) /100; //quadrieren
633	salvo	565	diff_p = (Parameter_UserParam1 * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil
		566
628	salvo	567	}
632	salvo	568	debug_gp_4 = (int)speed_east; // zum Debuggen
		569	debug_gp_5 = (int)speed_north; // zum Debuggen
528	salvo	570
		571	//I Werte begrenzen
602	salvo	572	#define INT1_MAX (GPS_NICKROLL_MAX * GPS_V)/2 //ab 30.12.2007 auf Halben Maximalen Nick/Rollwert begrenzen
565	salvo	573	int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
631	salvo	574	int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
528	salvo	575	if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen
		576	else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX;
		577	if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen
		578	else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX;
		579
633	salvo	580	//P-Werte quadrieren
		581	delta_east = (abs(delta_east) * delta_east )/20; //quadrieren
		582	delta_north = (abs(delta_north) * delta_north)/20; //quadrieren
		583	debug_gp_2 = (int)delta_east; // zum Debuggen
		584	debug_gp_3 = (int)delta_north; // zum Debuggen
		585
528	salvo	586	//PID Regler Werte aufsummieren
633	salvo	587	gps_reg_x = -(int_east1 + ((delta_east * (long)diff_p)/(82))+ ((speed_east (long)amplfy_speed_east )/(100L))); // I + P +D Anteil X Achse
		588	gps_reg_y = -(int_north1 + ((delta_north * (long)diff_p)/(82))+ ((speed_north (long)amplfy_speed_north )/(100L))); // I + P +D Anteil Y Achse
		589	debug_gp_0 = (int)gps_reg_x; // zum Debuggen
632	salvo	590	debug_gp_1 = (int)gps_reg_y; // zum Debuggen
528	salvo	591
		592	//Ziel-Richtung bezogen auf Nordpol bestimmen
632	salvo	593	GPS_hdng_abs_2trgt = arctan_i((int)gps_reg_x,(int)gps_reg_y);
528	salvo	594
		595	// in Winkel 0...360 Grad umrechnen
		596	if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt);
		597	else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt);
		598
		599	// Relative Richtung in bezug auf Nordachse des Kopters errechen
		600	n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
		601	GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n;
		602	if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360;
		603	else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt;
		604	else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt;
		605
		606	// Regelabweichung aus x,y zu Ziel in Distanz umrechnen
		607	if (abs(gps_reg_x) > abs(gps_reg_y) )
		608	{
632	salvo	609	dev = gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen
528	salvo	610	dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt));
		611	}
		612	else
		613	{
		614	dev = (long)gps_reg_y;
		615	dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt));
		616	}
		617	GPS_dist_2trgt = (int) dev;
		618	// Winkel und Distanz in Nick und Rollgroessen umrechnen
621	salvo	619	n = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); //Rollwert bestimmen
		620	n1 = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); //Nickwert bestimmen
528	salvo	621
621	salvo	622	if (n > (GPS_NICKROLL_MAX * GPS_V)) n = (GPS_NICKROLL_MAX * GPS_V);
		623	else if (n < -(GPS_NICKROLL_MAX * GPS_V)) n = -(GPS_NICKROLL_MAX * GPS_V);
		624	if (n1 > (GPS_NICKROLL_MAX * GPS_V)) n1 = (GPS_NICKROLL_MAX * GPS_V);
		625	else if (n1 < -(GPS_NICKROLL_MAX * GPS_V)) n1 = -(GPS_NICKROLL_MAX * GPS_V);
		626	n = n/GPS_V;
		627	n1 = n1/GPS_V;
528	salvo	628	//Kleine Werte verstaerken, Grosse abschwaechen
631	salvo	629	/* n = sin_i((GPS_Roll90)/(GPS_NICKROLL_MAX GPS_V));
		630	n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
528	salvo	631	GPS_Roll = (int) n_l;
631	salvo	632	n = sin_i((GPS_Nick90)/(GPS_NICKROLL_MAX GPS_V));
		633	n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
629	salvo	634	GPS_Nick = (int) n_l;
		635	*/
621	salvo	636
528	salvo	637	if ((abs(dist_east) > GPS_DIST_MAX) \|\| (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen
		638	{
		639	GPS_Roll = 0;
		640	GPS_Nick = 0;
		641	gps_state = GPS_CRTL_IDLE;
		642	return (GPS_STST_ERR);
		643	break;
		644	}
		645	else
		646	{
621	salvo	647	GPS_Roll = n;
		648	GPS_Nick = n1;
528	salvo	649	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		650	return (GPS_STST_OK);
		651	}
		652	}
		653	else
		654	{
		655	if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
		656	return (GPS_STST_OK);
		657	}
		658	break;
		659
		660	default:
		661	gps_state = GPS_CRTL_IDLE;
		662	return (GPS_STST_ERR);
		663	break;
		664	}
		665	return (GPS_STST_ERR);
		666
		667	}
		668

Subversion Repositories FlightCtrl

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