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1003 | 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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15 | von Peter Muehlenbrock alias Salvo |
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16 | Auswertung der Daten vom GPS im ublox Format |
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17 | Hold Modus mit PID Regler |
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18 | Rückstuerz zur Basis Funktion |
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19 | Umstellung auf NaviParameter an Flight Version 00.70d |
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20 | GPS_V durch gps_gain ersetzt, damit Einstellung durch MK Tool möglich wird |
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21 | Stand 10.10.2008 |
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22 | |||
23 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | */ |
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1 | ingob | 25 | #include "main.h" |
1003 | salvo | 26 | #include "math.h" |
27 | //#include "gps.h" |
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1 | ingob | 28 | |
1003 | salvo | 29 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
30 | #define UBLOX_IDLE 0 |
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31 | #define UBLOX_SYNC1 1 |
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32 | #define UBLOX_SYNC2 2 |
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33 | #define UBLOX_CLASS 3 |
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34 | #define UBLOX_ID 4 |
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35 | #define UBLOX_LEN1 5 |
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36 | #define UBLOX_LEN2 6 |
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37 | #define UBLOX_CKA 7 |
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38 | #define UBLOX_CKB 8 |
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39 | #define UBLOX_PAYLOAD 9 |
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40 | |||
41 | // ublox Protokoll Identifier |
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42 | #define UBLOX_NAV_POSUTM 0x08 |
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43 | #define UBLOX_NAV_STATUS 0x03 |
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44 | #define UBLOX_NAV_VELED 0x12 |
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45 | #define UBLOX_NAV_CLASS 0x01 |
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46 | #define UBLOX_SYNCH1_CHAR 0xB5 |
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47 | #define UBLOX_SYNCH2_CHAR 0x62 |
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48 | |||
49 | signed int GPS_Nick = 0; |
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50 | signed int GPS_Roll = 0; |
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51 | signed int GPS_Nick2 = 0; |
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52 | signed int GPS_Roll2 = 0; |
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53 | short int ublox_msg_state = UBLOX_IDLE; |
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54 | static uint8_t chk_a =0; //Checksum |
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55 | static uint8_t chk_b =0; |
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56 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
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57 | short int gps_updte_flag; |
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58 | static long signed gps_reg_x,gps_reg_y; |
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59 | static unsigned int rx_len; |
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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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62 | static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
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63 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
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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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67 | static int dist_flown; |
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68 | //static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
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69 | static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen |
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70 | static int gps_gain; // // Teilerfaktor Regelabweichung zu Ausgabewert |
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71 | |||
72 | |||
73 | short int Get_GPS_data(void); |
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74 | |||
75 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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76 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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77 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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78 | |||
79 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
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80 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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81 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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82 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
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83 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
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84 | |||
85 | // Initialisierung |
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1 | ingob | 86 | void GPS_Neutral(void) |
87 | { |
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1003 | salvo | 88 | ublox_msg_state = UBLOX_IDLE; |
89 | gps_state = GPS_CRTL_IDLE; |
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90 | gps_sub_state = GPS_CRTL_IDLE; |
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91 | actual_pos.status = 0; |
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92 | actual_speed.status = 0; |
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93 | actual_status.status = 0; |
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94 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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95 | gps_act_position.status = 0; |
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96 | gps_rel_act_position.status = 0; |
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97 | GPS_Nick = 0; |
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98 | GPS_Roll = 0; |
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99 | gps_updte_flag = 0; |
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100 | gps_alive_cnt = 0; |
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101 | |||
1 | ingob | 102 | } |
103 | |||
1003 | salvo | 104 | // Home Position sichern falls Daten verfuegbar sind. |
105 | void GPS_Save_Home(void) |
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1 | ingob | 106 | { |
1003 | salvo | 107 | short int n; |
108 | n = Get_GPS_data(); |
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109 | if (n == 0) // Gueltige und aktuelle Daten ? |
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110 | { |
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111 | // Neue GPS Daten liegen vor |
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112 | gps_home_position.utm_east = gps_act_position.utm_east; |
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113 | gps_home_position.utm_north = gps_act_position.utm_north; |
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114 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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115 | gps_home_position.status = 1; // Home Position gueltig |
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116 | } |
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1 | ingob | 117 | } |
118 | |||
1003 | salvo | 119 | // Relative Position zur Home Position bestimmen |
120 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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121 | short int Get_Rel_Position(void) |
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122 | { |
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123 | short int n = 0; |
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124 | n = Get_GPS_data(); |
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125 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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126 | if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
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127 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
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128 | { |
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129 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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130 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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131 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
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132 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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133 | n = 0; |
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134 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
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135 | } |
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136 | else |
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137 | { |
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138 | n = 2; //keine gueltigen Daten vorhanden |
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139 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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140 | } |
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141 | return (n); |
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142 | } |
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1 | ingob | 143 | |
1003 | salvo | 144 | // Daten aus aktuellen ublox Messages extrahieren |
145 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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146 | short int Get_GPS_data(void) |
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147 | { |
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148 | short int n = 1; |
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1 | ingob | 149 | |
1003 | salvo | 150 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
151 | gps_gain = Parameter_NaviGpsGain*8/100; //maximal Wert ist 20 |
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152 | // debug_gp_0 = (int)gps_gain; // zum Debuggen |
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1 | ingob | 153 | |
1003 | salvo | 154 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
155 | { |
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156 | 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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157 | { |
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158 | actual_status.status = 0; |
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159 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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160 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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161 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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162 | actual_pos.status = 0; //neue ublox Messages anfordern |
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163 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
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164 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
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165 | gps_act_position.heading = actual_speed.heading/100000; |
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166 | actual_speed.status = 0; |
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167 | gps_act_position.status = 1; |
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168 | n = 0; //Daten gueltig |
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169 | } |
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170 | else |
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171 | { |
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172 | gps_act_position.status = 0; //Keine gueltigen Daten |
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173 | actual_speed.status = 0; |
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174 | actual_status.status = 0; |
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175 | actual_pos.status = 0; //neue ublox Messages anfordern |
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176 | n = 2; |
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177 | } |
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178 | } |
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179 | return (n); |
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180 | } |
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181 | |||
182 | /* |
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183 | Daten vom GPS im ublox MSG Format auswerten |
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184 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
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185 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
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186 | */ |
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187 | void Get_Ublox_Msg(uint8_t rx) |
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188 | { |
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189 | switch (ublox_msg_state) |
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190 | { |
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191 | |||
192 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
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193 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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194 | else ublox_msg_state = UBLOX_IDLE; |
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195 | break; |
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196 | |||
197 | case UBLOX_SYNC1: |
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198 | |||
199 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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200 | else ublox_msg_state = UBLOX_IDLE; |
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201 | chk_a = 0,chk_b = 0; |
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202 | break; |
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203 | |||
204 | case UBLOX_SYNC2: |
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205 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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206 | else ublox_msg_state = UBLOX_IDLE; |
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207 | break; |
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208 | |||
209 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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210 | switch (rx) |
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211 | { |
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212 | case UBLOX_NAV_POSUTM: |
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213 | ptr_pac_status = &actual_pos.status; |
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214 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
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215 | else |
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216 | { |
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217 | ptr_payload_data = &actual_pos; |
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218 | ptr_payload_data_end = &actual_pos.status; |
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219 | ublox_msg_state = UBLOX_LEN1; |
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220 | } |
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221 | break; |
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222 | |||
223 | case UBLOX_NAV_STATUS: |
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224 | ptr_pac_status = &actual_status.status; |
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225 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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226 | else |
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227 | { |
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228 | ptr_payload_data = &actual_status; |
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229 | ptr_payload_data_end = &actual_status.status; |
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230 | ublox_msg_state = UBLOX_LEN1; |
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231 | } |
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232 | break; |
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233 | |||
234 | case UBLOX_NAV_VELED: |
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235 | ptr_pac_status = &actual_speed.status; |
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236 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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237 | else |
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238 | { |
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239 | ptr_payload_data = &actual_speed; |
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240 | ptr_payload_data_end = &actual_speed.status; |
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241 | ublox_msg_state = UBLOX_LEN1; |
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242 | } |
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243 | break; |
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244 | |||
245 | default: |
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246 | ublox_msg_state = UBLOX_IDLE; |
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247 | break; |
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248 | } |
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249 | chk_a = UBLOX_NAV_CLASS + rx; |
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250 | chk_b = UBLOX_NAV_CLASS + chk_a; |
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251 | break; |
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252 | |||
253 | case UBLOX_LEN1: // Laenge auswerten |
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254 | rx_len = rx; |
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255 | chk_a += rx; |
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256 | chk_b += chk_a; |
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257 | ublox_msg_state = UBLOX_LEN2; |
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258 | break; |
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259 | |||
260 | |||
261 | case UBLOX_LEN2: // Laenge auswerten |
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262 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
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263 | chk_a += rx; |
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264 | chk_b += chk_a; |
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265 | ublox_msg_state = UBLOX_PAYLOAD; |
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266 | break; |
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267 | |||
268 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
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269 | if (rx_len > 0) |
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270 | { |
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271 | *ptr_payload_data = rx; |
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272 | chk_a += rx; |
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273 | chk_b += chk_a; |
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274 | --rx_len; |
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275 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
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276 | { |
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277 | ptr_payload_data++; |
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278 | ublox_msg_state = UBLOX_PAYLOAD; |
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279 | } |
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280 | else ublox_msg_state = UBLOX_CKA; |
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281 | } |
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282 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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283 | break; |
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284 | |||
285 | case UBLOX_CKA: // Checksum pruefen |
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286 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
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287 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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288 | break; |
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289 | |||
290 | case UBLOX_CKB: // Checksum pruefen |
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291 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
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292 | ublox_msg_state = UBLOX_IDLE; |
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293 | break; |
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294 | |||
295 | default: |
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296 | ublox_msg_state = UBLOX_IDLE; |
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297 | break; |
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298 | } |
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299 | } |
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300 | |||
301 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
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302 | short int GPS_CRTL(short int cmd) |
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303 | { |
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304 | static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen |
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305 | static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition |
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306 | signed int n; |
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307 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
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308 | signed int dist_frm_start_east,dist_frm_start_north; |
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309 | int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil |
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310 | static signed int int_east,int_north; //Integrierer |
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311 | long int speed_east,speed_north; //Aktuelle Geschwindigkeit |
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312 | signed long int_east1,int_north1; |
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313 | int dist_east,dist_north; |
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314 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
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315 | long ni,ro; // Nick und Roll Zwischenwerte |
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316 | |||
317 | |||
318 | switch (cmd) |
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319 | { |
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320 | |||
321 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
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322 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
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323 | { |
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324 | cnt++; |
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325 | if (cnt > 100) // erst nach Verzoegerung |
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326 | { |
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327 | // Erst mal initialisieren |
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328 | cnt = 0; |
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329 | gps_tick = 0; |
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330 | hold_fast = 0; |
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331 | hold_reset_int = 0; // Integrator enablen |
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332 | int_east = 0, int_north = 0; |
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333 | gps_reg_x = 0, gps_reg_y = 0; |
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334 | delta_east = 0, delta_north = 0; |
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335 | dist_flown = 0; |
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336 | gps_g2t_act_v = 0; |
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337 | gps_sub_state = GPS_CRTL_IDLE; |
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338 | // aktuelle positionsdaten abspeichern |
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339 | if (gps_rel_act_position.status > 0) |
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340 | { |
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341 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
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342 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
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343 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
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344 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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345 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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346 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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347 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
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348 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
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349 | // in Winkel 0...360 Grad umrechnen |
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350 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
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351 | else hdng_2home = (270 - hdng_2home); |
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352 | 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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353 | gps_state = GPS_CRTL_HOME_ACTIVE; |
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354 | return (GPS_STST_OK); |
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355 | } |
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356 | else |
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357 | { |
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358 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
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359 | gps_state = GPS_CRTL_IDLE; |
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360 | return(GPS_STST_ERR); // Keine Daten da |
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361 | } |
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362 | } |
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363 | else return(GPS_STST_PEND); // noch warten |
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364 | } |
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365 | break; |
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366 | // ****************************** |
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367 | |||
368 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
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369 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
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370 | { |
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371 | cnt++; |
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372 | if (cnt > 600) // erst nach Verzoegerung |
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373 | { |
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374 | cnt = 0; |
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375 | // aktuelle positionsdaten abspeichern |
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376 | if (gps_rel_act_position.status > 0) |
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377 | { |
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378 | hold_fast = 0; |
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379 | hold_reset_int = 0; // Integrator enablen |
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380 | int_east = 0, int_north = 0; |
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381 | gps_reg_x = 0, gps_reg_y = 0; |
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382 | delta_east = 0, delta_north = 0; |
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383 | speed_east = 0; speed_north= 0; |
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384 | // int_ovfl_cnt = 0; |
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385 | gps_quiet_cnt = 0; |
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386 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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387 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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388 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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389 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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390 | return (GPS_STST_OK); |
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391 | } |
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392 | else |
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393 | { |
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394 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
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395 | gps_state = GPS_CRTL_IDLE; |
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396 | return(GPS_STST_ERR); // Keine Daten da |
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397 | } |
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398 | } |
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399 | else return(GPS_STST_PEND); // noch warten |
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400 | } |
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401 | break; |
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402 | |||
403 | case GPS_CMD_STOP: // Lageregelung beenden |
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404 | cnt = 0; |
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405 | GPS_Nick = 0; |
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406 | GPS_Roll = 0; |
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407 | gps_sub_state = GPS_CRTL_IDLE; |
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408 | gps_state = GPS_CRTL_IDLE; |
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409 | return (GPS_STST_OK); |
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410 | break; |
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411 | |||
412 | default: |
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413 | return (GPS_STST_ERR); |
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414 | break; |
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415 | } |
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416 | |||
417 | switch (gps_state) |
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418 | { |
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419 | case GPS_CRTL_IDLE: |
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420 | cnt = 0; |
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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 - 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/2)) && (d2 < (GPS_G2T_FAST_TOL/2))) //voll Stoff weiter wenn Lage gut innerhalb der Toleranz |
||
439 | { |
||
440 | if (gps_g2t_act_v < GPS_G2T_V_MAX-3) gps_g2t_act_v += 4; //Geschwindigkeit erhoehen |
||
441 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
442 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
||
443 | } |
||
444 | else if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
||
445 | { |
||
446 | if (gps_g2t_act_v > (GPS_G2T_V_MAX/2)) gps_g2t_act_v -= 1; //Geschwindigkeit auf Haelfte runter oder rauffahren |
||
447 | else if (gps_g2t_act_v < (GPS_G2T_V_MAX/2)) gps_g2t_act_v += 1; |
||
448 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
449 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
||
450 | } |
||
451 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
||
452 | { |
||
453 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
||
454 | // dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
||
455 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
||
456 | } |
||
457 | hold_reset_int = 0; // Integrator einsschalten |
||
458 | hold_fast = 1; // Regler fuer schnellen Flug |
||
459 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
||
460 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
||
461 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
462 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
463 | } |
||
464 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
||
465 | { |
||
466 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
||
467 | { |
||
468 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
469 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
||
470 | } |
||
471 | else |
||
472 | { |
||
473 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
||
474 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
||
475 | } |
||
476 | hold_reset_int = 0; // Integrator einsschalten |
||
477 | hold_fast = 1; // Regler fuer schnellen Flug |
||
478 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
||
479 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
||
480 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
481 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
482 | } |
||
483 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
||
484 | { |
||
485 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
||
486 | { |
||
487 | gps_sub_state = GPS_HOME_IN_TOL; |
||
488 | hold_fast = 0; // Wieder normal regeln |
||
489 | hold_reset_int = 0; // Integrator einsschalten |
||
490 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
||
491 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
||
492 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
||
493 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
||
494 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
||
495 | { |
||
496 | gps_rel_hold_position.utm_east = 0; |
||
497 | gps_rel_hold_position.utm_north = 0; |
||
498 | gps_sub_state = GPS_HOME_FINISHED; |
||
499 | } |
||
500 | } |
||
501 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
||
502 | } |
||
503 | } |
||
504 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
||
505 | return (GPS_STST_OK); |
||
506 | } |
||
507 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
||
508 | { |
||
509 | gps_state = GPS_CRTL_IDLE; |
||
510 | return (GPS_STST_ERR); |
||
511 | } |
||
512 | break; |
||
513 | |||
514 | |||
515 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
||
516 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
||
517 | { |
||
518 | gps_quiet_cnt++; |
||
519 | // ab hier wird geregelt |
||
520 | delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east); |
||
521 | delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north); |
||
522 | int_east += (int)delta_east; |
||
523 | int_north += (int)delta_north; |
||
524 | speed_east = actual_speed.speed_e; |
||
525 | speed_north = actual_speed.speed_n; |
||
526 | gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden |
||
527 | dist_east = (int)delta_east; //merken |
||
528 | dist_north = (int)delta_north; |
||
529 | |||
530 | |||
531 | // #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
||
532 | long int gpsintmax; |
||
533 | if (Parameter_NaviGpsI > 0) |
||
534 | { |
||
535 | gpsintmax = (GPS_NICKROLL_MAX * gps_gain * GPS_USR_PAR_FKT * ((32*3)/10))/(long)Parameter_NaviGpsI; //auf ungefeahren Maximalwert begrenzen |
||
536 | if ((abs(int_east) > (int)gpsintmax) || (abs(int_north)> (int)gpsintmax)) |
||
537 | { |
||
538 | // // = 1; // Zahl der Overflows zaehlen |
||
539 | // int_ovfl_cnt -= 1; |
||
540 | int_east = (int_east * 6)/8; // Wert reduzieren |
||
541 | int_north = (int_north* 6)/8; |
||
542 | } |
||
543 | |||
544 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
||
545 | { |
||
546 | int_east = 0; |
||
547 | int_north = 0; |
||
548 | } |
||
549 | } |
||
550 | else // Integrator deaktiviert |
||
551 | { |
||
552 | int_east = 0; |
||
553 | int_north = 0; |
||
554 | } |
||
555 | |||
556 | debug_gp_4 = (int)int_east; // zum Debuggen |
||
557 | debug_gp_5 = (int)int_north; // zum Debuggen |
||
558 | |||
559 | //I Werte begrenzen |
||
560 | #define INT1_MAX (GPS_NICKROLL_MAX * gps_gain*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen |
||
561 | int_east1 = ((((long)int_east) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
||
562 | int_north1 = ((((long)int_north) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
||
563 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
||
564 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
||
565 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
||
566 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
||
567 | |||
568 | if (hold_fast > 0) //schneller Coming Home Modus |
||
569 | { |
||
570 | amplfy_speed_east = DIFF_Y_F_MAX; |
||
571 | amplfy_speed_north = DIFF_Y_F_MAX; |
||
572 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
||
573 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
||
574 | speed_east = (speed_east * (long)amplfy_speed_east) /50; |
||
575 | speed_north = (speed_north * (long)amplfy_speed_north)/50; |
||
576 | // D Werte begrenzen |
||
577 | #define D_F_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
||
578 | if (speed_east > D_F_MAX) speed_east = D_F_MAX; |
||
579 | else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX; |
||
580 | if (speed_north > D_F_MAX) speed_north = D_F_MAX; |
||
581 | else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX; |
||
582 | |||
583 | diff_p = (Parameter_NaviGpsP * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
||
584 | } |
||
585 | else //langsamer Holdmodus |
||
586 | { |
||
587 | amplfy_speed_east = DIFF_Y_N_MAX; |
||
588 | amplfy_speed_north = DIFF_Y_N_MAX; |
||
589 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
||
590 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
||
591 | speed_east = (speed_east * (long)amplfy_speed_east) /25; |
||
592 | speed_north = (speed_north * (long)amplfy_speed_north)/25; |
||
593 | // D Werte begrenzen |
||
594 | #define D_N_MAX (GPS_NICKROLL_MAX * gps_gain*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
||
595 | if (speed_east > D_N_MAX) speed_east = D_N_MAX; |
||
596 | else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX; |
||
597 | if (speed_north > D_N_MAX) speed_north = D_N_MAX; |
||
598 | else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX; |
||
599 | |||
600 | diff_p = (Parameter_NaviGpsP * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
||
601 | } |
||
602 | |||
603 | // debug_gp_4 = (int)speed_east; // zum Debuggen |
||
604 | // debug_gp_5 = (int)speed_north; // zum Debuggen |
||
605 | |||
606 | //P-Werte verstaerken |
||
607 | delta_east = (delta_east * (long)diff_p)/(40); |
||
608 | delta_north = (delta_north * (long)diff_p)/(40); |
||
609 | |||
610 | if (hold_fast > 0) //schneller Coming Home Modus |
||
611 | { |
||
612 | // P Werte begrenzen |
||
613 | #define P1_F_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
||
614 | if (delta_east > P1_F_MAX) delta_east = P1_F_MAX; |
||
615 | else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX; |
||
616 | if (delta_north > P1_F_MAX) delta_north = P1_F_MAX; |
||
617 | else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX; |
||
618 | } |
||
619 | else // Hold modus |
||
620 | { |
||
621 | // P Werte begrenzen |
||
622 | #define P1_N_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
||
623 | if (delta_east > P1_N_MAX) delta_east = P1_N_MAX; |
||
624 | else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX; |
||
625 | if (delta_north > P1_N_MAX) delta_north = P1_N_MAX; |
||
626 | else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX; |
||
627 | } |
||
628 | |||
629 | debug_gp_2 = (int)delta_east; // zum Debuggen |
||
630 | debug_gp_3 = (int)delta_north; // zum Debuggen |
||
631 | |||
632 | |||
633 | //PID Regler Werte aufsummieren |
||
634 | gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse |
||
635 | gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse |
||
636 | debug_gp_0 = (int)gps_reg_x; // zum Debuggen |
||
637 | debug_gp_1 = (int)gps_reg_y; // zum Debuggen |
||
638 | |||
639 | // Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen |
||
640 | n = GyroKomp_Int/GIER_GRAD_FAKTOR; //Ausrichtung Kopter |
||
641 | ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000*gps_gain); |
||
642 | ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000*gps_gain); |
||
643 | |||
644 | if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX); |
||
645 | else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX ); |
||
646 | if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX ); |
||
647 | else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX ); |
||
648 | |||
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 if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen |
||
658 | { |
||
659 | gps_quiet_cnt++; |
||
660 | GPS_Roll = 0; |
||
661 | GPS_Nick = 0; |
||
662 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
663 | return (GPS_STST_OK); |
||
664 | } |
||
665 | else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4)) |
||
666 | { |
||
667 | gps_quiet_cnt = 0; |
||
668 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
669 | return (GPS_STST_OK); |
||
670 | } |
||
671 | else |
||
672 | { |
||
673 | GPS_Roll = (int)ro; |
||
674 | GPS_Nick = (int)ni; |
||
675 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
676 | return (GPS_STST_OK); |
||
677 | } |
||
678 | } |
||
679 | else |
||
680 | { |
||
681 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
682 | return (GPS_STST_OK); |
||
683 | } |
||
684 | break; |
||
685 | |||
686 | default: |
||
687 | gps_state = GPS_CRTL_IDLE; |
||
688 | return (GPS_STST_ERR); |
||
689 | break; |
||
690 | } |
||
691 | return (GPS_STST_ERR); |
||
692 | |||
693 | } |
||
694 |