WebSVN - FlightCtrl - Blame - Rev 1003 - /branches/salvo_gps/Basis

Rev	Author	Line No.	Line
1003	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	von Peter Muehlenbrock alias Salvo
		16	Auswertung der Daten vom GPS im ublox Format
		17	Hold Modus mit PID Regler
		18	R�ckstuerz zur Basis Funktion
		19	Umstellung auf NaviParameter an Flight Version 00.70d
		20	GPS_V durch gps_gain ersetzt, damit Einstellung durch MK Tool m�glich wird
		21	Stand 10.10.2008
		22
		23	++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	*/
1	ingob	25	#include "main.h"
1003	salvo	26	#include "math.h"
		27	//#include "gps.h"
1	ingob	28
1003	salvo	29	// Defines fuer ublox Messageformat um Auswertung zu steuern
		30	#define UBLOX_IDLE 0
		31	#define UBLOX_SYNC1 1
		32	#define UBLOX_SYNC2 2
		33	#define UBLOX_CLASS 3
		34	#define UBLOX_ID 4
		35	#define UBLOX_LEN1 5
		36	#define UBLOX_LEN2 6
		37	#define UBLOX_CKA 7
		38	#define UBLOX_CKB 8
		39	#define UBLOX_PAYLOAD 9
		40
		41	// ublox Protokoll Identifier
		42	#define UBLOX_NAV_POSUTM 0x08
		43	#define UBLOX_NAV_STATUS 0x03
		44	#define UBLOX_NAV_VELED 0x12
		45	#define UBLOX_NAV_CLASS 0x01
		46	#define UBLOX_SYNCH1_CHAR 0xB5
		47	#define UBLOX_SYNCH2_CHAR 0x62
		48
		49	signed int GPS_Nick = 0;
		50	signed int GPS_Roll = 0;
		51	signed int GPS_Nick2 = 0;
		52	signed int GPS_Roll2 = 0;
		53	short int ublox_msg_state = UBLOX_IDLE;
		54	static uint8_t chk_a =0; //Checksum
		55	static uint8_t chk_b =0;
		56	short int gps_state,gps_sub_state; //Zustaende der Statemachine
		57	short int gps_updte_flag;
		58	static long signed gps_reg_x,gps_reg_y;
		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
		62	static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position
		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;
		67	static int dist_flown;
		68	//static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators
		69	static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen
		70	static int gps_gain; // // Teilerfaktor Regelabweichung zu Ausgabewert
		71
		72
		73	short int Get_GPS_data(void);
		74
		75	NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt
		76	NAV_STATUS_t actual_status; // Aktueller Nav Status
		77	NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten
		78
		79	GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst
		80	GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt
		81	GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
		82	GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode
		83	GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode
		84
		85	// Initialisierung
1	ingob	86	void GPS_Neutral(void)
		87	{
1003	salvo	88	ublox_msg_state = UBLOX_IDLE;
		89	gps_state = GPS_CRTL_IDLE;
		90	gps_sub_state = GPS_CRTL_IDLE;
		91	actual_pos.status = 0;
		92	actual_speed.status = 0;
		93	actual_status.status = 0;
		94	gps_home_position.status = 0; // Noch keine gueltige Home Position
		95	gps_act_position.status = 0;
		96	gps_rel_act_position.status = 0;
		97	GPS_Nick = 0;
		98	GPS_Roll = 0;
		99	gps_updte_flag = 0;
		100	gps_alive_cnt = 0;
		101
1	ingob	102	}
		103
1003	salvo	104	// Home Position sichern falls Daten verfuegbar sind.
		105	void GPS_Save_Home(void)
1	ingob	106	{
1003	salvo	107	short int n;
		108	n = Get_GPS_data();
		109	if (n == 0) // Gueltige und aktuelle Daten ?
		110	{
		111	// Neue GPS Daten liegen vor
		112	gps_home_position.utm_east = gps_act_position.utm_east;
		113	gps_home_position.utm_north = gps_act_position.utm_north;
		114	gps_home_position.utm_alt = gps_act_position.utm_alt;
		115	gps_home_position.status = 1; // Home Position gueltig
		116	}
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
		121	short int Get_Rel_Position(void)
		122	{
		123	short int n = 0;
		124	n = Get_GPS_data();
		125	if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
		126	if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
		127	if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
		128	{
		129	gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
		130	gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
		131	gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt);
		132	gps_rel_act_position.status = 1; // gueltige Positionsdaten
		133	n = 0;
		134	gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
		135	}
		136	else
		137	{
		138	n = 2; //keine gueltigen Daten vorhanden
		139	gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
		140	}
		141	return (n);
		142	}
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
		146	short int Get_GPS_data(void)
		147	{
		148	short int n = 1;
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
		152	// debug_gp_0 = (int)gps_gain; // zum Debuggen
1	ingob	153
1003	salvo	154	if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
		155	{
		156	if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
		157	{
		158	actual_status.status = 0;
		159	gps_act_position.utm_east = actual_pos.utm_east/10;
		160	gps_act_position.utm_north = actual_pos.utm_north/10;
		161	gps_act_position.utm_alt = actual_pos.utm_alt/10;
		162	actual_pos.status = 0; //neue ublox Messages anfordern
		163	gps_act_position.speed_gnd = actual_speed.speed_gnd;
		164	gps_act_position.speed_gnd = actual_speed.speed_gnd;
		165	gps_act_position.heading = actual_speed.heading/100000;
		166	actual_speed.status = 0;
		167	gps_act_position.status = 1;
		168	n = 0; //Daten gueltig
		169	}
		170	else
		171	{
		172	gps_act_position.status = 0; //Keine gueltigen Daten
		173	actual_speed.status = 0;
		174	actual_status.status = 0;
		175	actual_pos.status = 0; //neue ublox Messages anfordern
		176	n = 2;
		177	}
		178	}
		179	return (n);
		180	}
		181
		182	/*
		183	Daten vom GPS im ublox MSG Format auswerten
		184	Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
		185	// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
		186	*/
		187	void Get_Ublox_Msg(uint8_t rx)
		188	{
		189	switch (ublox_msg_state)
		190	{
		191
		192	case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
		193	if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
		194	else ublox_msg_state = UBLOX_IDLE;
		195	break;
		196
		197	case UBLOX_SYNC1:
		198
		199	if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
		200	else ublox_msg_state = UBLOX_IDLE;
		201	chk_a = 0,chk_b = 0;
		202	break;
		203
		204	case UBLOX_SYNC2:
		205	if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
		206	else ublox_msg_state = UBLOX_IDLE;
		207	break;
		208
		209	case UBLOX_CLASS: // Nur NAV Meldungen auswerten
		210	switch (rx)
		211	{
		212	case UBLOX_NAV_POSUTM:
		213	ptr_pac_status = &actual_pos.status;
		214	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
		215	else
		216	{
		217	ptr_payload_data = &actual_pos;
		218	ptr_payload_data_end = &actual_pos.status;
		219	ublox_msg_state = UBLOX_LEN1;
		220	}
		221	break;
		222
		223	case UBLOX_NAV_STATUS:
		224	ptr_pac_status = &actual_status.status;
		225	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		226	else
		227	{
		228	ptr_payload_data = &actual_status;
		229	ptr_payload_data_end = &actual_status.status;
		230	ublox_msg_state = UBLOX_LEN1;
		231	}
		232	break;
		233
		234	case UBLOX_NAV_VELED:
		235	ptr_pac_status = &actual_speed.status;
		236	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		237	else
		238	{
		239	ptr_payload_data = &actual_speed;
		240	ptr_payload_data_end = &actual_speed.status;
		241	ublox_msg_state = UBLOX_LEN1;
		242	}
		243	break;
		244
		245	default:
		246	ublox_msg_state = UBLOX_IDLE;
		247	break;
		248	}
		249	chk_a = UBLOX_NAV_CLASS + rx;
		250	chk_b = UBLOX_NAV_CLASS + chk_a;
		251	break;
		252
		253	case UBLOX_LEN1: // Laenge auswerten
		254	rx_len = rx;
		255	chk_a += rx;
		256	chk_b += chk_a;
		257	ublox_msg_state = UBLOX_LEN2;
		258	break;
		259
		260
		261	case UBLOX_LEN2: // Laenge auswerten
		262	rx_len = rx_len + (rx *256); // Laenge ermitteln
		263	chk_a += rx;
		264	chk_b += chk_a;
		265	ublox_msg_state = UBLOX_PAYLOAD;
		266	break;
		267
		268	case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
		269	if (rx_len > 0)
		270	{
		271	*ptr_payload_data = rx;
		272	chk_a += rx;
		273	chk_b += chk_a;
		274	--rx_len;
		275	if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
		276	{
		277	ptr_payload_data++;
		278	ublox_msg_state = UBLOX_PAYLOAD;
		279	}
		280	else ublox_msg_state = UBLOX_CKA;
		281	}
		282	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		283	break;
		284
		285	case UBLOX_CKA: // Checksum pruefen
		286	if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
		287	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		288	break;
		289
		290	case UBLOX_CKB: // Checksum pruefen
		291	if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
		292	ublox_msg_state = UBLOX_IDLE;
		293	break;
		294
		295	default:
		296	ublox_msg_state = UBLOX_IDLE;
		297	break;
		298	}
		299	}
		300
		301	//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
		302	short int GPS_CRTL(short int cmd)
		303	{
		304	static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen
		305	static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition
		306	signed int n;
		307	static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
		308	signed int dist_frm_start_east,dist_frm_start_north;
		309	int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil
		310	static signed int int_east,int_north; //Integrierer
		311	long int speed_east,speed_north; //Aktuelle Geschwindigkeit
		312	signed long int_east1,int_north1;
		313	int dist_east,dist_north;
		314	int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung
		315	long ni,ro; // Nick und Roll Zwischenwerte
		316
		317
		318	switch (cmd)
		319	{
		320
		321	case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
		322	if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
		323	{
		324	cnt++;
		325	if (cnt > 100) // erst nach Verzoegerung
		326	{
		327	// Erst mal initialisieren
		328	cnt = 0;
		329	gps_tick = 0;
		330	hold_fast = 0;
		331	hold_reset_int = 0; // Integrator enablen
		332	int_east = 0, int_north = 0;
		333	gps_reg_x = 0, gps_reg_y = 0;
		334	delta_east = 0, delta_north = 0;
		335	dist_flown = 0;
		336	gps_g2t_act_v = 0;
		337	gps_sub_state = GPS_CRTL_IDLE;
		338	// aktuelle positionsdaten abspeichern
		339	if (gps_rel_act_position.status > 0)
		340	{
		341	gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
		342	gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
		343	gps_rel_start_position.status = 1; // gueltige Positionsdaten
		344	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		345	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		346	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		347	//Richtung zur Home Position bezogen auf Nordpol bestimmen
		348	hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
		349	// in Winkel 0...360 Grad umrechnen
		350	if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
		351	else hdng_2home = (270 - hdng_2home);
		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
		353	gps_state = GPS_CRTL_HOME_ACTIVE;
		354	return (GPS_STST_OK);
		355	}
		356	else
		357	{
		358	gps_rel_start_position.status = 0; //Keine Daten verfuegbar
		359	gps_state = GPS_CRTL_IDLE;
		360	return(GPS_STST_ERR); // Keine Daten da
		361	}
		362	}
		363	else return(GPS_STST_PEND); // noch warten
		364	}
		365	break;
		366	// ******************************
		367
		368	case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
		369	if (gps_state != GPS_CRTL_HOLD_ACTIVE)
		370	{
		371	cnt++;
		372	if (cnt > 600) // erst nach Verzoegerung
		373	{
		374	cnt = 0;
		375	// aktuelle positionsdaten abspeichern
		376	if (gps_rel_act_position.status > 0)
		377	{
		378	hold_fast = 0;
		379	hold_reset_int = 0; // Integrator enablen
		380	int_east = 0, int_north = 0;
		381	gps_reg_x = 0, gps_reg_y = 0;
		382	delta_east = 0, delta_north = 0;
		383	speed_east = 0; speed_north= 0;
		384	// int_ovfl_cnt = 0;
		385	gps_quiet_cnt = 0;
		386	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		387	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		388	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		389	gps_state = GPS_CRTL_HOLD_ACTIVE;
		390	return (GPS_STST_OK);
		391	}
		392	else
		393	{
		394	gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
		395	gps_state = GPS_CRTL_IDLE;
		396	return(GPS_STST_ERR); // Keine Daten da
		397	}
		398	}
		399	else return(GPS_STST_PEND); // noch warten
		400	}
		401	break;
		402
		403	case GPS_CMD_STOP: // Lageregelung beenden
		404	cnt = 0;
		405	GPS_Nick = 0;
		406	GPS_Roll = 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 - 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

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_v0070d/trunk/GPS.c @ 1061 - Rev 1003