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143 | 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 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 for more details. You should have received a copy of the GNU General Public License |
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8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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9 | |||
149 | salvo | 10 | 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 |
143 | salvo | 11 | */ |
12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | Peter Muehlenbrock |
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14 | Auswertung der Daten vom GPS im ublox Format |
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161 | salvo | 15 | Hold Modus |
162 | salvo | 16 | Stand 21.9.2007 |
143 | salvo | 17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | */ |
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1 | ingob | 19 | #include "main.h" |
156 | salvo | 20 | //#include "gps.h" |
1 | ingob | 21 | |
143 | salvo | 22 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
23 | #define UBLOX_IDLE 0 |
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24 | #define UBLOX_SYNC1 1 |
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25 | #define UBLOX_SYNC2 2 |
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26 | #define UBLOX_CLASS 3 |
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27 | #define UBLOX_ID 4 |
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28 | #define UBLOX_LEN1 5 |
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29 | #define UBLOX_LEN2 6 |
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30 | #define UBLOX_CKA 7 |
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31 | #define UBLOX_CKB 8 |
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32 | #define UBLOX_PAYLOAD 9 |
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33 | |||
34 | // ublox Protokoll Identifier |
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35 | #define UBLOX_NAV_POSUTM 0x08 |
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36 | #define UBLOX_NAV_STATUS 0x03 |
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37 | #define UBLOX_NAV_VELED 0x12 |
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38 | #define UBLOX_NAV_CLASS 0x01 |
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39 | #define UBLOX_SYNCH1_CHAR 0xB5 |
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40 | #define UBLOX_SYNCH2_CHAR 0x62 |
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41 | |||
1 | ingob | 42 | signed int GPS_Nick = 0; |
43 | signed int GPS_Roll = 0; |
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158 | salvo | 44 | short int ublox_msg_state = UBLOX_IDLE; |
143 | salvo | 45 | static uint8_t chk_a =0; //Checksum |
46 | static uint8_t chk_b =0; |
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158 | salvo | 47 | short int gps_state; |
48 | short int gps_updte_flag; |
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49 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
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50 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
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51 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
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159 | salvo | 52 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
53 | signed int ; |
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143 | salvo | 54 | static unsigned int rx_len; |
55 | unsigned int cnt0,cnt1,cnt2; //******Provisorisch |
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56 | static unsigned int ptr_payload_data_end; |
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57 | |||
58 | static uint8_t *ptr_payload_data; |
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59 | static uint8_t *ptr_pac_status; |
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60 | |||
156 | salvo | 61 | short int Get_GPS_data(void); |
143 | salvo | 62 | |
63 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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64 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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65 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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66 | |||
156 | salvo | 67 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
68 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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69 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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158 | salvo | 70 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
143 | salvo | 71 | |
156 | salvo | 72 | // Initialisierung |
73 | void GPS_Neutral(void) |
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1 | ingob | 74 | { |
158 | salvo | 75 | ublox_msg_state = UBLOX_IDLE; |
76 | gps_state = GPS_CRTL_IDLE; |
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77 | actual_pos.status = 0; |
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78 | actual_speed.status = 0; |
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79 | actual_status.status = 0; |
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80 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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81 | gps_act_position.status = 0; |
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82 | gps_rel_act_position.status = 0; |
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83 | GPS_Nick = 0; |
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84 | GPS_Roll = 0; |
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85 | gps_updte_flag = 0; |
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159 | salvo | 86 | gps_int_x = 0; |
87 | gps_int_y = 0; |
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88 | |||
1 | ingob | 89 | } |
90 | |||
156 | salvo | 91 | // Home Position sichern falls Daten verfuegbar sind. |
92 | void GPS_Save_Home(void) |
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1 | ingob | 93 | { |
156 | salvo | 94 | short int n; |
95 | n = Get_GPS_data(); |
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96 | if (n == 0) // Gueltige und aktuelle Daten ? |
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97 | { |
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98 | // Neue GPS Daten liegen vor |
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157 | salvo | 99 | gps_home_position.utm_east = gps_act_position.utm_east; |
100 | gps_home_position.utm_north = gps_act_position.utm_north; |
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101 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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102 | gps_home_position.status = 1; // Home Position gueltig |
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156 | salvo | 103 | } |
104 | } |
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105 | |||
106 | // Relative Position zur Home Position bestimmen |
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107 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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108 | short int Get_Rel_Position(void) |
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109 | { |
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110 | short int n = 0; |
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111 | n = Get_GPS_data(); |
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112 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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113 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
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114 | { |
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115 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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116 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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117 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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118 | n = 0; |
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158 | salvo | 119 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
156 | salvo | 120 | } |
121 | else |
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122 | { |
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123 | n = 2; //keine gueltigen Daten vorhanden |
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124 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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125 | } |
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126 | return (n); |
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127 | } |
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128 | |||
129 | // Daten aus aktuellen ublox Messages extrahieren |
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130 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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131 | short int Get_GPS_data(void) |
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132 | { |
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133 | short int n = 1; |
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134 | |||
135 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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143 | salvo | 136 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
137 | { |
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138 | cnt1++; //**** noch Rausschmeissen |
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149 | salvo | 139 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
143 | salvo | 140 | { |
141 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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142 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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143 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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144 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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145 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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146 | gps_act_position.heading = actual_speed.heading/100000; |
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147 | gps_act_position.status = 1; |
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156 | salvo | 148 | n = 0; //Daten gueltig |
143 | salvo | 149 | } |
156 | salvo | 150 | else |
151 | { |
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152 | gps_act_position.status = 0; //Keine gueltigen Daten |
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153 | n = 2; |
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154 | } |
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155 | actual_pos.status = 0; //neue ublox Messages anfordern |
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156 | actual_status.status = 0; |
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157 | actual_speed.status = 0; |
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158 | } |
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159 | return (n); |
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1 | ingob | 160 | } |
161 | |||
162 | |||
143 | salvo | 163 | /* |
164 | Daten vom GPS im ublox MSG Format auswerten |
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156 | salvo | 165 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
143 | salvo | 166 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
167 | */ |
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168 | void Get_Ublox_Msg(uint8_t rx) |
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169 | { |
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1 | ingob | 170 | |
143 | salvo | 171 | switch (ublox_msg_state) |
172 | { |
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1 | ingob | 173 | |
143 | salvo | 174 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
175 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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176 | else ublox_msg_state = UBLOX_IDLE; |
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177 | break; |
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178 | |||
179 | case UBLOX_SYNC1: |
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180 | |||
181 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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182 | else ublox_msg_state = UBLOX_IDLE; |
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183 | chk_a = 0,chk_b = 0; |
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184 | break; |
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185 | |||
186 | case UBLOX_SYNC2: |
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187 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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188 | else ublox_msg_state = UBLOX_IDLE; |
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189 | break; |
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190 | |||
191 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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192 | switch (rx) |
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193 | { |
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194 | case UBLOX_NAV_POSUTM: |
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195 | ptr_pac_status = &actual_pos.status; |
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196 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
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197 | else |
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198 | { |
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199 | ptr_payload_data = &actual_pos; |
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200 | ptr_payload_data_end = &actual_pos.status; |
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201 | ublox_msg_state = UBLOX_LEN1; |
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202 | } |
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203 | break; |
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204 | |||
205 | case UBLOX_NAV_STATUS: |
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206 | ptr_pac_status = &actual_status.status; |
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207 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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208 | else |
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209 | { |
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210 | ptr_payload_data = &actual_status; |
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211 | ptr_payload_data_end = &actual_status.status; |
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212 | ublox_msg_state = UBLOX_LEN1; |
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213 | } |
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214 | break; |
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215 | |||
216 | case UBLOX_NAV_VELED: |
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156 | salvo | 217 | ptr_pac_status = &actual_speed.status; |
143 | salvo | 218 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
219 | else |
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220 | { |
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221 | ptr_payload_data = &actual_speed; |
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222 | ptr_payload_data_end = &actual_speed.status; |
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223 | ublox_msg_state = UBLOX_LEN1; |
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224 | } |
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225 | break; |
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226 | |||
227 | default: |
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228 | ublox_msg_state = UBLOX_IDLE; |
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229 | break; |
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230 | } |
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231 | chk_a = UBLOX_NAV_CLASS + rx; |
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232 | chk_b = UBLOX_NAV_CLASS + chk_a; |
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233 | break; |
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234 | |||
235 | case UBLOX_LEN1: // Laenge auswerten |
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236 | rx_len = rx; |
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237 | chk_a += rx; |
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238 | chk_b += chk_a; |
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239 | ublox_msg_state = UBLOX_LEN2; |
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240 | break; |
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241 | |||
242 | |||
243 | case UBLOX_LEN2: // Laenge auswerten |
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244 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
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245 | chk_a += rx; |
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246 | chk_b += chk_a; |
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247 | ublox_msg_state = UBLOX_PAYLOAD; |
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248 | break; |
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249 | |||
250 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
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251 | if (rx_len > 0) |
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252 | { |
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253 | *ptr_payload_data = rx; |
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254 | chk_a += rx; |
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255 | chk_b += chk_a; |
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256 | --rx_len; |
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257 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
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258 | { |
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259 | ptr_payload_data++; |
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156 | salvo | 260 | ublox_msg_state = UBLOX_PAYLOAD; |
143 | salvo | 261 | } |
262 | else ublox_msg_state = UBLOX_CKA; |
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263 | } |
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264 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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265 | break; |
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266 | |||
267 | case UBLOX_CKA: // Checksum pruefen |
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268 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
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269 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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270 | break; |
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271 | |||
272 | case UBLOX_CKB: // Checksum pruefen |
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273 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
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274 | ublox_msg_state = UBLOX_IDLE; |
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275 | break; |
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276 | |||
277 | default: |
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278 | ublox_msg_state = UBLOX_IDLE; |
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279 | break; |
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158 | salvo | 280 | } |
143 | salvo | 281 | } |
158 | salvo | 282 | |
283 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
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284 | short int GPS_CRTL(short int cmd) |
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285 | { |
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286 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
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162 | salvo | 287 | static int int_east,int_north; //Integrierer |
160 | salvo | 288 | int n; |
289 | long int dist; |
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158 | salvo | 290 | switch (cmd) |
291 | { |
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162 | salvo | 292 | |
293 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
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294 | // Noch einiges zu ueberlegen und zu tun |
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295 | return(GPS_STST_PEND); // noch warten |
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296 | break; |
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297 | // ****************************** |
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298 | |||
158 | salvo | 299 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
300 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
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301 | { |
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302 | cnt++; |
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160 | salvo | 303 | if (cnt > 500) // erst nach Verzoegerung |
158 | salvo | 304 | { |
305 | cnt = 0; |
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306 | // aktuelle positionsdaten abespeichern |
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307 | if (gps_rel_act_position.status > 0) |
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308 | { |
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162 | salvo | 309 | int_east = 0; |
310 | int_north = 0; |
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311 | gps_reg_x = 0; |
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312 | gps_reg_y = 0; |
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158 | salvo | 313 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
314 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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315 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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316 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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317 | return (GPS_STST_OK); |
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318 | } |
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319 | else |
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320 | { |
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321 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
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322 | gps_state = GPS_CRTL_IDLE; |
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323 | return(GPS_STST_ERR); // Keine Daten da |
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324 | } |
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325 | } |
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326 | else return(GPS_STST_PEND); // noch warten |
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327 | } |
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328 | break; |
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329 | |||
162 | salvo | 330 | case GPS_CMD_STOP: // Lageregelung beenden |
331 | cnt = 0; |
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332 | GPS_Nick = 0; |
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333 | GPS_Roll = 0; |
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334 | gps_int_x = 0; |
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335 | gps_int_y = 0; |
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336 | gps_state = GPS_CRTL_IDLE; |
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158 | salvo | 337 | return (GPS_STST_OK); |
338 | break; |
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339 | |||
340 | default: |
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341 | return (GPS_STST_ERR); |
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342 | break; |
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343 | } |
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344 | |||
345 | switch (gps_state) |
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346 | { |
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347 | case GPS_CRTL_IDLE: |
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348 | cnt = 0; |
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349 | return (GPS_STST_OK); |
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350 | break; |
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351 | |||
352 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
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159 | salvo | 353 | if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
158 | salvo | 354 | { |
355 | gps_updte_flag = 0; |
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356 | // ab hier wird geregelt |
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357 | signed int dist_north,dist_east; |
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358 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
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359 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
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162 | salvo | 360 | int_east += dist_east; |
361 | int_north += dist_north; |
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161 | salvo | 362 | |
162 | salvo | 363 | #define GPSINT_MAX 1000 |
364 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
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365 | { |
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366 | int_east -= dist_east; |
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367 | int_north -= dist_north; |
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368 | } |
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369 | |||
370 | #define DIST_MAX 200 //neu ab 19.9. 1900 Begrenzung |
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371 | if (dist_east > DIST_MAX) dist_east = DIST_MAX; |
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372 | if (dist_east <-DIST_MAX) dist_east = -DIST_MAX; |
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373 | if (dist_north > DIST_MAX) dist_north = DIST_MAX; |
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374 | if (dist_north <-DIST_MAX) dist_north = -DIST_MAX; |
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161 | salvo | 375 | |
159 | salvo | 376 | //PI Regler |
162 | salvo | 377 | gps_reg_x = ((int_east * Parameter_UserParam1)/16) + ((dist_east * Parameter_UserParam2)/8); // P+I Anteil |
378 | gps_reg_y = ((int_north * Parameter_UserParam1)/16) + ((dist_north * Parameter_UserParam2)/8); // P+I Anteil |
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159 | salvo | 379 | |
380 | //Richtung bezogen auf Nordpol bestimmen |
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381 | GPS_hdng_abs_2trgt = arctan_i((long)gps_reg_x,(long)gps_reg_y); |
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382 | |||
158 | salvo | 383 | //in Winkel 0..360 grad umrechnen |
161 | salvo | 384 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
162 | salvo | 385 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
161 | salvo | 386 | |
159 | salvo | 387 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
388 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
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389 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
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390 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180))GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
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391 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
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392 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
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393 | |||
160 | salvo | 394 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
395 | |||
396 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
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397 | { |
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398 | dist = (long)gps_reg_x; //Groesseren Wert wegen besserer genauigkeit nehmen |
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161 | salvo | 399 | dist = abs((dist *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
160 | salvo | 400 | } |
401 | else |
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402 | { |
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403 | dist = (long)gps_reg_y; |
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161 | salvo | 404 | dist = abs((dist *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
160 | salvo | 405 | } |
161 | salvo | 406 | if (dist > 200) dist = 200; |
160 | salvo | 407 | GPS_dist_2trgt = (int )dist; |
408 | |||
409 | // Winkel und Distanz in Nick und Roll groessen umrechnen |
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410 | long int a,b; |
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161 | salvo | 411 | GPS_Roll = (int) +((dist * sin_i(GPS_hdng_rel_2trgt))/(1000*4)); |
160 | salvo | 412 | GPS_Nick = (int) -((dist * cos_i(GPS_hdng_rel_2trgt))/(1000*4)); |
413 | |||
161 | salvo | 414 | if (GPS_Roll > GPS_NICKROLL_MAX) GPS_Roll = GPS_NICKROLL_MAX; //Auf Maxwerte begrenzen |
415 | else if (GPS_Roll < -GPS_NICKROLL_MAX) GPS_Roll = - GPS_NICKROLL_MAX; |
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416 | if (GPS_Nick > GPS_NICKROLL_MAX) GPS_Nick = GPS_NICKROLL_MAX; |
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417 | else if (GPS_Nick < - GPS_NICKROLL_MAX) GPS_Nick = - GPS_NICKROLL_MAX; |
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160 | salvo | 418 | |
158 | salvo | 419 | return (GPS_STST_OK); |
420 | } |
||
421 | else return (GPS_STST_OK); |
||
422 | break; |
||
423 | |||
424 | default: |
||
425 | gps_state = GPS_CRTL_IDLE; |
||
426 | return (GPS_STST_ERR); |
||
427 | break; |
||
428 | } |
||
429 | return (GPS_STST_ERR); |
||
430 | |||
431 | } |
||
432 |