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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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182 | salvo | 15 | Hold Modus mit PID Regler |
184 | salvo | 16 | Stand 29.9.2007 |
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 |
183 | salvo | 23 | #define UBLOX_IDLE 0 |
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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143 | salvo | 32 | #define UBLOX_PAYLOAD 9 |
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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190 | salvo | 57 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
143 | salvo | 58 | |
59 | static uint8_t *ptr_payload_data; |
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60 | static uint8_t *ptr_pac_status; |
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61 | |||
156 | salvo | 62 | short int Get_GPS_data(void); |
143 | salvo | 63 | |
64 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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65 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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66 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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67 | |||
156 | salvo | 68 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
69 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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70 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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158 | salvo | 71 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
143 | salvo | 72 | |
156 | salvo | 73 | // Initialisierung |
74 | void GPS_Neutral(void) |
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1 | ingob | 75 | { |
158 | salvo | 76 | ublox_msg_state = UBLOX_IDLE; |
77 | gps_state = GPS_CRTL_IDLE; |
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78 | actual_pos.status = 0; |
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79 | actual_speed.status = 0; |
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80 | actual_status.status = 0; |
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81 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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82 | gps_act_position.status = 0; |
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83 | gps_rel_act_position.status = 0; |
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84 | GPS_Nick = 0; |
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85 | GPS_Roll = 0; |
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86 | gps_updte_flag = 0; |
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159 | salvo | 87 | gps_int_x = 0; |
88 | gps_int_y = 0; |
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190 | salvo | 89 | gps_alive_cnt = 0; |
159 | salvo | 90 | |
1 | ingob | 91 | } |
92 | |||
156 | salvo | 93 | // Home Position sichern falls Daten verfuegbar sind. |
94 | void GPS_Save_Home(void) |
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1 | ingob | 95 | { |
156 | salvo | 96 | short int n; |
97 | n = Get_GPS_data(); |
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98 | if (n == 0) // Gueltige und aktuelle Daten ? |
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99 | { |
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100 | // Neue GPS Daten liegen vor |
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157 | salvo | 101 | gps_home_position.utm_east = gps_act_position.utm_east; |
102 | gps_home_position.utm_north = gps_act_position.utm_north; |
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103 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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104 | gps_home_position.status = 1; // Home Position gueltig |
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156 | salvo | 105 | } |
106 | } |
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107 | |||
108 | // Relative Position zur Home Position bestimmen |
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109 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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110 | short int Get_Rel_Position(void) |
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111 | { |
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112 | short int n = 0; |
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113 | n = Get_GPS_data(); |
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114 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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190 | salvo | 115 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in MotorreglerRoutine ueberwacht und dekrementiert |
156 | salvo | 116 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
117 | { |
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118 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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119 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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120 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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121 | n = 0; |
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158 | salvo | 122 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
156 | salvo | 123 | } |
124 | else |
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125 | { |
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126 | n = 2; //keine gueltigen Daten vorhanden |
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127 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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128 | } |
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129 | return (n); |
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130 | } |
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131 | |||
132 | // Daten aus aktuellen ublox Messages extrahieren |
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133 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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134 | short int Get_GPS_data(void) |
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135 | { |
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136 | short int n = 1; |
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137 | |||
138 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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143 | salvo | 139 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
140 | { |
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141 | cnt1++; //**** noch Rausschmeissen |
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149 | salvo | 142 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
143 | salvo | 143 | { |
144 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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145 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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146 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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147 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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148 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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149 | gps_act_position.heading = actual_speed.heading/100000; |
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150 | gps_act_position.status = 1; |
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156 | salvo | 151 | n = 0; //Daten gueltig |
143 | salvo | 152 | } |
156 | salvo | 153 | else |
154 | { |
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155 | gps_act_position.status = 0; //Keine gueltigen Daten |
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156 | n = 2; |
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157 | } |
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158 | actual_pos.status = 0; //neue ublox Messages anfordern |
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159 | actual_status.status = 0; |
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160 | actual_speed.status = 0; |
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161 | } |
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162 | return (n); |
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1 | ingob | 163 | } |
164 | |||
165 | |||
143 | salvo | 166 | /* |
167 | Daten vom GPS im ublox MSG Format auswerten |
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156 | salvo | 168 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
143 | salvo | 169 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
170 | */ |
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171 | void Get_Ublox_Msg(uint8_t rx) |
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172 | { |
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1 | ingob | 173 | |
143 | salvo | 174 | switch (ublox_msg_state) |
175 | { |
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1 | ingob | 176 | |
143 | salvo | 177 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
178 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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179 | else ublox_msg_state = UBLOX_IDLE; |
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180 | break; |
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181 | |||
182 | case UBLOX_SYNC1: |
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183 | |||
184 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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185 | else ublox_msg_state = UBLOX_IDLE; |
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186 | chk_a = 0,chk_b = 0; |
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187 | break; |
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188 | |||
189 | case UBLOX_SYNC2: |
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190 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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191 | else ublox_msg_state = UBLOX_IDLE; |
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192 | break; |
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193 | |||
194 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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195 | switch (rx) |
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196 | { |
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197 | case UBLOX_NAV_POSUTM: |
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198 | ptr_pac_status = &actual_pos.status; |
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199 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
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200 | else |
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201 | { |
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202 | ptr_payload_data = &actual_pos; |
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203 | ptr_payload_data_end = &actual_pos.status; |
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204 | ublox_msg_state = UBLOX_LEN1; |
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205 | } |
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206 | break; |
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207 | |||
208 | case UBLOX_NAV_STATUS: |
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209 | ptr_pac_status = &actual_status.status; |
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210 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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211 | else |
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212 | { |
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213 | ptr_payload_data = &actual_status; |
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214 | ptr_payload_data_end = &actual_status.status; |
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215 | ublox_msg_state = UBLOX_LEN1; |
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216 | } |
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217 | break; |
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218 | |||
219 | case UBLOX_NAV_VELED: |
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156 | salvo | 220 | ptr_pac_status = &actual_speed.status; |
143 | salvo | 221 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
222 | else |
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223 | { |
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224 | ptr_payload_data = &actual_speed; |
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225 | ptr_payload_data_end = &actual_speed.status; |
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226 | ublox_msg_state = UBLOX_LEN1; |
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227 | } |
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228 | break; |
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229 | |||
230 | default: |
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231 | ublox_msg_state = UBLOX_IDLE; |
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232 | break; |
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233 | } |
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234 | chk_a = UBLOX_NAV_CLASS + rx; |
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235 | chk_b = UBLOX_NAV_CLASS + chk_a; |
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236 | break; |
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237 | |||
238 | case UBLOX_LEN1: // Laenge auswerten |
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239 | rx_len = rx; |
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240 | chk_a += rx; |
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241 | chk_b += chk_a; |
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242 | ublox_msg_state = UBLOX_LEN2; |
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243 | break; |
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244 | |||
245 | |||
246 | case UBLOX_LEN2: // Laenge auswerten |
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247 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
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248 | chk_a += rx; |
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249 | chk_b += chk_a; |
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250 | ublox_msg_state = UBLOX_PAYLOAD; |
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251 | break; |
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252 | |||
253 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
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254 | if (rx_len > 0) |
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255 | { |
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256 | *ptr_payload_data = rx; |
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257 | chk_a += rx; |
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258 | chk_b += chk_a; |
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259 | --rx_len; |
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260 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
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261 | { |
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262 | ptr_payload_data++; |
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156 | salvo | 263 | ublox_msg_state = UBLOX_PAYLOAD; |
143 | salvo | 264 | } |
265 | else ublox_msg_state = UBLOX_CKA; |
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266 | } |
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267 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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268 | break; |
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269 | |||
270 | case UBLOX_CKA: // Checksum pruefen |
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271 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
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272 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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273 | break; |
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274 | |||
275 | case UBLOX_CKB: // Checksum pruefen |
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276 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
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277 | ublox_msg_state = UBLOX_IDLE; |
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278 | break; |
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279 | |||
280 | default: |
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281 | ublox_msg_state = UBLOX_IDLE; |
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282 | break; |
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158 | salvo | 283 | } |
143 | salvo | 284 | } |
158 | salvo | 285 | |
286 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
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287 | short int GPS_CRTL(short int cmd) |
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288 | { |
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184 | salvo | 289 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
290 | static signed int int_east,int_north; //Integrierer |
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291 | static signed int dist_north,dist_east; |
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186 | salvo | 292 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
293 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
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294 | signed int n; |
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295 | long signed int dist,d,n_l; |
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158 | salvo | 296 | switch (cmd) |
297 | { |
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162 | salvo | 298 | |
299 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
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300 | // Noch einiges zu ueberlegen und zu tun |
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301 | return(GPS_STST_PEND); // noch warten |
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302 | break; |
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303 | // ****************************** |
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304 | |||
158 | salvo | 305 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
306 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
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307 | { |
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308 | cnt++; |
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160 | salvo | 309 | if (cnt > 500) // erst nach Verzoegerung |
158 | salvo | 310 | { |
311 | cnt = 0; |
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312 | // aktuelle positionsdaten abespeichern |
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313 | if (gps_rel_act_position.status > 0) |
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314 | { |
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186 | salvo | 315 | int_east = 0; |
316 | int_north = 0; |
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317 | gps_reg_x = 0; |
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318 | gps_reg_y = 0; |
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319 | dist_east = 0; |
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320 | dist_north = 0; |
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321 | diff_east_f = 0; |
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322 | diff_north_f = 0; |
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190 | salvo | 323 | diff_east = 0; |
186 | salvo | 324 | diff_north = 0; |
158 | salvo | 325 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
326 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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327 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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328 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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329 | return (GPS_STST_OK); |
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330 | } |
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331 | else |
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332 | { |
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333 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
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334 | gps_state = GPS_CRTL_IDLE; |
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335 | return(GPS_STST_ERR); // Keine Daten da |
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336 | } |
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337 | } |
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338 | else return(GPS_STST_PEND); // noch warten |
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339 | } |
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340 | break; |
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341 | |||
162 | salvo | 342 | case GPS_CMD_STOP: // Lageregelung beenden |
190 | salvo | 343 | cnt = 0; |
344 | GPS_Nick = 0; |
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345 | GPS_Roll = 0; |
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346 | gps_int_x = 0; |
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347 | gps_int_y = 0; |
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162 | salvo | 348 | gps_state = GPS_CRTL_IDLE; |
158 | salvo | 349 | return (GPS_STST_OK); |
350 | break; |
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351 | |||
352 | default: |
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353 | return (GPS_STST_ERR); |
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354 | break; |
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355 | } |
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356 | |||
357 | switch (gps_state) |
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358 | { |
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359 | case GPS_CRTL_IDLE: |
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360 | cnt = 0; |
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361 | return (GPS_STST_OK); |
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362 | break; |
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363 | |||
186 | salvo | 364 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
159 | salvo | 365 | if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
158 | salvo | 366 | { |
367 | gps_updte_flag = 0; |
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368 | // ab hier wird geregelt |
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186 | salvo | 369 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
370 | diff_north = -dist_north; |
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190 | salvo | 371 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
184 | salvo | 372 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
162 | salvo | 373 | int_east += dist_east; |
374 | int_north += dist_north; |
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167 | salvo | 375 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
376 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
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161 | salvo | 377 | |
194 | salvo | 378 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
379 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
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186 | salvo | 380 | |
194 | salvo | 381 | #define GPSINT_MAX 2048 //neuer Wert ab 1.10.2007 Begrenzung |
162 | salvo | 382 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
383 | { |
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384 | int_east -= dist_east; |
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385 | int_north -= dist_north; |
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386 | } |
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186 | salvo | 387 | // P-Anteil Kleine Werte verstaerken, grosse abschwaechen |
388 | #define GPS_DIST_P_MAX 200 //maximal 20m |
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389 | int dist_east_p,dist_north_p; |
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390 | dist_east_p = dist_east; |
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391 | dist_north_p = dist_north; |
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392 | if (dist_east > GPS_DIST_P_MAX) dist_east_p = GPS_DIST_P_MAX; // P-Anteil begrenzen |
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393 | else if (dist_east < - GPS_DIST_P_MAX) dist_east_p = -GPS_DIST_P_MAX; |
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394 | if (dist_north > GPS_DIST_P_MAX) dist_north_p = GPS_DIST_P_MAX; // P-Anteil begrenzen |
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395 | else if (dist_north < - GPS_DIST_P_MAX) dist_north_p = -GPS_DIST_P_MAX; |
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396 | |||
397 | n = sin_i((dist_east_p*90)/(GPS_DIST_P_MAX)); |
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398 | d = (GPS_DIST_P_MAX * (long)n) /1000; |
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399 | dist_east_p = (int) d; |
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400 | n = sin_i((dist_north_p*90)/(GPS_DIST_P_MAX)); |
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401 | d = (GPS_DIST_P_MAX * (long)n) /1000; |
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402 | dist_north_p = (int) d; |
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161 | salvo | 403 | |
186 | salvo | 404 | //PID Regler Werte aufsummieren |
194 | salvo | 405 | gps_reg_x = ((int_east * Parameter_UserParam2)/32) + ((dist_east_p * Parameter_UserParam1)/8)+ ((diff_east_f * Parameter_UserParam3)); // I + P +D Anteil X Achse |
406 | gps_reg_y = ((int_north * Parameter_UserParam2)/32) + ((dist_north_p * Parameter_UserParam1)/8)+ ((diff_north_f * Parameter_UserParam3)); // I + P +D Anteil Y Achse |
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159 | salvo | 407 | |
186 | salvo | 408 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
194 | salvo | 409 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
159 | salvo | 410 | |
186 | salvo | 411 | // in Winkel 0...360 Grad umrechnen |
161 | salvo | 412 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
162 | salvo | 413 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
161 | salvo | 414 | |
159 | salvo | 415 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
416 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
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417 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
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167 | salvo | 418 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
159 | salvo | 419 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
420 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
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421 | |||
184 | salvo | 422 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
160 | salvo | 423 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
424 | { |
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182 | salvo | 425 | dist = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
190 | salvo | 426 | dist = abs((dist *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
160 | salvo | 427 | } |
428 | else |
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429 | { |
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182 | salvo | 430 | dist = (long)gps_reg_y; |
190 | salvo | 431 | dist = abs((dist *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
160 | salvo | 432 | } |
190 | salvo | 433 | GPS_dist_2trgt = (int) dist; |
185 | salvo | 434 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
184 | salvo | 435 | GPS_Roll = (int) +( (dist * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
185 | salvo | 436 | GPS_Nick = (int) -( (dist * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
190 | salvo | 437 | |
194 | salvo | 438 | #define GPS_V 8 // auf Maximalwert normieren. Teilerfaktor ist 8 |
184 | salvo | 439 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
440 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
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441 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
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442 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
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443 | |||
444 | //Kleine Werte verstaerken, Grosse abschwaechen |
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186 | salvo | 445 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
446 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
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447 | GPS_Roll = (int) n_l; |
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185 | salvo | 448 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
186 | salvo | 449 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
450 | GPS_Nick = (int) n_l; |
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184 | salvo | 451 | |
452 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
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453 | { |
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454 | GPS_Roll = 0; |
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455 | GPS_Nick = 0; |
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456 | gps_state = GPS_CRTL_IDLE; |
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186 | salvo | 457 | return (GPS_STST_ERR); |
458 | break; |
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184 | salvo | 459 | } |
158 | salvo | 460 | } |
461 | else return (GPS_STST_OK); |
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462 | break; |
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463 | |||
464 | default: |
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465 | gps_state = GPS_CRTL_IDLE; |
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466 | return (GPS_STST_ERR); |
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467 | break; |
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468 | } |
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469 | return (GPS_STST_ERR); |
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470 | |||
471 | } |
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472 |