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Rev	Author	Line No.	Line
143	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 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 for more details. You should have received a copy of the GNU General Public License
		8	along with this program. If not, see <http://www.gnu.org/licenses/>.
		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	/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		13	Peter Muehlenbrock
		14	Auswertung der Daten vom GPS im ublox Format
182	salvo	15	Hold Modus mit PID Regler
197	salvo	16	Stand 2.10.2007
143	salvo	17	++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		18	*/
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
		25	#define UBLOX_SYNC2 2
		26	#define UBLOX_CLASS 3
		27	#define UBLOX_ID 4
		28	#define UBLOX_LEN1 5
		29	#define UBLOX_LEN2 6
		30	#define UBLOX_CKA 7
		31	#define UBLOX_CKB 8
143	salvo	32	#define UBLOX_PAYLOAD 9
		33
		34	// ublox Protokoll Identifier
		35	#define UBLOX_NAV_POSUTM 0x08
		36	#define UBLOX_NAV_STATUS 0x03
		37	#define UBLOX_NAV_VELED 0x12
		38	#define UBLOX_NAV_CLASS 0x01
		39	#define UBLOX_SYNCH1_CHAR 0xB5
		40	#define UBLOX_SYNCH2_CHAR 0x62
		41
209	salvo	42	signed int GPS_Nick = 0;
		43	signed int GPS_Roll = 0;
		44	short int ublox_msg_state = UBLOX_IDLE;
		45	static uint8_t chk_a =0; //Checksum
		46	static uint8_t chk_b =0;
		47	short int gps_state;
		48	short int gps_updte_flag;
		49	signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol
		50	signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters
		51	signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel
		52	signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y;
143	salvo	53	static unsigned int rx_len;
		54	static unsigned int ptr_payload_data_end;
209	salvo	55	unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt
143	salvo	56
		57	static uint8_t *ptr_payload_data;
		58	static uint8_t *ptr_pac_status;
		59
156	salvo	60	short int Get_GPS_data(void);
143	salvo	61
		62	NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt
		63	NAV_STATUS_t actual_status; // Aktueller Nav Status
		64	NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten
		65
156	salvo	66	GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst
		67	GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt
		68	GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
158	salvo	69	GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode
143	salvo	70
156	salvo	71	// Initialisierung
		72	void GPS_Neutral(void)
1	ingob	73	{
158	salvo	74	ublox_msg_state = UBLOX_IDLE;
		75	gps_state = GPS_CRTL_IDLE;
		76	actual_pos.status = 0;
		77	actual_speed.status = 0;
		78	actual_status.status = 0;
		79	gps_home_position.status = 0; // Noch keine gueltige Home Position
		80	gps_act_position.status = 0;
		81	gps_rel_act_position.status = 0;
		82	GPS_Nick = 0;
		83	GPS_Roll = 0;
		84	gps_updte_flag = 0;
159	salvo	85	gps_int_x = 0;
		86	gps_int_y = 0;
190	salvo	87	gps_alive_cnt = 0;
1	ingob	88	}
		89
156	salvo	90	// Home Position sichern falls Daten verfuegbar sind.
		91	void GPS_Save_Home(void)
1	ingob	92	{
156	salvo	93	short int n;
		94	n = Get_GPS_data();
		95	if (n == 0) // Gueltige und aktuelle Daten ?
		96	{
		97	// Neue GPS Daten liegen vor
157	salvo	98	gps_home_position.utm_east = gps_act_position.utm_east;
		99	gps_home_position.utm_north = gps_act_position.utm_north;
		100	gps_home_position.utm_alt = gps_act_position.utm_alt;
		101	gps_home_position.status = 1; // Home Position gueltig
156	salvo	102	}
		103	}
		104
		105	// Relative Position zur Home Position bestimmen
		106	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		107	short int Get_Rel_Position(void)
		108	{
		109	short int n = 0;
		110	n = Get_GPS_data();
		111	if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
190	salvo	112	if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in MotorreglerRoutine ueberwacht und dekrementiert
156	salvo	113	if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
		114	{
		115	gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
		116	gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
		117	gps_rel_act_position.status = 1; // gueltige Positionsdaten
		118	n = 0;
158	salvo	119	gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
156	salvo	120	}
		121	else
		122	{
		123	n = 2; //keine gueltigen Daten vorhanden
		124	gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
		125	}
		126	return (n);
		127	}
		128
		129	// Daten aus aktuellen ublox Messages extrahieren
		130	// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
		131	short int Get_GPS_data(void)
		132	{
		133	short int n = 1;
		134
		135	if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist
143	salvo	136	if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
		137	{
149	salvo	138	if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
143	salvo	139	{
		140	gps_act_position.utm_east = actual_pos.utm_east/10;
		141	gps_act_position.utm_north = actual_pos.utm_north/10;
		142	gps_act_position.utm_alt = actual_pos.utm_alt/10;
		143	gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
		144	gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
		145	gps_act_position.heading = actual_speed.heading/100000;
		146	gps_act_position.status = 1;
156	salvo	147	n = 0; //Daten gueltig
143	salvo	148	}
156	salvo	149	else
		150	{
		151	gps_act_position.status = 0; //Keine gueltigen Daten
		152	n = 2;
		153	}
		154	actual_pos.status = 0; //neue ublox Messages anfordern
		155	actual_status.status = 0;
		156	actual_speed.status = 0;
		157	}
		158	return (n);
1	ingob	159	}
		160
		161
143	salvo	162	/*
		163	Daten vom GPS im ublox MSG Format auswerten
156	salvo	164	Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
143	salvo	165	// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
		166	*/
		167	void Get_Ublox_Msg(uint8_t rx)
		168	{
		169	switch (ublox_msg_state)
		170	{
1	ingob	171
143	salvo	172	case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
		173	if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
		174	else ublox_msg_state = UBLOX_IDLE;
		175	break;
		176
		177	case UBLOX_SYNC1:
		178
		179	if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
		180	else ublox_msg_state = UBLOX_IDLE;
		181	chk_a = 0,chk_b = 0;
		182	break;
		183
		184	case UBLOX_SYNC2:
		185	if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
		186	else ublox_msg_state = UBLOX_IDLE;
		187	break;
		188
		189	case UBLOX_CLASS: // Nur NAV Meldungen auswerten
		190	switch (rx)
		191	{
		192	case UBLOX_NAV_POSUTM:
		193	ptr_pac_status = &actual_pos.status;
		194	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
		195	else
		196	{
		197	ptr_payload_data = &actual_pos;
		198	ptr_payload_data_end = &actual_pos.status;
		199	ublox_msg_state = UBLOX_LEN1;
		200	}
		201	break;
		202
		203	case UBLOX_NAV_STATUS:
		204	ptr_pac_status = &actual_status.status;
		205	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		206	else
		207	{
		208	ptr_payload_data = &actual_status;
		209	ptr_payload_data_end = &actual_status.status;
		210	ublox_msg_state = UBLOX_LEN1;
		211	}
		212	break;
		213
		214	case UBLOX_NAV_VELED:
156	salvo	215	ptr_pac_status = &actual_speed.status;
143	salvo	216	if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
		217	else
		218	{
		219	ptr_payload_data = &actual_speed;
		220	ptr_payload_data_end = &actual_speed.status;
		221	ublox_msg_state = UBLOX_LEN1;
		222	}
		223	break;
		224
		225	default:
		226	ublox_msg_state = UBLOX_IDLE;
		227	break;
		228	}
		229	chk_a = UBLOX_NAV_CLASS + rx;
		230	chk_b = UBLOX_NAV_CLASS + chk_a;
		231	break;
		232
		233	case UBLOX_LEN1: // Laenge auswerten
		234	rx_len = rx;
		235	chk_a += rx;
		236	chk_b += chk_a;
		237	ublox_msg_state = UBLOX_LEN2;
		238	break;
		239
		240
		241	case UBLOX_LEN2: // Laenge auswerten
		242	rx_len = rx_len + (rx *256); // Laenge ermitteln
		243	chk_a += rx;
		244	chk_b += chk_a;
		245	ublox_msg_state = UBLOX_PAYLOAD;
		246	break;
		247
		248	case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
		249	if (rx_len > 0)
		250	{
		251	*ptr_payload_data = rx;
		252	chk_a += rx;
		253	chk_b += chk_a;
		254	--rx_len;
		255	if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
		256	{
		257	ptr_payload_data++;
156	salvo	258	ublox_msg_state = UBLOX_PAYLOAD;
143	salvo	259	}
		260	else ublox_msg_state = UBLOX_CKA;
		261	}
		262	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		263	break;
		264
		265	case UBLOX_CKA: // Checksum pruefen
		266	if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
		267	else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
		268	break;
		269
		270	case UBLOX_CKB: // Checksum pruefen
		271	if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
		272	ublox_msg_state = UBLOX_IDLE;
		273	break;
		274
		275	default:
		276	ublox_msg_state = UBLOX_IDLE;
		277	break;
158	salvo	278	}
143	salvo	279	}
158	salvo	280
		281	//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
		282	short int GPS_CRTL(short int cmd)
		283	{
184	salvo	284	static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen
		285	static signed int int_east,int_north; //Integrierer
		286	static signed int dist_north,dist_east;
186	salvo	287	static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert)
		288	static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert
197	salvo	289	signed int n,diff_v;
		290	long signed int dev,n_l;
158	salvo	291	switch (cmd)
		292	{
162	salvo	293
		294	case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
		295	// Noch einiges zu ueberlegen und zu tun
		296	return(GPS_STST_PEND); // noch warten
		297	break;
		298	// ******************************
		299
158	salvo	300	case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
		301	if (gps_state != GPS_CRTL_HOLD_ACTIVE)
		302	{
		303	cnt++;
160	salvo	304	if (cnt > 500) // erst nach Verzoegerung
158	salvo	305	{
		306	cnt = 0;
		307	// aktuelle positionsdaten abespeichern
		308	if (gps_rel_act_position.status > 0)
		309	{
186	salvo	310	int_east = 0;
		311	int_north = 0;
		312	gps_reg_x = 0;
		313	gps_reg_y = 0;
		314	dist_east = 0;
		315	dist_north = 0;
		316	diff_east_f = 0;
		317	diff_north_f = 0;
190	salvo	318	diff_east = 0;
186	salvo	319	diff_north = 0;
158	salvo	320	gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
		321	gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
		322	gps_rel_hold_position.status = 1; // gueltige Positionsdaten
		323	gps_state = GPS_CRTL_HOLD_ACTIVE;
		324	return (GPS_STST_OK);
		325	}
		326	else
		327	{
		328	gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
		329	gps_state = GPS_CRTL_IDLE;
		330	return(GPS_STST_ERR); // Keine Daten da
		331	}
		332	}
		333	else return(GPS_STST_PEND); // noch warten
		334	}
		335	break;
		336
162	salvo	337	case GPS_CMD_STOP: // Lageregelung beenden
190	salvo	338	cnt = 0;
		339	GPS_Nick = 0;
		340	GPS_Roll = 0;
		341	gps_int_x = 0;
		342	gps_int_y = 0;
162	salvo	343	gps_state = GPS_CRTL_IDLE;
158	salvo	344	return (GPS_STST_OK);
		345	break;
		346
		347	default:
		348	return (GPS_STST_ERR);
		349	break;
		350	}
		351
		352	switch (gps_state)
		353	{
		354	case GPS_CRTL_IDLE:
		355	cnt = 0;
		356	return (GPS_STST_OK);
		357	break;
		358
186	salvo	359	case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet
159	salvo	360	if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen
158	salvo	361	{
		362	gps_updte_flag = 0;
		363	// ab hier wird geregelt
186	salvo	364	diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen
		365	diff_north = -dist_north;
190	salvo	366	dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east;
184	salvo	367	dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north;
162	salvo	368	int_east += dist_east;
		369	int_north += dist_north;
167	salvo	370	diff_east += dist_east; // Differenz zur vorhergehenden East Position
		371	diff_north += dist_north; // Differenz zur vorhergehenden North Position
161	salvo	372
194	salvo	373	diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern
		374	diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern
186	salvo	375
194	salvo	376	#define GPSINT_MAX 2048 //neuer Wert ab 1.10.2007 Begrenzung
162	salvo	377	if ((abs(int_east) > GPSINT_MAX) \|\| (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten
		378	{
		379	int_east -= dist_east;
		380	int_north -= dist_north;
		381	}
209	salvo	382	// Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind
		383	// desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1
197	salvo	384	#define GPS_DIFF_MAX_V 20 //maximale Verstaerkung * 10
209	salvo	385	#define GPS_DIFF_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm
197	salvo	386	signed long dist;
		387	int phi;
209	salvo	388	phi = arctan_i(abs(dist_north),abs(dist_east));
197	salvo	389	if (abs(dist_east) > abs(dist_north) ) //Zunaechst Entfernung zum Ziel ermitteln
		390	{
		391	dist = (long)dist_east; //Groesseren Wert wegen besserer Genauigkeit nehmen
		392	dist = abs((dist *1000) / (long) sin_i(phi));
		393	}
		394	else
		395	{
		396	dist = (long)dist_north;
		397	dist = abs((dist *1000) / (long) cos_i(phi));
		398	}
		399	diff_v = (int)((dist * (GPS_DIFF_MAX_V - 10)) / GPS_DIFF_MAX_D) +10; //Verstaerkung * 10
209	salvo	400	if (diff_v > GPS_DIFF_MAX_V) diff_v = GPS_DIFF_MAX_V; //begrenzen
161	salvo	401
186	salvo	402	//PID Regler Werte aufsummieren
197	salvo	403	gps_reg_x = ((int_east * Parameter_UserParam2)/32) + ((dist_east * Parameter_UserParam1)/8)+ ((diff_east_f * diff_v * Parameter_UserParam3)/10); // I + P +D Anteil X Achse
		404	gps_reg_y = ((int_north * Parameter_UserParam2)/32) + ((dist_north * Parameter_UserParam1)/8)+ ((diff_north_f * diff_v * Parameter_UserParam3)/10); // I + P +D Anteil Y Achse
159	salvo	405
186	salvo	406	//Ziel-Richtung bezogen auf Nordpol bestimmen
194	salvo	407	GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y);
159	salvo	408
186	salvo	409	// in Winkel 0...360 Grad umrechnen
161	salvo	410	if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt);
162	salvo	411	else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt);
161	salvo	412
159	salvo	413	// Relative Richtung in bezug auf Nordachse des Kopters errechen
		414	n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
		415	GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n;
167	salvo	416	if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360;
159	salvo	417	else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt;
		418	else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt;
		419
184	salvo	420	// Regelabweichung aus x,y zu Ziel in Distanz umrechnen
160	salvo	421	if (abs(gps_reg_x) > abs(gps_reg_y) )
		422	{
197	salvo	423	dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen
		424	dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt));
160	salvo	425	}
		426	else
		427	{
197	salvo	428	dev = (long)gps_reg_y;
		429	dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt));
160	salvo	430	}
197	salvo	431	GPS_dist_2trgt = (int) dev;
185	salvo	432	// Winkel und Distanz in Nick und Rollgroessen umrechnen
197	salvo	433	GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000);
		434	GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000);
190	salvo	435
194	salvo	436	#define GPS_V 8 // auf Maximalwert normieren. Teilerfaktor ist 8
184	salvo	437	if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V);
		438	else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V);
		439	if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V);
		440	else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V);
		441
		442	//Kleine Werte verstaerken, Grosse abschwaechen
186	salvo	443	n = sin_i((GPS_Roll90)/(GPS_NICKROLL_MAX GPS_V));
		444	n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
		445	GPS_Roll = (int) n_l;
185	salvo	446	n = sin_i((GPS_Nick90)/(GPS_NICKROLL_MAX GPS_V));
186	salvo	447	n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
		448	GPS_Nick = (int) n_l;
184	salvo	449
		450	if ((abs(dist_east) > GPS_DIST_MAX) \|\| (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen
		451	{
		452	GPS_Roll = 0;
		453	GPS_Nick = 0;
		454	gps_state = GPS_CRTL_IDLE;
186	salvo	455	return (GPS_STST_ERR);
		456	break;
184	salvo	457	}
158	salvo	458	}
		459	else return (GPS_STST_OK);
		460	break;
		461
		462	default:
		463	gps_state = GPS_CRTL_IDLE;
		464	return (GPS_STST_ERR);
		465	break;
		466	}
		467	return (GPS_STST_ERR);
		468
		469	}
		470

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/GPS.c @ 217 - Rev