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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 |
224 | salvo | 16 | Komm heim zu Papi Funktion |
225 | salvo | 17 | Stand 6.10.2007 |
143 | salvo | 18 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | */ |
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1 | ingob | 20 | #include "main.h" |
156 | salvo | 21 | //#include "gps.h" |
1 | ingob | 22 | |
143 | salvo | 23 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
183 | salvo | 24 | #define UBLOX_IDLE 0 |
25 | #define UBLOX_SYNC1 1 |
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26 | #define UBLOX_SYNC2 2 |
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27 | #define UBLOX_CLASS 3 |
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28 | #define UBLOX_ID 4 |
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29 | #define UBLOX_LEN1 5 |
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30 | #define UBLOX_LEN2 6 |
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31 | #define UBLOX_CKA 7 |
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32 | #define UBLOX_CKB 8 |
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143 | salvo | 33 | #define UBLOX_PAYLOAD 9 |
34 | |||
35 | // ublox Protokoll Identifier |
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36 | #define UBLOX_NAV_POSUTM 0x08 |
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37 | #define UBLOX_NAV_STATUS 0x03 |
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38 | #define UBLOX_NAV_VELED 0x12 |
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39 | #define UBLOX_NAV_CLASS 0x01 |
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40 | #define UBLOX_SYNCH1_CHAR 0xB5 |
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41 | #define UBLOX_SYNCH2_CHAR 0x62 |
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42 | |||
209 | salvo | 43 | signed int GPS_Nick = 0; |
44 | signed int GPS_Roll = 0; |
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45 | short int ublox_msg_state = UBLOX_IDLE; |
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46 | static uint8_t chk_a =0; //Checksum |
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47 | static uint8_t chk_b =0; |
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225 | salvo | 48 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
209 | salvo | 49 | short int gps_updte_flag; |
50 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
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51 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
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52 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
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53 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
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143 | salvo | 54 | static unsigned int rx_len; |
55 | static unsigned int ptr_payload_data_end; |
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209 | salvo | 56 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
224 | salvo | 57 | signed hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
58 | signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
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225 | salvo | 59 | static short int hold_fast; //Flag fuer Hold Regler |
143 | salvo | 60 | static uint8_t *ptr_payload_data; |
61 | static uint8_t *ptr_pac_status; |
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225 | salvo | 62 | long int dist_flown; |
143 | salvo | 63 | |
156 | salvo | 64 | short int Get_GPS_data(void); |
143 | salvo | 65 | |
66 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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67 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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68 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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69 | |||
156 | salvo | 70 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
71 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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72 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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158 | salvo | 73 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
224 | salvo | 74 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
143 | salvo | 75 | |
156 | salvo | 76 | // Initialisierung |
77 | void GPS_Neutral(void) |
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1 | ingob | 78 | { |
158 | salvo | 79 | ublox_msg_state = UBLOX_IDLE; |
80 | gps_state = GPS_CRTL_IDLE; |
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81 | actual_pos.status = 0; |
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82 | actual_speed.status = 0; |
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83 | actual_status.status = 0; |
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84 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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85 | gps_act_position.status = 0; |
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86 | gps_rel_act_position.status = 0; |
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87 | GPS_Nick = 0; |
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88 | GPS_Roll = 0; |
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89 | gps_updte_flag = 0; |
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159 | salvo | 90 | gps_int_x = 0; |
91 | gps_int_y = 0; |
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190 | salvo | 92 | gps_alive_cnt = 0; |
1 | ingob | 93 | } |
94 | |||
156 | salvo | 95 | // Home Position sichern falls Daten verfuegbar sind. |
96 | void GPS_Save_Home(void) |
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1 | ingob | 97 | { |
156 | salvo | 98 | short int n; |
99 | n = Get_GPS_data(); |
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100 | if (n == 0) // Gueltige und aktuelle Daten ? |
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101 | { |
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102 | // Neue GPS Daten liegen vor |
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157 | salvo | 103 | gps_home_position.utm_east = gps_act_position.utm_east; |
104 | gps_home_position.utm_north = gps_act_position.utm_north; |
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105 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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106 | gps_home_position.status = 1; // Home Position gueltig |
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156 | salvo | 107 | } |
108 | } |
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109 | |||
110 | // Relative Position zur Home Position bestimmen |
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111 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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112 | short int Get_Rel_Position(void) |
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113 | { |
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114 | short int n = 0; |
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115 | n = Get_GPS_data(); |
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116 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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224 | salvo | 117 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
156 | salvo | 118 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
119 | { |
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120 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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121 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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122 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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123 | n = 0; |
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158 | salvo | 124 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
156 | salvo | 125 | } |
126 | else |
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127 | { |
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128 | n = 2; //keine gueltigen Daten vorhanden |
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129 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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130 | } |
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131 | return (n); |
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132 | } |
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133 | |||
134 | // Daten aus aktuellen ublox Messages extrahieren |
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135 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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136 | short int Get_GPS_data(void) |
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137 | { |
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138 | short int n = 1; |
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139 | |||
140 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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143 | salvo | 141 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
142 | { |
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149 | salvo | 143 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
143 | salvo | 144 | { |
145 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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146 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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147 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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148 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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149 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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150 | gps_act_position.heading = actual_speed.heading/100000; |
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151 | gps_act_position.status = 1; |
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156 | salvo | 152 | n = 0; //Daten gueltig |
143 | salvo | 153 | } |
156 | salvo | 154 | else |
155 | { |
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156 | gps_act_position.status = 0; //Keine gueltigen Daten |
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157 | n = 2; |
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158 | } |
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159 | actual_pos.status = 0; //neue ublox Messages anfordern |
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160 | actual_status.status = 0; |
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161 | actual_speed.status = 0; |
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162 | } |
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163 | return (n); |
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1 | ingob | 164 | } |
165 | |||
166 | |||
143 | salvo | 167 | /* |
168 | Daten vom GPS im ublox MSG Format auswerten |
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156 | salvo | 169 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
143 | salvo | 170 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
171 | */ |
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172 | void Get_Ublox_Msg(uint8_t rx) |
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173 | { |
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174 | switch (ublox_msg_state) |
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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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197 | salvo | 294 | signed int n,diff_v; |
295 | long signed int dev,n_l; |
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225 | salvo | 296 | signed int dist_frm_start_east,dist_frm_start_north; |
158 | salvo | 297 | switch (cmd) |
298 | { |
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162 | salvo | 299 | |
300 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
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224 | salvo | 301 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
302 | { |
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303 | cnt++; |
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304 | if (cnt > 500) // erst nach Verzoegerung |
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305 | { |
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306 | // Erst mal initialisieren |
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307 | cnt = 0; |
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308 | gps_tick = 0; |
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225 | salvo | 309 | hold_fast = 0; |
224 | salvo | 310 | int_east = 0, int_north = 0; |
311 | gps_reg_x = 0, gps_reg_y = 0; |
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312 | dist_east = 0, dist_north = 0; |
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313 | diff_east_f = 0, diff_north_f= 0; |
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314 | diff_east = 0, diff_north = 0; |
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315 | dist_flown = 0; |
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316 | gps_sub_state = GPS_CRTL_IDLE; |
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317 | // aktuelle positionsdaten abspeichern |
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318 | if (gps_rel_act_position.status > 0) |
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319 | { |
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320 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
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321 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
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322 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
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323 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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324 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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325 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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326 | //Richtung zur Home Positionbezogen auf Nordpol bestimmen |
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327 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
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328 | // in Winkel 0...360 Grad umrechnen |
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329 | if ((-gps_rel_start_position.utm_east >= 0)) hdng_2home = ( 90-hdng_2home); |
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330 | else hdng_2home = (270 - hdng_2home); |
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331 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
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332 | gps_state = GPS_CRTL_HOME_ACTIVE; |
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333 | return (GPS_STST_OK); |
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334 | } |
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335 | else |
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336 | { |
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337 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
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338 | gps_state = GPS_CRTL_IDLE; |
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339 | return(GPS_STST_ERR); // Keine Daten da |
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340 | } |
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341 | } |
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342 | else return(GPS_STST_PEND); // noch warten |
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343 | } |
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162 | salvo | 344 | break; |
345 | // ****************************** |
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346 | |||
158 | salvo | 347 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
348 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
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349 | { |
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350 | cnt++; |
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160 | salvo | 351 | if (cnt > 500) // erst nach Verzoegerung |
158 | salvo | 352 | { |
353 | cnt = 0; |
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224 | salvo | 354 | // aktuelle positionsdaten abspeichern |
158 | salvo | 355 | if (gps_rel_act_position.status > 0) |
356 | { |
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225 | salvo | 357 | hold_fast = 0; |
224 | salvo | 358 | int_east = 0, int_north = 0; |
359 | gps_reg_x = 0, gps_reg_y = 0; |
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360 | dist_east = 0, dist_north = 0; |
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361 | diff_east_f = 0, diff_north_f= 0; |
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362 | diff_east = 0, diff_north = 0; |
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158 | salvo | 363 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
364 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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365 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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366 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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367 | return (GPS_STST_OK); |
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368 | } |
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369 | else |
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370 | { |
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371 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
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372 | gps_state = GPS_CRTL_IDLE; |
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373 | return(GPS_STST_ERR); // Keine Daten da |
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374 | } |
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375 | } |
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376 | else return(GPS_STST_PEND); // noch warten |
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377 | } |
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378 | break; |
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379 | |||
162 | salvo | 380 | case GPS_CMD_STOP: // Lageregelung beenden |
190 | salvo | 381 | cnt = 0; |
382 | GPS_Nick = 0; |
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383 | GPS_Roll = 0; |
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384 | gps_int_x = 0; |
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385 | gps_int_y = 0; |
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162 | salvo | 386 | gps_state = GPS_CRTL_IDLE; |
158 | salvo | 387 | return (GPS_STST_OK); |
388 | break; |
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389 | |||
390 | default: |
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391 | return (GPS_STST_ERR); |
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392 | break; |
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393 | } |
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394 | |||
395 | switch (gps_state) |
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396 | { |
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397 | case GPS_CRTL_IDLE: |
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398 | cnt = 0; |
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399 | return (GPS_STST_OK); |
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400 | break; |
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401 | |||
224 | salvo | 402 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
403 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
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404 | if (gps_rel_start_position.status >0) |
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405 | { |
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406 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
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407 | { |
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408 | gps_tick++; |
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409 | int d1,d2,d3; |
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225 | salvo | 410 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
411 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
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224 | salvo | 412 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
413 | |||
414 | if (d3 > GPS_G2T_DIST_MAX_STOP) |
||
415 | { |
||
416 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
||
225 | salvo | 417 | { |
418 | hold_fast = 1; // Schnell Regeln |
||
224 | salvo | 419 | dist_flown += (GPS_G2T_V_MAX); // Vorgabe der Strecke anhand der Geschwindigkeit |
225 | salvo | 420 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
421 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
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422 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
423 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
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224 | salvo | 424 | } |
225 | salvo | 425 | else hold_fast = 0; // Wieder normal regeln |
224 | salvo | 426 | } |
427 | else //Schon ziemlich nahe am Ziel, deswegen abbremsen |
||
428 | { |
||
225 | salvo | 429 | hold_fast = 0; // Wieder normal regeln |
224 | salvo | 430 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
431 | { |
||
225 | salvo | 432 | if (d3 > GPS_G2T_DIST_HOLD) |
224 | salvo | 433 | { |
434 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
435 | dist_frm_start_east = (dist_flown * (long)sin_i(hdng_2home))/1000; |
||
436 | dist_frm_start_north = (dist_flown * (long)cos_i(hdng_2home))/1000; |
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225 | salvo | 437 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + (int)dist_frm_start_east; //naechster Zielpunkt |
224 | salvo | 438 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + (int)dist_frm_start_north; //naechster Zielpunkt |
439 | } |
||
225 | salvo | 440 | else //Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
224 | salvo | 441 | { |
225 | salvo | 442 | if (gps_rel_hold_position.utm_east > 1) gps_rel_hold_position.utm_east--; |
443 | else if (gps_rel_hold_position.utm_east <-1 ) gps_rel_hold_position.utm_east++; |
||
444 | if (gps_rel_hold_position.utm_north > 1) gps_rel_hold_position.utm_north--; |
||
445 | else if (gps_rel_hold_position.utm_north < -1 ) gps_rel_hold_position.utm_north++; |
||
446 | if ((abs(gps_rel_hold_position.utm_east) <= 1) && (abs(gps_rel_hold_position.utm_north) <=1)) gps_sub_state = GPS_HOME_FINISHED; |
||
224 | salvo | 447 | } |
225 | salvo | 448 | } |
224 | salvo | 449 | } |
450 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
||
451 | return (GPS_STST_OK); |
||
452 | } |
||
453 | else return (GPS_STST_OK); |
||
454 | } |
||
455 | else |
||
456 | { |
||
457 | gps_state = GPS_CRTL_IDLE; //Abbruch |
||
458 | return (GPS_STST_ERR); |
||
459 | } |
||
460 | break; |
||
461 | |||
462 | |||
186 | salvo | 463 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
224 | salvo | 464 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
158 | salvo | 465 | { |
466 | gps_updte_flag = 0; |
||
467 | // ab hier wird geregelt |
||
186 | salvo | 468 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
469 | diff_north = -dist_north; |
||
190 | salvo | 470 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
184 | salvo | 471 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
162 | salvo | 472 | int_east += dist_east; |
473 | int_north += dist_north; |
||
167 | salvo | 474 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
475 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
||
224 | salvo | 476 | /* |
194 | salvo | 477 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
478 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
||
224 | salvo | 479 | */ |
194 | salvo | 480 | #define GPSINT_MAX 2048 //neuer Wert ab 1.10.2007 Begrenzung |
162 | salvo | 481 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
482 | { |
||
483 | int_east -= dist_east; |
||
484 | int_north -= dist_north; |
||
485 | } |
||
225 | salvo | 486 | if (hold_fast > 0) //Im Schnellen Mode Integrator abschalten |
487 | { |
||
488 | int_east = 0; |
||
489 | int_north = 0; |
||
490 | } |
||
491 | |||
209 | salvo | 492 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
493 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
||
197 | salvo | 494 | #define GPS_DIFF_MAX_V 20 //maximale Verstaerkung * 10 |
209 | salvo | 495 | #define GPS_DIFF_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm |
197 | salvo | 496 | signed long dist; |
497 | int phi; |
||
209 | salvo | 498 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
224 | salvo | 499 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
500 | |||
197 | salvo | 501 | diff_v = (int)((dist * (GPS_DIFF_MAX_V - 10)) / GPS_DIFF_MAX_D) +10; //Verstaerkung * 10 |
209 | salvo | 502 | if (diff_v > GPS_DIFF_MAX_V) diff_v = GPS_DIFF_MAX_V; //begrenzen |
225 | salvo | 503 | if (hold_fast > 0) diff_v = 10; // im schnellen Modus keine staerkere Wirkung des Differenzierers |
161 | salvo | 504 | |
186 | salvo | 505 | //PID Regler Werte aufsummieren |
224 | salvo | 506 | gps_reg_x = ((int_east * Parameter_UserParam2)/32) + ((dist_east * Parameter_UserParam1)/8)+ ((diff_east * diff_v * Parameter_UserParam3)/10); // I + P +D Anteil X Achse |
507 | gps_reg_y = ((int_north * Parameter_UserParam2)/32) + ((dist_north * Parameter_UserParam1)/8)+ ((diff_north * diff_v * Parameter_UserParam3)/10); // I + P +D Anteil Y Achse |
||
159 | salvo | 508 | |
186 | salvo | 509 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
194 | salvo | 510 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
159 | salvo | 511 | |
186 | salvo | 512 | // in Winkel 0...360 Grad umrechnen |
161 | salvo | 513 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
162 | salvo | 514 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
161 | salvo | 515 | |
159 | salvo | 516 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
517 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
||
518 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
||
167 | salvo | 519 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
159 | salvo | 520 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
521 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
||
522 | |||
184 | salvo | 523 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
160 | salvo | 524 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
525 | { |
||
197 | salvo | 526 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
527 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
||
160 | salvo | 528 | } |
529 | else |
||
530 | { |
||
197 | salvo | 531 | dev = (long)gps_reg_y; |
532 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
||
160 | salvo | 533 | } |
197 | salvo | 534 | GPS_dist_2trgt = (int) dev; |
185 | salvo | 535 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
197 | salvo | 536 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
537 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
||
190 | salvo | 538 | |
194 | salvo | 539 | #define GPS_V 8 // auf Maximalwert normieren. Teilerfaktor ist 8 |
184 | salvo | 540 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
541 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
||
542 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
||
543 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
||
544 | |||
545 | //Kleine Werte verstaerken, Grosse abschwaechen |
||
186 | salvo | 546 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
547 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
548 | GPS_Roll = (int) n_l; |
||
185 | salvo | 549 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
186 | salvo | 550 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
551 | GPS_Nick = (int) n_l; |
||
184 | salvo | 552 | |
553 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
||
554 | { |
||
555 | GPS_Roll = 0; |
||
556 | GPS_Nick = 0; |
||
557 | gps_state = GPS_CRTL_IDLE; |
||
186 | salvo | 558 | return (GPS_STST_ERR); |
559 | break; |
||
184 | salvo | 560 | } |
224 | salvo | 561 | else |
562 | { |
||
563 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
564 | return (GPS_STST_OK); |
||
565 | } |
||
158 | salvo | 566 | } |
224 | salvo | 567 | else |
568 | { |
||
569 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
570 | return (GPS_STST_OK); |
||
571 | } |
||
158 | salvo | 572 | break; |
573 | |||
574 | default: |
||
224 | salvo | 575 | gps_state = GPS_CRTL_IDLE; |
158 | salvo | 576 | return (GPS_STST_ERR); |
577 | break; |
||
578 | } |
||
579 | return (GPS_STST_ERR); |
||
580 | |||
581 | } |
||
582 |