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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 |
17 | Stand 5.10.2007 |
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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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224 | salvo | 48 | short int gps_state,gps_sub_state; |
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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143 | salvo | 59 | |
60 | static uint8_t *ptr_payload_data; |
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61 | static uint8_t *ptr_pac_status; |
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62 | |||
224 | salvo | 63 | long int dist_flown,dist_frm_start_east,dist_frm_start_north; |
64 | |||
156 | salvo | 65 | short int Get_GPS_data(void); |
143 | salvo | 66 | |
67 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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68 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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69 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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70 | |||
156 | salvo | 71 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
72 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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73 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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158 | salvo | 74 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
224 | salvo | 75 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
143 | salvo | 76 | |
156 | salvo | 77 | // Initialisierung |
78 | void GPS_Neutral(void) |
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1 | ingob | 79 | { |
158 | salvo | 80 | ublox_msg_state = UBLOX_IDLE; |
81 | gps_state = GPS_CRTL_IDLE; |
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82 | actual_pos.status = 0; |
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83 | actual_speed.status = 0; |
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84 | actual_status.status = 0; |
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85 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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86 | gps_act_position.status = 0; |
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87 | gps_rel_act_position.status = 0; |
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88 | GPS_Nick = 0; |
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89 | GPS_Roll = 0; |
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90 | gps_updte_flag = 0; |
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159 | salvo | 91 | gps_int_x = 0; |
92 | gps_int_y = 0; |
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190 | salvo | 93 | gps_alive_cnt = 0; |
1 | ingob | 94 | } |
95 | |||
156 | salvo | 96 | // Home Position sichern falls Daten verfuegbar sind. |
97 | void GPS_Save_Home(void) |
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1 | ingob | 98 | { |
156 | salvo | 99 | short int n; |
100 | n = Get_GPS_data(); |
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101 | if (n == 0) // Gueltige und aktuelle Daten ? |
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102 | { |
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103 | // Neue GPS Daten liegen vor |
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157 | salvo | 104 | gps_home_position.utm_east = gps_act_position.utm_east; |
105 | gps_home_position.utm_north = gps_act_position.utm_north; |
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106 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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107 | gps_home_position.status = 1; // Home Position gueltig |
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156 | salvo | 108 | } |
109 | } |
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110 | |||
111 | // Relative Position zur Home Position bestimmen |
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112 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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113 | short int Get_Rel_Position(void) |
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114 | { |
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115 | short int n = 0; |
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116 | n = Get_GPS_data(); |
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117 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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224 | salvo | 118 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
156 | salvo | 119 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
120 | { |
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121 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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122 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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123 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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124 | n = 0; |
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158 | salvo | 125 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
156 | salvo | 126 | } |
127 | else |
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128 | { |
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129 | n = 2; //keine gueltigen Daten vorhanden |
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130 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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131 | } |
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132 | return (n); |
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133 | } |
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134 | |||
135 | // Daten aus aktuellen ublox Messages extrahieren |
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136 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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137 | short int Get_GPS_data(void) |
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138 | { |
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139 | short int n = 1; |
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140 | |||
141 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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143 | salvo | 142 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
143 | { |
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149 | salvo | 144 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
143 | salvo | 145 | { |
146 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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147 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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148 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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149 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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150 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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151 | gps_act_position.heading = actual_speed.heading/100000; |
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152 | gps_act_position.status = 1; |
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156 | salvo | 153 | n = 0; //Daten gueltig |
143 | salvo | 154 | } |
156 | salvo | 155 | else |
156 | { |
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157 | gps_act_position.status = 0; //Keine gueltigen Daten |
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158 | n = 2; |
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159 | } |
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160 | actual_pos.status = 0; //neue ublox Messages anfordern |
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161 | actual_status.status = 0; |
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162 | actual_speed.status = 0; |
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163 | } |
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164 | return (n); |
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1 | ingob | 165 | } |
166 | |||
167 | |||
143 | salvo | 168 | /* |
169 | Daten vom GPS im ublox MSG Format auswerten |
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156 | salvo | 170 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
143 | salvo | 171 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
172 | */ |
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173 | void Get_Ublox_Msg(uint8_t rx) |
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174 | { |
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175 | switch (ublox_msg_state) |
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176 | { |
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1 | ingob | 177 | |
143 | salvo | 178 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
179 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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180 | else ublox_msg_state = UBLOX_IDLE; |
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181 | break; |
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182 | |||
183 | case UBLOX_SYNC1: |
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184 | |||
185 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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186 | else ublox_msg_state = UBLOX_IDLE; |
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187 | chk_a = 0,chk_b = 0; |
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188 | break; |
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189 | |||
190 | case UBLOX_SYNC2: |
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191 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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192 | else ublox_msg_state = UBLOX_IDLE; |
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193 | break; |
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194 | |||
195 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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196 | switch (rx) |
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197 | { |
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198 | case UBLOX_NAV_POSUTM: |
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199 | ptr_pac_status = &actual_pos.status; |
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200 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
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201 | else |
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202 | { |
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203 | ptr_payload_data = &actual_pos; |
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204 | ptr_payload_data_end = &actual_pos.status; |
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205 | ublox_msg_state = UBLOX_LEN1; |
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206 | } |
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207 | break; |
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208 | |||
209 | case UBLOX_NAV_STATUS: |
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210 | ptr_pac_status = &actual_status.status; |
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211 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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212 | else |
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213 | { |
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214 | ptr_payload_data = &actual_status; |
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215 | ptr_payload_data_end = &actual_status.status; |
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216 | ublox_msg_state = UBLOX_LEN1; |
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217 | } |
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218 | break; |
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219 | |||
220 | case UBLOX_NAV_VELED: |
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156 | salvo | 221 | ptr_pac_status = &actual_speed.status; |
143 | salvo | 222 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
223 | else |
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224 | { |
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225 | ptr_payload_data = &actual_speed; |
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226 | ptr_payload_data_end = &actual_speed.status; |
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227 | ublox_msg_state = UBLOX_LEN1; |
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228 | } |
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229 | break; |
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230 | |||
231 | default: |
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232 | ublox_msg_state = UBLOX_IDLE; |
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233 | break; |
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234 | } |
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235 | chk_a = UBLOX_NAV_CLASS + rx; |
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236 | chk_b = UBLOX_NAV_CLASS + chk_a; |
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237 | break; |
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238 | |||
239 | case UBLOX_LEN1: // Laenge auswerten |
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240 | rx_len = rx; |
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241 | chk_a += rx; |
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242 | chk_b += chk_a; |
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243 | ublox_msg_state = UBLOX_LEN2; |
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244 | break; |
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245 | |||
246 | |||
247 | case UBLOX_LEN2: // Laenge auswerten |
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248 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
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249 | chk_a += rx; |
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250 | chk_b += chk_a; |
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251 | ublox_msg_state = UBLOX_PAYLOAD; |
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252 | break; |
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253 | |||
254 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
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255 | if (rx_len > 0) |
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256 | { |
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257 | *ptr_payload_data = rx; |
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258 | chk_a += rx; |
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259 | chk_b += chk_a; |
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260 | --rx_len; |
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261 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
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262 | { |
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263 | ptr_payload_data++; |
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156 | salvo | 264 | ublox_msg_state = UBLOX_PAYLOAD; |
143 | salvo | 265 | } |
266 | else ublox_msg_state = UBLOX_CKA; |
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267 | } |
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268 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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269 | break; |
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270 | |||
271 | case UBLOX_CKA: // Checksum pruefen |
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272 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
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273 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
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274 | break; |
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275 | |||
276 | case UBLOX_CKB: // Checksum pruefen |
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277 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
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278 | ublox_msg_state = UBLOX_IDLE; |
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279 | break; |
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280 | |||
281 | default: |
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282 | ublox_msg_state = UBLOX_IDLE; |
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283 | break; |
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158 | salvo | 284 | } |
143 | salvo | 285 | } |
158 | salvo | 286 | |
287 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
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288 | short int GPS_CRTL(short int cmd) |
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289 | { |
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184 | salvo | 290 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
291 | static signed int int_east,int_north; //Integrierer |
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292 | static signed int dist_north,dist_east; |
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186 | salvo | 293 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
294 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
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197 | salvo | 295 | signed int n,diff_v; |
296 | long signed int dev,n_l; |
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224 | salvo | 297 | |
158 | salvo | 298 | switch (cmd) |
299 | { |
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162 | salvo | 300 | |
301 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
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224 | salvo | 302 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
303 | { |
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304 | cnt++; |
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305 | if (cnt > 500) // erst nach Verzoegerung |
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306 | { |
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307 | // Erst mal initialisieren |
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308 | cnt = 0; |
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309 | gps_tick = 0; |
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310 | int_east = 0, int_north = 0; |
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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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224 | salvo | 357 | int_east = 0, int_north = 0; |
358 | gps_reg_x = 0, gps_reg_y = 0; |
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359 | dist_east = 0, dist_north = 0; |
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360 | diff_east_f = 0, diff_north_f= 0; |
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361 | diff_east = 0, diff_north = 0; |
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158 | salvo | 362 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
363 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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364 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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365 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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366 | return (GPS_STST_OK); |
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367 | } |
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368 | else |
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369 | { |
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370 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
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371 | gps_state = GPS_CRTL_IDLE; |
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372 | return(GPS_STST_ERR); // Keine Daten da |
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373 | } |
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374 | } |
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375 | else return(GPS_STST_PEND); // noch warten |
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376 | } |
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377 | break; |
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378 | |||
162 | salvo | 379 | case GPS_CMD_STOP: // Lageregelung beenden |
190 | salvo | 380 | cnt = 0; |
381 | GPS_Nick = 0; |
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382 | GPS_Roll = 0; |
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383 | gps_int_x = 0; |
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384 | gps_int_y = 0; |
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162 | salvo | 385 | gps_state = GPS_CRTL_IDLE; |
158 | salvo | 386 | return (GPS_STST_OK); |
387 | break; |
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388 | |||
389 | default: |
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390 | return (GPS_STST_ERR); |
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391 | break; |
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392 | } |
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393 | |||
394 | switch (gps_state) |
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395 | { |
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396 | case GPS_CRTL_IDLE: |
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397 | cnt = 0; |
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398 | return (GPS_STST_OK); |
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399 | break; |
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400 | |||
224 | salvo | 401 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
402 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
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403 | if (gps_rel_start_position.status >0) |
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404 | { |
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405 | 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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406 | { |
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407 | gps_tick++; |
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408 | int d1,d2,d3; |
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409 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
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410 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
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411 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
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412 | |||
413 | if (d3 > GPS_G2T_DIST_MAX_STOP) |
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414 | { |
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415 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
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416 | { |
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417 | dist_flown += (GPS_G2T_V_MAX); // Vorgabe der Strecke anhand der Geschwindigkeit |
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418 | dist_frm_start_east = (dist_flown * (long)sin_i(hdng_2home))/1000; |
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419 | dist_frm_start_north = (dist_flown * (long)cos_i(hdng_2home))/1000; |
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420 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + (int)dist_frm_start_north; //naechster Zielpunkt |
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421 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + (int)dist_frm_start_east; //naechster Zielpunkt |
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422 | } |
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423 | } |
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424 | else //Schon ziemlich nahe am Ziel, deswegen abbremsen |
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425 | { |
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426 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
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427 | { |
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428 | if (d3 > 0) |
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429 | { |
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430 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
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431 | dist_frm_start_east = (dist_flown * (long)sin_i(hdng_2home))/1000; |
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432 | dist_frm_start_north = (dist_flown * (long)cos_i(hdng_2home))/1000; |
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433 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + (int)dist_frm_start_north; //naechster Zielpunkt |
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434 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + (int)dist_frm_start_east; //naechster Zielpunkt |
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435 | } |
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436 | else //Ziel erreicht, Regelung beenden |
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437 | { |
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438 | gps_rel_hold_position.utm_east = 0; |
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439 | gps_rel_hold_position.utm_north = 0; |
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440 | gps_sub_state = GPS_HOME_FINISHED; |
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441 | } |
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442 | } |
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443 | |||
444 | } |
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445 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
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446 | return (GPS_STST_OK); |
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447 | } |
||
448 | else return (GPS_STST_OK); |
||
449 | } |
||
450 | else |
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451 | { |
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452 | gps_state = GPS_CRTL_IDLE; //Abbruch |
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453 | return (GPS_STST_ERR); |
||
454 | } |
||
455 | break; |
||
456 | |||
457 | |||
186 | salvo | 458 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
224 | salvo | 459 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
158 | salvo | 460 | { |
461 | gps_updte_flag = 0; |
||
462 | // ab hier wird geregelt |
||
186 | salvo | 463 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
464 | diff_north = -dist_north; |
||
190 | salvo | 465 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
184 | salvo | 466 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
162 | salvo | 467 | int_east += dist_east; |
468 | int_north += dist_north; |
||
167 | salvo | 469 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
470 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
||
224 | salvo | 471 | /* |
194 | salvo | 472 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
473 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
||
224 | salvo | 474 | */ |
194 | salvo | 475 | #define GPSINT_MAX 2048 //neuer Wert ab 1.10.2007 Begrenzung |
162 | salvo | 476 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
477 | { |
||
478 | int_east -= dist_east; |
||
479 | int_north -= dist_north; |
||
480 | } |
||
209 | salvo | 481 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
482 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
||
197 | salvo | 483 | #define GPS_DIFF_MAX_V 20 //maximale Verstaerkung * 10 |
209 | salvo | 484 | #define GPS_DIFF_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm |
197 | salvo | 485 | signed long dist; |
486 | int phi; |
||
209 | salvo | 487 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
224 | salvo | 488 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
489 | |||
197 | salvo | 490 | diff_v = (int)((dist * (GPS_DIFF_MAX_V - 10)) / GPS_DIFF_MAX_D) +10; //Verstaerkung * 10 |
209 | salvo | 491 | if (diff_v > GPS_DIFF_MAX_V) diff_v = GPS_DIFF_MAX_V; //begrenzen |
161 | salvo | 492 | |
186 | salvo | 493 | //PID Regler Werte aufsummieren |
224 | salvo | 494 | 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 |
495 | 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 | 496 | |
186 | salvo | 497 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
194 | salvo | 498 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
159 | salvo | 499 | |
186 | salvo | 500 | // in Winkel 0...360 Grad umrechnen |
161 | salvo | 501 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
162 | salvo | 502 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
161 | salvo | 503 | |
159 | salvo | 504 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
505 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
||
506 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
||
167 | salvo | 507 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
159 | salvo | 508 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
509 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
||
510 | |||
184 | salvo | 511 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
160 | salvo | 512 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
513 | { |
||
197 | salvo | 514 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
515 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
||
160 | salvo | 516 | } |
517 | else |
||
518 | { |
||
197 | salvo | 519 | dev = (long)gps_reg_y; |
520 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
||
160 | salvo | 521 | } |
197 | salvo | 522 | GPS_dist_2trgt = (int) dev; |
185 | salvo | 523 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
197 | salvo | 524 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
525 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
||
190 | salvo | 526 | |
194 | salvo | 527 | #define GPS_V 8 // auf Maximalwert normieren. Teilerfaktor ist 8 |
184 | salvo | 528 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
529 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
||
530 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
||
531 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
||
532 | |||
533 | //Kleine Werte verstaerken, Grosse abschwaechen |
||
186 | salvo | 534 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
535 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
536 | GPS_Roll = (int) n_l; |
||
185 | salvo | 537 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
186 | salvo | 538 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
539 | GPS_Nick = (int) n_l; |
||
184 | salvo | 540 | |
541 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
||
542 | { |
||
543 | GPS_Roll = 0; |
||
544 | GPS_Nick = 0; |
||
545 | gps_state = GPS_CRTL_IDLE; |
||
186 | salvo | 546 | return (GPS_STST_ERR); |
547 | break; |
||
184 | salvo | 548 | } |
224 | salvo | 549 | else |
550 | { |
||
551 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
552 | return (GPS_STST_OK); |
||
553 | } |
||
158 | salvo | 554 | } |
224 | salvo | 555 | else |
556 | { |
||
557 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
558 | return (GPS_STST_OK); |
||
559 | } |
||
158 | salvo | 560 | break; |
561 | |||
562 | default: |
||
224 | salvo | 563 | gps_state = GPS_CRTL_IDLE; |
158 | salvo | 564 | return (GPS_STST_ERR); |
565 | break; |
||
566 | } |
||
567 | return (GPS_STST_ERR); |
||
568 | |||
569 | } |
||
570 |