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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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242 | salvo | 3 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
143 | salvo | 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; |
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6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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242 | salvo | 7 | GNU General Public License and GNU Lesser General Public License for more details. |
258 | salvo | 8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
242 | salvo | 9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
10 | If not, see <http://www.gnu.org/licenses/>. |
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143 | salvo | 11 | |
149 | salvo | 12 | 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 | 13 | */ |
14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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15 | Peter Muehlenbrock |
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16 | Auswertung der Daten vom GPS im ublox Format |
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182 | salvo | 17 | Hold Modus mit PID Regler |
236 | salvo | 18 | Rückstuerz zur Basis Funktion |
258 | salvo | 19 | Stand 8.10.2007 |
143 | salvo | 20 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | */ |
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1 | ingob | 22 | #include "main.h" |
156 | salvo | 23 | //#include "gps.h" |
1 | ingob | 24 | |
143 | salvo | 25 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
183 | salvo | 26 | #define UBLOX_IDLE 0 |
27 | #define UBLOX_SYNC1 1 |
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28 | #define UBLOX_SYNC2 2 |
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29 | #define UBLOX_CLASS 3 |
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30 | #define UBLOX_ID 4 |
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31 | #define UBLOX_LEN1 5 |
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32 | #define UBLOX_LEN2 6 |
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33 | #define UBLOX_CKA 7 |
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34 | #define UBLOX_CKB 8 |
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143 | salvo | 35 | #define UBLOX_PAYLOAD 9 |
36 | |||
37 | // ublox Protokoll Identifier |
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38 | #define UBLOX_NAV_POSUTM 0x08 |
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39 | #define UBLOX_NAV_STATUS 0x03 |
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40 | #define UBLOX_NAV_VELED 0x12 |
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41 | #define UBLOX_NAV_CLASS 0x01 |
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42 | #define UBLOX_SYNCH1_CHAR 0xB5 |
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43 | #define UBLOX_SYNCH2_CHAR 0x62 |
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44 | |||
258 | salvo | 45 | signed int GPS_Nick = 0; |
46 | signed int GPS_Roll = 0; |
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47 | short int ublox_msg_state = UBLOX_IDLE; |
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48 | static uint8_t chk_a =0; //Checksum |
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49 | static uint8_t chk_b =0; |
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50 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
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51 | short int gps_updte_flag; |
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52 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
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53 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
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54 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
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55 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
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143 | salvo | 56 | static unsigned int rx_len; |
57 | static unsigned int ptr_payload_data_end; |
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209 | salvo | 58 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
258 | salvo | 59 | signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
60 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
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61 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
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62 | static uint8_t *ptr_payload_data; |
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63 | static uint8_t *ptr_pac_status; |
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64 | long int dist_flown; |
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143 | salvo | 65 | |
156 | salvo | 66 | short int Get_GPS_data(void); |
143 | salvo | 67 | |
68 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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69 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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70 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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71 | |||
156 | salvo | 72 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
73 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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74 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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158 | salvo | 75 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
258 | salvo | 76 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
143 | salvo | 77 | |
156 | salvo | 78 | // Initialisierung |
79 | void GPS_Neutral(void) |
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1 | ingob | 80 | { |
158 | salvo | 81 | ublox_msg_state = UBLOX_IDLE; |
82 | gps_state = GPS_CRTL_IDLE; |
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83 | actual_pos.status = 0; |
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84 | actual_speed.status = 0; |
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85 | actual_status.status = 0; |
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86 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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87 | gps_act_position.status = 0; |
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88 | gps_rel_act_position.status = 0; |
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89 | GPS_Nick = 0; |
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90 | GPS_Roll = 0; |
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91 | gps_updte_flag = 0; |
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159 | salvo | 92 | gps_int_x = 0; |
93 | gps_int_y = 0; |
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190 | salvo | 94 | gps_alive_cnt = 0; |
1 | ingob | 95 | } |
96 | |||
156 | salvo | 97 | // Home Position sichern falls Daten verfuegbar sind. |
98 | void GPS_Save_Home(void) |
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1 | ingob | 99 | { |
156 | salvo | 100 | short int n; |
101 | n = Get_GPS_data(); |
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102 | if (n == 0) // Gueltige und aktuelle Daten ? |
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103 | { |
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104 | // Neue GPS Daten liegen vor |
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157 | salvo | 105 | gps_home_position.utm_east = gps_act_position.utm_east; |
106 | gps_home_position.utm_north = gps_act_position.utm_north; |
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107 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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108 | gps_home_position.status = 1; // Home Position gueltig |
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156 | salvo | 109 | } |
110 | } |
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111 | |||
112 | // Relative Position zur Home Position bestimmen |
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113 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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114 | short int Get_Rel_Position(void) |
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115 | { |
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116 | short int n = 0; |
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117 | n = Get_GPS_data(); |
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118 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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224 | salvo | 119 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
156 | salvo | 120 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
121 | { |
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122 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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123 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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124 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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125 | n = 0; |
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158 | salvo | 126 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
156 | salvo | 127 | } |
128 | else |
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129 | { |
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130 | n = 2; //keine gueltigen Daten vorhanden |
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131 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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132 | } |
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133 | return (n); |
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134 | } |
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135 | |||
136 | // Daten aus aktuellen ublox Messages extrahieren |
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137 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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138 | short int Get_GPS_data(void) |
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139 | { |
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140 | short int n = 1; |
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141 | |||
142 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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143 | salvo | 143 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
144 | { |
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149 | salvo | 145 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
143 | salvo | 146 | { |
147 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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148 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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149 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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150 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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151 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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152 | gps_act_position.heading = actual_speed.heading/100000; |
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153 | gps_act_position.status = 1; |
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156 | salvo | 154 | n = 0; //Daten gueltig |
143 | salvo | 155 | } |
156 | salvo | 156 | else |
157 | { |
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158 | gps_act_position.status = 0; //Keine gueltigen Daten |
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159 | n = 2; |
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160 | } |
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161 | actual_pos.status = 0; //neue ublox Messages anfordern |
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162 | actual_status.status = 0; |
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163 | actual_speed.status = 0; |
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164 | } |
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165 | return (n); |
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1 | ingob | 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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236 | salvo | 290 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
184 | salvo | 291 | static signed int int_east,int_north; //Integrierer |
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; |
236 | salvo | 296 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
197 | salvo | 297 | long signed int dev,n_l; |
225 | salvo | 298 | signed int dist_frm_start_east,dist_frm_start_north; |
158 | salvo | 299 | switch (cmd) |
300 | { |
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162 | salvo | 301 | |
302 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
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224 | salvo | 303 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
304 | { |
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305 | cnt++; |
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306 | if (cnt > 500) // erst nach Verzoegerung |
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307 | { |
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308 | // Erst mal initialisieren |
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309 | cnt = 0; |
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310 | gps_tick = 0; |
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225 | salvo | 311 | hold_fast = 0; |
236 | salvo | 312 | hold_reset_int = 0; // Integrator enablen |
224 | salvo | 313 | int_east = 0, int_north = 0; |
314 | gps_reg_x = 0, gps_reg_y = 0; |
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315 | dist_east = 0, dist_north = 0; |
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316 | diff_east_f = 0, diff_north_f= 0; |
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317 | diff_east = 0, diff_north = 0; |
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318 | dist_flown = 0; |
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236 | salvo | 319 | gps_g2t_act_v = 0; |
224 | salvo | 320 | gps_sub_state = GPS_CRTL_IDLE; |
321 | // aktuelle positionsdaten abspeichern |
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322 | if (gps_rel_act_position.status > 0) |
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323 | { |
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324 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
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325 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
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326 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
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327 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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328 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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329 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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330 | //Richtung zur Home Positionbezogen auf Nordpol bestimmen |
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331 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
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332 | // in Winkel 0...360 Grad umrechnen |
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241 | salvo | 333 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
224 | salvo | 334 | else hdng_2home = (270 - hdng_2home); |
258 | salvo | 335 | dist_2home = get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
224 | salvo | 336 | gps_state = GPS_CRTL_HOME_ACTIVE; |
337 | return (GPS_STST_OK); |
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338 | } |
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339 | else |
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340 | { |
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341 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
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342 | gps_state = GPS_CRTL_IDLE; |
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343 | return(GPS_STST_ERR); // Keine Daten da |
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344 | } |
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345 | } |
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346 | else return(GPS_STST_PEND); // noch warten |
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347 | } |
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162 | salvo | 348 | break; |
349 | // ****************************** |
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350 | |||
158 | salvo | 351 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
352 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
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353 | { |
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354 | cnt++; |
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160 | salvo | 355 | if (cnt > 500) // erst nach Verzoegerung |
158 | salvo | 356 | { |
357 | cnt = 0; |
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224 | salvo | 358 | // aktuelle positionsdaten abspeichern |
158 | salvo | 359 | if (gps_rel_act_position.status > 0) |
360 | { |
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236 | salvo | 361 | hold_fast = 0; |
362 | hold_reset_int = 0; // Integrator enablen |
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224 | salvo | 363 | int_east = 0, int_north = 0; |
364 | gps_reg_x = 0, gps_reg_y = 0; |
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365 | dist_east = 0, dist_north = 0; |
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366 | diff_east_f = 0, diff_north_f= 0; |
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367 | diff_east = 0, diff_north = 0; |
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158 | salvo | 368 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
369 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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370 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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371 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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372 | return (GPS_STST_OK); |
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373 | } |
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374 | else |
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375 | { |
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376 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
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377 | gps_state = GPS_CRTL_IDLE; |
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378 | return(GPS_STST_ERR); // Keine Daten da |
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379 | } |
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380 | } |
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381 | else return(GPS_STST_PEND); // noch warten |
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382 | } |
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383 | break; |
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384 | |||
162 | salvo | 385 | case GPS_CMD_STOP: // Lageregelung beenden |
190 | salvo | 386 | cnt = 0; |
387 | GPS_Nick = 0; |
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388 | GPS_Roll = 0; |
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389 | gps_int_x = 0; |
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390 | gps_int_y = 0; |
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162 | salvo | 391 | gps_state = GPS_CRTL_IDLE; |
158 | salvo | 392 | return (GPS_STST_OK); |
393 | break; |
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394 | |||
395 | default: |
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396 | return (GPS_STST_ERR); |
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397 | break; |
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398 | } |
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399 | |||
400 | switch (gps_state) |
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401 | { |
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402 | case GPS_CRTL_IDLE: |
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403 | cnt = 0; |
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404 | return (GPS_STST_OK); |
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405 | break; |
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406 | |||
224 | salvo | 407 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
408 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
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409 | if (gps_rel_start_position.status >0) |
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410 | { |
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411 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
||
412 | { |
||
413 | gps_tick++; |
||
414 | int d1,d2,d3; |
||
225 | salvo | 415 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
416 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
||
224 | salvo | 417 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
418 | |||
258 | salvo | 419 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
224 | salvo | 420 | { |
258 | salvo | 421 | // hold_fast = 1; // Schnell Regeln |
422 | hold_reset_int = 1; // Integrator ausschalten |
||
423 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
||
225 | salvo | 424 | { |
236 | salvo | 425 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
258 | salvo | 426 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
427 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
||
428 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
||
429 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
225 | salvo | 430 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
258 | salvo | 431 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
224 | salvo | 432 | } |
236 | salvo | 433 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
434 | { |
||
258 | salvo | 435 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
241 | salvo | 436 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
236 | salvo | 437 | } |
224 | salvo | 438 | } |
258 | salvo | 439 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
224 | salvo | 440 | { |
258 | salvo | 441 | hold_reset_int = 0; // Integrator einschalten |
442 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
||
224 | salvo | 443 | { |
258 | salvo | 444 | if (gps_g2t_act_v > GPS_G2T_V_RAMP_DWN) gps_g2t_act_v = GPS_G2T_V_RAMP_DWN; // Geschwindigkeit zu hoch |
445 | else gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
||
446 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
447 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
||
448 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
||
449 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
450 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
241 | salvo | 451 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
258 | salvo | 452 | } |
453 | else |
||
454 | { |
||
455 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; |
||
456 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
||
457 | } |
||
458 | } |
||
459 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
||
460 | { |
||
461 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
||
462 | { |
||
463 | gps_sub_state = GPS_HOME_IN_TOL; |
||
464 | hold_fast = 0; // Wieder normal regeln |
||
465 | hold_reset_int = 0; // Integrator wieder aktivieren |
||
466 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
||
467 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
||
468 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
||
469 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
||
470 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
||
224 | salvo | 471 | { |
258 | salvo | 472 | gps_rel_hold_position.utm_east = 0; |
473 | gps_rel_hold_position.utm_north = 0; |
||
474 | gps_sub_state = GPS_HOME_FINISHED; |
||
224 | salvo | 475 | } |
258 | salvo | 476 | } |
477 | } |
||
224 | salvo | 478 | } |
258 | salvo | 479 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
480 | return (GPS_STST_OK); |
||
224 | salvo | 481 | } |
258 | salvo | 482 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
224 | salvo | 483 | { |
258 | salvo | 484 | gps_state = GPS_CRTL_IDLE; |
224 | salvo | 485 | return (GPS_STST_ERR); |
486 | } |
||
487 | break; |
||
488 | |||
489 | |||
236 | salvo | 490 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
224 | salvo | 491 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
158 | salvo | 492 | { |
493 | gps_updte_flag = 0; |
||
494 | // ab hier wird geregelt |
||
186 | salvo | 495 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
496 | diff_north = -dist_north; |
||
190 | salvo | 497 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
184 | salvo | 498 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
162 | salvo | 499 | int_east += dist_east; |
500 | int_north += dist_north; |
||
167 | salvo | 501 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
502 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
||
224 | salvo | 503 | /* |
194 | salvo | 504 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
505 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
||
224 | salvo | 506 | */ |
236 | salvo | 507 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
162 | salvo | 508 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
509 | { |
||
510 | int_east -= dist_east; |
||
511 | int_north -= dist_north; |
||
512 | } |
||
236 | salvo | 513 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
225 | salvo | 514 | { |
515 | int_east = 0; |
||
516 | int_north = 0; |
||
517 | } |
||
518 | |||
209 | salvo | 519 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
520 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
||
236 | salvo | 521 | signed long dist,int_east1,int_north1; |
197 | salvo | 522 | int phi; |
209 | salvo | 523 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
258 | salvo | 524 | dist = (long) (get_dist(dist_east,dist_north,phi)); //Zunaechst Entfernung zum Ziel ermitteln |
224 | salvo | 525 | |
258 | salvo | 526 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
527 | { |
||
528 | diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
||
529 | if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
||
530 | } |
||
531 | else |
||
532 | { |
||
533 | diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
||
534 | if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
||
535 | } |
||
161 | salvo | 536 | |
236 | salvo | 537 | //I Werte begrenzen |
538 | #define INT1_MAX (20 * GPS_V) |
||
539 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
||
540 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
||
541 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
||
542 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
||
543 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
||
544 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
||
545 | |||
241 | salvo | 546 | int diff_p; |
258 | salvo | 547 | if (hold_fast == 0) diff_p = 1; |
548 | else diff_p = 2; //im schnellen Modus Proportionalanteil staerken |
||
241 | salvo | 549 | |
186 | salvo | 550 | //PID Regler Werte aufsummieren |
241 | salvo | 551 | gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/8)+ ((diff_east * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
552 | gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/8)+ ((diff_north * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
||
159 | salvo | 553 | |
186 | salvo | 554 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
194 | salvo | 555 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
159 | salvo | 556 | |
186 | salvo | 557 | // in Winkel 0...360 Grad umrechnen |
161 | salvo | 558 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
162 | salvo | 559 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
161 | salvo | 560 | |
159 | salvo | 561 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
562 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
||
563 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
||
167 | salvo | 564 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
159 | salvo | 565 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
566 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
||
567 | |||
184 | salvo | 568 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
160 | salvo | 569 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
570 | { |
||
197 | salvo | 571 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
572 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
||
160 | salvo | 573 | } |
574 | else |
||
575 | { |
||
197 | salvo | 576 | dev = (long)gps_reg_y; |
577 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
||
160 | salvo | 578 | } |
197 | salvo | 579 | GPS_dist_2trgt = (int) dev; |
185 | salvo | 580 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
197 | salvo | 581 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
582 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
||
190 | salvo | 583 | |
184 | salvo | 584 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
585 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
||
586 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
||
587 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
||
588 | |||
589 | //Kleine Werte verstaerken, Grosse abschwaechen |
||
186 | salvo | 590 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
591 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
592 | GPS_Roll = (int) n_l; |
||
185 | salvo | 593 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
186 | salvo | 594 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
595 | GPS_Nick = (int) n_l; |
||
184 | salvo | 596 | |
597 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
||
598 | { |
||
599 | GPS_Roll = 0; |
||
600 | GPS_Nick = 0; |
||
601 | gps_state = GPS_CRTL_IDLE; |
||
186 | salvo | 602 | return (GPS_STST_ERR); |
603 | break; |
||
184 | salvo | 604 | } |
224 | salvo | 605 | else |
606 | { |
||
607 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
608 | return (GPS_STST_OK); |
||
609 | } |
||
158 | salvo | 610 | } |
224 | salvo | 611 | else |
612 | { |
||
613 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
614 | return (GPS_STST_OK); |
||
615 | } |
||
158 | salvo | 616 | break; |
617 | |||
618 | default: |
||
224 | salvo | 619 | gps_state = GPS_CRTL_IDLE; |
158 | salvo | 620 | return (GPS_STST_ERR); |
621 | break; |
||
622 | } |
||
623 | return (GPS_STST_ERR); |
||
624 | |||
625 | } |
||
626 |