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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 |
236 | salvo | 16 | Rückstuerz zur Basis 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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236 | salvo | 59 | static short int hold_fast,hold_reset_int; //Flags 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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236 | salvo | 289 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
184 | salvo | 290 | static signed int int_east,int_north; //Integrierer |
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; |
236 | salvo | 295 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
197 | salvo | 296 | long signed int dev,n_l; |
225 | salvo | 297 | signed int dist_frm_start_east,dist_frm_start_north; |
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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225 | salvo | 310 | hold_fast = 0; |
236 | salvo | 311 | hold_reset_int = 0; // Integrator enablen |
224 | salvo | 312 | int_east = 0, int_north = 0; |
313 | gps_reg_x = 0, gps_reg_y = 0; |
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314 | dist_east = 0, dist_north = 0; |
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315 | diff_east_f = 0, diff_north_f= 0; |
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316 | diff_east = 0, diff_north = 0; |
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317 | dist_flown = 0; |
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236 | salvo | 318 | gps_g2t_act_v = 0; |
224 | salvo | 319 | gps_sub_state = GPS_CRTL_IDLE; |
320 | // aktuelle positionsdaten abspeichern |
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321 | if (gps_rel_act_position.status > 0) |
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322 | { |
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323 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
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324 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
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325 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
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326 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
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327 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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328 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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329 | //Richtung zur Home Positionbezogen auf Nordpol bestimmen |
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330 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
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331 | // in Winkel 0...360 Grad umrechnen |
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241 | salvo | 332 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
224 | salvo | 333 | else hdng_2home = (270 - hdng_2home); |
334 | 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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335 | gps_state = GPS_CRTL_HOME_ACTIVE; |
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336 | return (GPS_STST_OK); |
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337 | } |
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338 | else |
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339 | { |
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340 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
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341 | gps_state = GPS_CRTL_IDLE; |
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342 | return(GPS_STST_ERR); // Keine Daten da |
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343 | } |
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344 | } |
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345 | else return(GPS_STST_PEND); // noch warten |
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346 | } |
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162 | salvo | 347 | break; |
348 | // ****************************** |
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349 | |||
158 | salvo | 350 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
351 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
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352 | { |
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353 | cnt++; |
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160 | salvo | 354 | if (cnt > 500) // erst nach Verzoegerung |
158 | salvo | 355 | { |
356 | cnt = 0; |
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224 | salvo | 357 | // aktuelle positionsdaten abspeichern |
158 | salvo | 358 | if (gps_rel_act_position.status > 0) |
359 | { |
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236 | salvo | 360 | hold_fast = 0; |
361 | hold_reset_int = 0; // Integrator enablen |
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224 | salvo | 362 | int_east = 0, int_north = 0; |
363 | gps_reg_x = 0, gps_reg_y = 0; |
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364 | dist_east = 0, dist_north = 0; |
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365 | diff_east_f = 0, diff_north_f= 0; |
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366 | diff_east = 0, diff_north = 0; |
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158 | salvo | 367 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
368 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
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369 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
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370 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
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371 | return (GPS_STST_OK); |
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372 | } |
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373 | else |
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374 | { |
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375 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
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376 | gps_state = GPS_CRTL_IDLE; |
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377 | return(GPS_STST_ERR); // Keine Daten da |
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378 | } |
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379 | } |
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380 | else return(GPS_STST_PEND); // noch warten |
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381 | } |
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382 | break; |
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383 | |||
162 | salvo | 384 | case GPS_CMD_STOP: // Lageregelung beenden |
190 | salvo | 385 | cnt = 0; |
386 | GPS_Nick = 0; |
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387 | GPS_Roll = 0; |
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388 | gps_int_x = 0; |
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389 | gps_int_y = 0; |
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162 | salvo | 390 | gps_state = GPS_CRTL_IDLE; |
158 | salvo | 391 | return (GPS_STST_OK); |
392 | break; |
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393 | |||
394 | default: |
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395 | return (GPS_STST_ERR); |
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396 | break; |
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397 | } |
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398 | |||
399 | switch (gps_state) |
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400 | { |
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401 | case GPS_CRTL_IDLE: |
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402 | cnt = 0; |
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403 | return (GPS_STST_OK); |
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404 | break; |
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405 | |||
224 | salvo | 406 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
407 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
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408 | if (gps_rel_start_position.status >0) |
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409 | { |
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410 | 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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411 | { |
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412 | gps_tick++; |
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413 | int d1,d2,d3; |
||
225 | salvo | 414 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
415 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
||
224 | salvo | 416 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
417 | |||
241 | salvo | 418 | if (d3 > GPS_G2T_DIST_MAX_STOP) |
224 | salvo | 419 | { |
241 | salvo | 420 | hold_fast = 1; // Schnell Regeln |
421 | hold_reset_int = 1; // Integrator ausschalten |
||
224 | salvo | 422 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
225 | salvo | 423 | { |
236 | salvo | 424 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
425 | dist_flown += (long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
225 | salvo | 426 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
427 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
||
428 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
||
429 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
||
241 | salvo | 430 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
224 | salvo | 431 | } |
236 | salvo | 432 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
433 | { |
||
241 | salvo | 434 | /* if (gps_sub_state == GPS_HOME_FAST_IN_TOL) hold_reset_int = 1; //Integrator einmal am Beginn des normalen Regelns resetten |
435 | else hold_reset_int = 0; |
||
436 | */ if (gps_g2t_act_v > 0) gps_g2t_act_v--; |
||
437 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
||
236 | salvo | 438 | } |
224 | salvo | 439 | } |
440 | else //Schon ziemlich nahe am Ziel, deswegen abbremsen |
||
441 | { |
||
442 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
||
443 | { |
||
241 | salvo | 444 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
225 | salvo | 445 | if (d3 > GPS_G2T_DIST_HOLD) |
224 | salvo | 446 | { |
236 | salvo | 447 | if (gps_g2t_act_v < GPS_G2T_V_RAMP_DWN) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
448 | dist_flown += (long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
||
224 | salvo | 449 | dist_frm_start_east = (dist_flown * (long)sin_i(hdng_2home))/1000; |
450 | dist_frm_start_north = (dist_flown * (long)cos_i(hdng_2home))/1000; |
||
225 | salvo | 451 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + (int)dist_frm_start_east; //naechster Zielpunkt |
224 | salvo | 452 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + (int)dist_frm_start_north; //naechster Zielpunkt |
453 | } |
||
225 | salvo | 454 | else //Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
224 | salvo | 455 | { |
241 | salvo | 456 | hold_fast = 0; // Wieder normal regeln |
457 | hold_reset_int = 0; // Integrator wieder aktivieren |
||
458 | if (gps_rel_hold_position.utm_east > GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
||
459 | else if (gps_rel_hold_position.utm_east < -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
||
460 | if (gps_rel_hold_position.utm_north > GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
||
461 | else if (gps_rel_hold_position.utm_north < - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
||
462 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
||
463 | { |
||
464 | gps_rel_hold_position.utm_east = 0; |
||
465 | gps_rel_hold_position.utm_north = 0; |
||
466 | gps_sub_state = GPS_HOME_FINISHED; |
||
467 | } |
||
224 | salvo | 468 | } |
236 | salvo | 469 | } |
241 | salvo | 470 | else |
471 | { |
||
472 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
||
236 | salvo | 473 | if (gps_g2t_act_v > 0) gps_g2t_act_v--; |
474 | } |
||
224 | salvo | 475 | } |
476 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
||
477 | return (GPS_STST_OK); |
||
478 | } |
||
479 | else return (GPS_STST_OK); |
||
480 | } |
||
481 | else |
||
482 | { |
||
483 | gps_state = GPS_CRTL_IDLE; //Abbruch |
||
484 | return (GPS_STST_ERR); |
||
485 | } |
||
486 | break; |
||
487 | |||
488 | |||
236 | salvo | 489 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
224 | salvo | 490 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
158 | salvo | 491 | { |
492 | gps_updte_flag = 0; |
||
493 | // ab hier wird geregelt |
||
186 | salvo | 494 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
495 | diff_north = -dist_north; |
||
190 | salvo | 496 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
184 | salvo | 497 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
162 | salvo | 498 | int_east += dist_east; |
499 | int_north += dist_north; |
||
167 | salvo | 500 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
501 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
||
224 | salvo | 502 | /* |
194 | salvo | 503 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
504 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
||
224 | salvo | 505 | */ |
236 | salvo | 506 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
162 | salvo | 507 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
508 | { |
||
509 | int_east -= dist_east; |
||
510 | int_north -= dist_north; |
||
511 | } |
||
236 | salvo | 512 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
225 | salvo | 513 | { |
514 | int_east = 0; |
||
515 | int_north = 0; |
||
516 | } |
||
517 | |||
209 | salvo | 518 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
519 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
||
197 | salvo | 520 | #define GPS_DIFF_MAX_V 20 //maximale Verstaerkung * 10 |
209 | salvo | 521 | #define GPS_DIFF_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm |
236 | salvo | 522 | signed long dist,int_east1,int_north1; |
197 | salvo | 523 | int phi; |
209 | salvo | 524 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
224 | salvo | 525 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
526 | |||
197 | salvo | 527 | diff_v = (int)((dist * (GPS_DIFF_MAX_V - 10)) / GPS_DIFF_MAX_D) +10; //Verstaerkung * 10 |
209 | salvo | 528 | if (diff_v > GPS_DIFF_MAX_V) diff_v = GPS_DIFF_MAX_V; //begrenzen |
241 | salvo | 529 | // if (hold_fast > 0) diff_v = 10; //im schnellen Modus schwache Wirkung des Differenzierers |
161 | salvo | 530 | |
236 | salvo | 531 | //I Werte begrenzen |
532 | #define INT1_MAX (20 * GPS_V) |
||
533 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
||
534 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
||
535 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
||
536 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
||
537 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
||
538 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
||
539 | |||
241 | salvo | 540 | int diff_p; |
541 | if (hold_fast > 0) diff_p = 2; //im schnellen Modus Proportionalanteil staerken |
||
542 | else diff_p = 1; |
||
543 | |||
186 | salvo | 544 | //PID Regler Werte aufsummieren |
241 | salvo | 545 | 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 |
546 | 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 | 547 | |
186 | salvo | 548 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
194 | salvo | 549 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
159 | salvo | 550 | |
186 | salvo | 551 | // in Winkel 0...360 Grad umrechnen |
161 | salvo | 552 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
162 | salvo | 553 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
161 | salvo | 554 | |
159 | salvo | 555 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
556 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
||
557 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
||
167 | salvo | 558 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
159 | salvo | 559 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
560 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
||
561 | |||
184 | salvo | 562 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
160 | salvo | 563 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
564 | { |
||
197 | salvo | 565 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
566 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
||
160 | salvo | 567 | } |
568 | else |
||
569 | { |
||
197 | salvo | 570 | dev = (long)gps_reg_y; |
571 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
||
160 | salvo | 572 | } |
197 | salvo | 573 | GPS_dist_2trgt = (int) dev; |
185 | salvo | 574 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
197 | salvo | 575 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
576 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
||
190 | salvo | 577 | |
184 | salvo | 578 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
579 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
||
580 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
||
581 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
||
582 | |||
583 | //Kleine Werte verstaerken, Grosse abschwaechen |
||
186 | salvo | 584 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
585 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
||
586 | GPS_Roll = (int) n_l; |
||
185 | salvo | 587 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
186 | salvo | 588 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
589 | GPS_Nick = (int) n_l; |
||
184 | salvo | 590 | |
591 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
||
592 | { |
||
593 | GPS_Roll = 0; |
||
594 | GPS_Nick = 0; |
||
595 | gps_state = GPS_CRTL_IDLE; |
||
186 | salvo | 596 | return (GPS_STST_ERR); |
597 | break; |
||
184 | salvo | 598 | } |
224 | salvo | 599 | else |
600 | { |
||
601 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
||
602 | return (GPS_STST_OK); |
||
603 | } |
||
158 | 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 | break; |
611 | |||
612 | default: |
||
224 | salvo | 613 | gps_state = GPS_CRTL_IDLE; |
158 | salvo | 614 | return (GPS_STST_ERR); |
615 | break; |
||
616 | } |
||
617 | return (GPS_STST_ERR); |
||
618 | |||
619 | } |
||
620 |