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1 | ingob | 1 | /*#######################################################################################*/ |
41 | ingob | 2 | /*#######################################################################################*/ |
3 | |||
4 | // IMPORTANT NOTE: |
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5 | |||
6 | // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
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7 | |||
8 | // The GPS navigation routines are NOT included ! |
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9 | |||
10 | /*#######################################################################################*/ |
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11 | /*#######################################################################################*/ |
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1 | ingob | 12 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
13 | /*#######################################################################################*/ |
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14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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15 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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16 | // + Nur für den privaten Gebrauch |
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17 | // + FOR NON COMMERCIAL USE ONLY |
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18 | // + www.MikroKopter.com |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 20 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
21 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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22 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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23 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 24 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
25 | // + Verkauf von Luftbildaufnahmen, usw. |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 27 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 28 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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31 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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32 | // + eindeutig als Ursprung verlinkt werden |
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33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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34 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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35 | // + Benutzung auf eigene Gefahr |
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36 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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37 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 38 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 39 | // + mit unserer Zustimmung zulässig |
40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 43 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 44 | // + this list of conditions and the following disclaimer. |
45 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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46 | // + from this software without specific prior written permission. |
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41 | ingob | 47 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 48 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 49 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 50 | // + with our written permission |
41 | ingob | 51 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
52 | // + clearly linked as origin |
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1 | ingob | 53 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
54 | // |
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55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 65 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 67 | #include <stdio.h> |
68 | #include <stdlib.h> |
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69 | #include <math.h> |
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70 | #include "91x_lib.h" |
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1 | ingob | 71 | #include "main.h" |
41 | ingob | 72 | #include "uart1.h" |
73 | #include "GPS.h" |
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119 | killagreg | 74 | #include "timer1.h" |
41 | ingob | 75 | #include "spi_slave.h" |
76 | #include "waypoints.h" |
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77 | #include "i2c.h" |
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1 | ingob | 78 | |
79 | |||
41 | ingob | 80 | #define M_PI_180 (M_PI / 180.0f) |
81 | #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
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82 | typedef enum |
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83 | { |
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84 | GPS_FLIGHT_MODE_UNDEF, |
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85 | GPS_FLIGHT_MODE_FREE, |
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86 | GPS_FLIGHT_MODE_AID, |
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87 | GPS_FLIGHT_MODE_WAYPOINT |
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88 | } GPS_FlightMode_t; |
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1 | ingob | 89 | |
41 | ingob | 90 | typedef struct |
91 | { |
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92 | float Gain; |
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93 | float P; |
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94 | float I; |
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95 | float D; |
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103 | killagreg | 96 | float A; |
41 | ingob | 97 | float ACC; |
102 | killagreg | 98 | s32 P_Limit; |
99 | s32 I_Limit; |
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100 | s32 D_Limit; |
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101 | s32 PID_Limit; |
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73 | killagreg | 102 | u32 BrakingDuration; |
41 | ingob | 103 | u8 MinSat; |
104 | s8 StickThreshold; |
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105 | float WindCorrection; |
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89 | killagreg | 106 | float SpeedCompensation; |
102 | killagreg | 107 | s32 OperatingRadius; |
41 | ingob | 108 | GPS_FlightMode_t FlightMode; |
109 | } __attribute__((packed)) GPS_Parameter_t; |
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1 | ingob | 110 | |
41 | ingob | 111 | typedef struct |
112 | { |
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146 | killagreg | 113 | u8 Status; // invalid, newdata, processed |
103 | killagreg | 114 | s32 North; // in cm |
41 | ingob | 115 | s32 East; // in cm |
116 | s32 Bearing; // in deg |
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102 | killagreg | 117 | s32 Distance; // in cm |
41 | ingob | 118 | } __attribute__((packed)) GPS_Deviation_t; |
73 | killagreg | 119 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
120 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
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121 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
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41 | ingob | 122 | |
123 | GPS_Stick_t GPS_Stick; |
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124 | GPS_Parameter_t GPS_Parameter; |
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125 | |||
126 | // the gps reference positions |
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127 | GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
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128 | GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
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129 | GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
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92 | killagreg | 130 | u32 GPS_TargetRadius = 0; // catch radius for target area |
41 | ingob | 131 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
132 | |||
133 | //------------------------------------------------------------- |
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134 | // Update GPSParamter |
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135 | void GPS_UpdateParameter(void) |
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136 | { |
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133 | killagreg | 137 | #define SWITCH_DELAY 500 |
138 | static u32 SwitchDelay = 0; |
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41 | ingob | 139 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
133 | killagreg | 140 | |
41 | ingob | 141 | // in case of bad receiving conditions |
142 | if(FC.RC_Quality < 100) |
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143 | { // set fixed parameter |
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97 | killagreg | 144 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
41 | ingob | 145 | GPS_Parameter.Gain = (float) 100; |
146 | GPS_Parameter.P = (float) 90; |
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147 | GPS_Parameter.I = (float) 90; |
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148 | GPS_Parameter.D = (float) 90; |
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149 | GPS_Parameter.A = (float) 90; |
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150 | GPS_Parameter.ACC = (float) 0; |
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73 | killagreg | 151 | GPS_Parameter.P_Limit = 90; |
152 | GPS_Parameter.I_Limit = 90; |
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153 | GPS_Parameter.D_Limit = 90; |
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154 | GPS_Parameter.PID_Limit = 200; |
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155 | GPS_Parameter.BrakingDuration = 0; |
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89 | killagreg | 156 | GPS_Parameter.SpeedCompensation = (float) 30; |
41 | ingob | 157 | GPS_Parameter.MinSat = 6; |
158 | GPS_Parameter.StickThreshold = 8; |
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159 | GPS_Parameter.WindCorrection = 0.0; |
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160 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
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73 | killagreg | 161 | |
41 | ingob | 162 | } |
163 | else |
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164 | { |
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165 | // update parameter from FC |
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166 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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167 | else |
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168 | { |
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96 | killagreg | 169 | if(Parameter.NaviGpsModeControl < 50) |
170 | { |
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133 | killagreg | 171 | if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY); |
172 | if(CheckDelay(SwitchDelay)) |
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173 | { |
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174 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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175 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
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176 | NCFlags |= NC_FLAG_FREE; |
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177 | } |
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96 | killagreg | 178 | } |
179 | else if(Parameter.NaviGpsModeControl < 180) |
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180 | { |
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133 | killagreg | 181 | if(FlightMode_Old == GPS_FLIGHT_MODE_AID) SetDelay(SWITCH_DELAY); |
182 | if(CheckDelay(SwitchDelay)) |
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183 | { |
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184 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
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185 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
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186 | NCFlags |= NC_FLAG_PH; |
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187 | } |
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96 | killagreg | 188 | } |
189 | else |
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190 | { |
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133 | killagreg | 191 | if(FlightMode_Old == GPS_FLIGHT_MODE_WAYPOINT) SetDelay(SWITCH_DELAY); |
192 | if(CheckDelay(SwitchDelay)) |
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193 | { |
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194 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
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195 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
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196 | NCFlags |= NC_FLAG_CH; |
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197 | } |
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96 | killagreg | 198 | } |
41 | ingob | 199 | } |
200 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
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201 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
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202 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
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203 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
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204 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
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205 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
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102 | killagreg | 206 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
207 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
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208 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
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92 | killagreg | 209 | GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation; |
73 | killagreg | 210 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
89 | killagreg | 211 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
41 | ingob | 212 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
213 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
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214 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
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102 | killagreg | 215 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
41 | ingob | 216 | } |
217 | // FlightMode changed? |
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103 | killagreg | 218 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
219 | { |
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133 | killagreg | 220 | BeepTime = 200; // beep to indicate that mode has been switched |
103 | killagreg | 221 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
128 | killagreg | 222 | // if the mode has changed to free |
223 | if(GPS_Parameter.FlightMode == GPS_FLIGHT_MODE_FREE) WPList_Clear(); // clear WPList if mode has changed to Free |
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103 | killagreg | 224 | } |
41 | ingob | 225 | FlightMode_Old = GPS_Parameter.FlightMode; |
226 | } |
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227 | |||
228 | //------------------------------------------------------------- |
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229 | // This function defines a good GPS signal condition |
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230 | u8 GPS_IsSignalOK(void) |
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231 | { |
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232 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
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233 | else return(0); |
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234 | } |
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235 | |||
1 | ingob | 236 | //------------------------------------------------------------ |
41 | ingob | 237 | // Checks for manual control action |
238 | u8 GPS_IsManuallyControlled(void) |
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239 | { |
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102 | killagreg | 240 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0) && (FC.RC_Quality > 150) ) |
241 | { |
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242 | NCFlags |= NC_FLAG_MANUAL_CONTROL; |
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243 | return(1); |
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244 | } |
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245 | else |
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246 | { |
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247 | NCFlags &= ~NC_FLAG_MANUAL_CONTROL; |
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248 | return(0); |
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103 | killagreg | 249 | } |
41 | ingob | 250 | } |
251 | |||
252 | //------------------------------------------------------------ |
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253 | // copy GPS position from source position to target position |
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254 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
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255 | { |
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256 | u8 retval = 0; |
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257 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
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258 | // copy only valid positions |
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259 | if(pGPSPosSrc->Status != INVALID) |
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260 | { |
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261 | // if the source GPS position is not invalid |
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262 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
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263 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
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264 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
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265 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
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266 | retval = 1; |
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267 | } |
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268 | return(retval); |
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269 | } |
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270 | |||
271 | //------------------------------------------------------------ |
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272 | // clear position data |
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273 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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274 | { |
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275 | u8 retval = FALSE; |
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276 | if(pGPSPos == NULL) return(retval); // bad pointer |
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277 | else |
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278 | { |
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279 | pGPSPos->Longitude = 0; |
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280 | pGPSPos->Latitude = 0; |
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281 | pGPSPos->Altitude = 0; |
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282 | pGPSPos->Status = INVALID; |
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283 | retval = TRUE; |
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284 | } |
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285 | return (retval); |
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286 | } |
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287 | |||
288 | |||
289 | //------------------------------------------------------------ |
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97 | killagreg | 290 | void GPS_Neutral(void) |
41 | ingob | 291 | { |
292 | GPS_Stick.Nick = 0; |
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293 | GPS_Stick.Roll = 0; |
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294 | GPS_Stick.Yaw = 0; |
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295 | } |
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296 | |||
297 | //------------------------------------------------------------ |
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1 | ingob | 298 | void GPS_Init(void) |
299 | { |
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110 | killagreg | 300 | UART1_PutString("\r\n GPS init..."); |
41 | ingob | 301 | UBX_Init(); |
302 | GPS_Neutral(); |
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303 | GPS_ClearPosition(&GPS_HoldPosition); |
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304 | GPS_ClearPosition(&GPS_HomePosition); |
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305 | GPS_pTargetPosition = NULL; |
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306 | WPList_Init(); |
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152 | killagreg | 307 | GPS_pWaypoint = NULL; |
41 | ingob | 308 | GPS_UpdateParameter(); |
110 | killagreg | 309 | UART1_PutString("ok"); |
41 | ingob | 310 | } |
1 | ingob | 311 | |
41 | ingob | 312 | //------------------------------------------------------------ |
313 | // calculate the bearing to target position from its deviation |
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314 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
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315 | { |
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316 | s32 bearing; |
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317 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
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318 | bearing = (270L - bearing)%360L; |
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319 | return(bearing); |
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1 | ingob | 320 | } |
41 | ingob | 321 | |
322 | |||
1 | ingob | 323 | //------------------------------------------------------------ |
41 | ingob | 324 | // Rescale xy-vector length if length limit is violated |
102 | killagreg | 325 | // returns vector len after scaling |
326 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
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41 | ingob | 327 | { |
102 | killagreg | 328 | s32 dist; |
98 | killagreg | 329 | |
102 | killagreg | 330 | dist = (s32)hypot(*x,*y); // the length of the vector |
99 | killagreg | 331 | if (dist > limit) |
41 | ingob | 332 | // if vector length is larger than the given limit |
103 | killagreg | 333 | { // scale vector compontents so that the length is cut off to limit |
102 | killagreg | 334 | *x = (s32)(( (double)(*x) * (double)limit ) / (double)dist); |
335 | *y = (s32)(( (double)(*y) * (double)limit ) / (double)dist); |
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99 | killagreg | 336 | dist = limit; |
41 | ingob | 337 | } |
99 | killagreg | 338 | return(dist); |
41 | ingob | 339 | } |
1 | ingob | 340 | |
41 | ingob | 341 | //------------------------------------------------------------ |
342 | // transform the integer deg into float radians |
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343 | inline double RadiansFromGPS(s32 deg) |
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1 | ingob | 344 | { |
41 | ingob | 345 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
346 | } |
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1 | ingob | 347 | |
41 | ingob | 348 | //------------------------------------------------------------ |
349 | // transform the integer deg into float deg |
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350 | inline double DegFromGPS(s32 deg) |
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351 | { |
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352 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
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353 | } |
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1 | ingob | 354 | |
41 | ingob | 355 | //------------------------------------------------------------ |
356 | // calculate the deviation from the current position to the target position |
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73 | killagreg | 357 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
41 | ingob | 358 | { |
73 | killagreg | 359 | double temp1, temp2; |
41 | ingob | 360 | // if given pointer is NULL |
361 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
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362 | // if positions are invalid |
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363 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
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1 | ingob | 364 | |
41 | ingob | 365 | // The deviation from the current to the target position along north and east direction is |
366 | // simple the lat/lon difference. To convert that angular deviation into an |
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367 | // arc length the spherical projection has to be considered. |
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368 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
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369 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
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370 | // The arc length per longitude degree depends on the correspondig latitude and |
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371 | // is 111.2km * cos(latitude). |
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1 | ingob | 372 | |
41 | ingob | 373 | // calculate the shortest longitude deviation from target |
374 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
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375 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
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376 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
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377 | if(temp1 > 180.0f) temp1 -= 360.0f; |
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378 | else if (temp1 < -180.0f) temp1 += 360.0f; |
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73 | killagreg | 379 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
41 | ingob | 380 | // calculate latitude deviation from target |
381 | // this is allways within -180 deg ... 180 deg |
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382 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
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383 | // deviation from target position in cm |
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384 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
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385 | |||
73 | killagreg | 386 | pDeviationFromTarget->Status = INVALID; |
387 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
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388 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
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41 | ingob | 389 | // If the position deviation is small enough to neglect the earth curvature |
390 | // (this is for our application always fulfilled) the distance to target |
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391 | // can be calculated by the pythagoras of north and east deviation. |
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102 | killagreg | 392 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
73 | killagreg | 393 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
394 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
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395 | pDeviationFromTarget->Status = NEWDATA; |
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41 | ingob | 396 | return TRUE; |
397 | |||
398 | baddata: |
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73 | killagreg | 399 | pDeviationFromTarget->North = 0L; |
400 | pDeviationFromTarget->East = 0L; |
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401 | pDeviationFromTarget->Distance = 0L; |
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402 | pDeviationFromTarget->Bearing = 0L; |
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403 | pDeviationFromTarget->Status = INVALID; |
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41 | ingob | 404 | return FALSE; |
405 | } |
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406 | |||
407 | //------------------------------------------------------------ |
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408 | void GPS_Navigation(void) |
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409 | { |
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410 | static u32 beep_rythm; |
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411 | static u32 GPSDataTimeout = 0; |
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129 | killagreg | 412 | float compassheading, sin_h, cos_h; |
41 | ingob | 413 | |
414 | // pointer to current target position |
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415 | static GPS_Pos_t * pTargetPositionOld = NULL; |
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416 | |||
417 | static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius |
||
102 | killagreg | 418 | static s32 OperatingRadiusOld = -1; |
41 | ingob | 419 | static u32 WPTime = 0; |
420 | |||
129 | killagreg | 421 | |
422 | |||
423 | // get current heading from the FC gyro compass heading |
||
424 | if(abs(FC.StickYaw) > 20 || FromFlightCtrl.GyroHeading > 3600) compassheading = (float)I2C_Heading.Heading * M_PI_180; |
||
425 | else compassheading = ((float)FromFlightCtrl.GyroHeading * M_PI_180) / 10.0; |
||
426 | |||
427 | sin_h = sin(compassheading); |
||
428 | cos_h = cos(compassheading); |
||
429 | |||
430 | |||
41 | ingob | 431 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
432 | //+ Check for new data from GPS-receiver |
||
433 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
434 | switch(GPSData.Status) |
||
435 | { |
||
436 | case INVALID: // no gps data available |
||
437 | // do nothing |
||
73 | killagreg | 438 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 439 | break; |
440 | |||
441 | case PROCESSED: // the current data have been allready processed |
||
442 | // if no new data are available within the timeout switch to invalid state. |
||
443 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
||
444 | // wait for new gps data |
||
445 | break; |
||
446 | |||
447 | case NEWDATA: // handle new gps data |
||
448 | |||
449 | // update GPS Parameter from FC-Data via SPI interface |
||
450 | GPS_UpdateParameter(); |
||
451 | |||
452 | // wait maximum of 3 times the normal data update time before data timemout |
||
453 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
||
454 | beep_rythm++; |
||
455 | |||
456 | // debug |
||
92 | killagreg | 457 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
458 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
||
459 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
||
41 | ingob | 460 | |
461 | // If GPS signal condition is sufficient for a reliable position measurement |
||
462 | if(GPS_IsSignalOK()) |
||
463 | { |
||
73 | killagreg | 464 | // update home deviation info |
465 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
||
74 | killagreg | 466 | |
41 | ingob | 467 | // if the MK is starting or the home position is invalid then store the home position |
468 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
||
469 | { // try to update the home position from the current position |
||
470 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
||
471 | { |
||
472 | BeepTime = 700; // beep on success |
||
473 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
||
474 | } |
||
475 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
||
152 | killagreg | 476 | if(GPS_pWaypoint != NULL) // if new WP exist |
477 | { // update WP hold time stamp immediately! |
||
478 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
||
479 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
480 | } |
||
41 | ingob | 481 | } |
482 | |||
483 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
||
484 | |||
485 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
||
103 | killagreg | 486 | switch(GPS_Parameter.FlightMode) |
41 | ingob | 487 | { |
488 | // the GPS control is deactived |
||
489 | case GPS_FLIGHT_MODE_FREE: |
||
96 | killagreg | 490 | |
73 | killagreg | 491 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 492 | // update hold position |
493 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
494 | // no target position |
||
495 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 496 | GPS_TargetRadius = 0; |
41 | ingob | 497 | break; |
498 | |||
499 | // the GPS supports the position hold, if the pilot takes no action |
||
500 | case GPS_FLIGHT_MODE_AID: |
||
96 | killagreg | 501 | |
41 | ingob | 502 | if(GPS_IsManuallyControlled()) |
503 | { |
||
73 | killagreg | 504 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
129 | killagreg | 505 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
41 | ingob | 506 | GPS_pTargetPosition = NULL; |
92 | killagreg | 507 | GPS_TargetRadius = 0; |
41 | ingob | 508 | } |
509 | else |
||
510 | { |
||
133 | killagreg | 511 | /* |
129 | killagreg | 512 | #define PH_MOVE_THRESHOLD 8 |
513 | if( ((abs(FC.StickNick) > PH_MOVE_THRESHOLD) || (abs(FC.StickRoll) > PH_MOVE_THRESHOLD) ) && (FC.RC_Quality > 150)) |
||
514 | { // indirect control by moving the hold position with rc sticks |
||
515 | // rc sticks have a range of +/-127 counts |
||
516 | // GPS Coordinates are in 1-E7 deg, i.e. 1 counts is 1E-7°/360°*40E+8cm = 1.11 cm |
||
517 | // normal manual activtion threshold is 8 counts that results in a change of the hold position |
||
518 | // of min 8*1.11cm * 5Hz = 8.88 = 44.4cm/s an max 127*1.11cm *5Hz = 705cm/s |
||
519 | GPS_HoldPosition.Latitude += (s32)(cos_h*FC.StickNick + sin_h*FC.StickRoll); |
||
520 | GPS_HoldPosition.Longitude += (s32)((sin_h*FC.StickNick - cos_h*FC.StickRoll) / cos(RadiansFromGPS(GPS_HoldPosition.Latitude)) ); |
||
133 | killagreg | 521 | }*/ |
522 | // set target position |
||
41 | ingob | 523 | GPS_pTargetPosition = &GPS_HoldPosition; |
92 | killagreg | 524 | GPS_TargetRadius = 100; // 1 meter |
41 | ingob | 525 | } |
526 | break; |
||
527 | |||
528 | // the GPS control is directed to a target position |
||
529 | // given by a waypoint or by the home position |
||
530 | case GPS_FLIGHT_MODE_WAYPOINT: |
||
74 | killagreg | 531 | |
73 | killagreg | 532 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
41 | ingob | 533 | { |
73 | killagreg | 534 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
535 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
||
536 | GPS_pTargetPosition = NULL; // set target position invalid |
||
92 | killagreg | 537 | GPS_TargetRadius = 0; |
73 | killagreg | 538 | } |
539 | else // no manual control -> gps position hold active |
||
540 | { |
||
541 | // waypoint trigger logic |
||
130 | killagreg | 542 | if(GPS_pWaypoint != NULL) // pointer to waypoint exist |
41 | ingob | 543 | { |
73 | killagreg | 544 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
41 | ingob | 545 | { |
73 | killagreg | 546 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
152 | killagreg | 547 | if(GPS_pWaypoint != NULL) // if new WP exist |
548 | { // update WP hold time stamp immediately! |
||
549 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
||
550 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
551 | } |
||
73 | killagreg | 552 | BeepTime = 255; |
41 | ingob | 553 | } |
73 | killagreg | 554 | else // waypoint position is valid |
555 | { |
||
556 | // if WP has been reached once, wait hold time before trigger to next one |
||
92 | killagreg | 557 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
73 | killagreg | 558 | { |
559 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
||
560 | if(CheckDelay(WPTime)) |
||
561 | { |
||
562 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
||
151 | killagreg | 563 | if(GPS_pWaypoint == NULL) GPS_pWaypoint = WPList_End(); // goto last WP if next one not exist |
564 | if(GPS_pWaypoint != NULL) // if new WP exist |
||
565 | { // update WP hold time stamp immediately! |
||
566 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
||
152 | killagreg | 567 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
151 | killagreg | 568 | } |
73 | killagreg | 569 | } |
152 | killagreg | 570 | } // EOF target reached |
92 | killagreg | 571 | else |
572 | { |
||
573 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
||
574 | } |
||
41 | ingob | 575 | } |
130 | killagreg | 576 | } |
577 | else // pointer to waypoint does not exist |
||
578 | { |
||
579 | // try to catch the first waypoint from the list |
||
152 | killagreg | 580 | GPS_pWaypoint = WPList_Begin(); |
581 | if(GPS_pWaypoint != NULL) // if new WP exist |
||
582 | { // update WP hold time stamp immediately! |
||
583 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
||
584 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
585 | } |
||
130 | killagreg | 586 | } |
587 | // EOF waypoint trigger logic |
||
74 | killagreg | 588 | |
73 | killagreg | 589 | if(GPS_pWaypoint != NULL) // Waypoint exist |
41 | ingob | 590 | { |
591 | // update the hold position |
||
592 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
73 | killagreg | 593 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
102 | killagreg | 594 | GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
92 | killagreg | 595 | |
41 | ingob | 596 | } |
73 | killagreg | 597 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
598 | { |
||
599 | // fly back to home postion |
||
600 | if(GPS_HomePosition.Status == INVALID) |
||
601 | { |
||
602 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
||
92 | killagreg | 603 | GPS_TargetRadius = 100; |
73 | killagreg | 604 | BeepTime = 255; // beep to indicate missin home position |
605 | } |
||
606 | else // the home position is valid |
||
607 | { |
||
608 | // update the hold position |
||
609 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
610 | // set target to home position |
||
611 | GPS_pTargetPosition = &GPS_HomePosition; |
||
92 | killagreg | 612 | GPS_TargetRadius = 100; |
73 | killagreg | 613 | } |
614 | } |
||
615 | } // EOF no manual control |
||
41 | ingob | 616 | break; |
617 | |||
618 | case GPS_FLIGHT_MODE_UNDEF: |
||
619 | default: |
||
73 | killagreg | 620 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 621 | // update hold position |
622 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
623 | // no target position |
||
624 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 625 | GPS_TargetRadius = 0; |
41 | ingob | 626 | break; |
627 | |||
628 | }// EOF GPS Mode Handling |
||
629 | |||
630 | |||
631 | /* Calculation of range target based on the real target */ |
||
632 | |||
633 | // if no target position exist clear the ranged target position |
||
634 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
||
635 | else |
||
636 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
||
637 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
||
638 | { |
||
73 | killagreg | 639 | BeepTime = 255; // beep to indicate setting of a new target position |
92 | killagreg | 640 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
41 | ingob | 641 | // calculate deviation of new target position from home position |
73 | killagreg | 642 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
41 | ingob | 643 | { |
644 | // check distance from home position |
||
73 | killagreg | 645 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
41 | ingob | 646 | { |
647 | //calculate ranged target position to be within the operation radius area |
||
92 | killagreg | 648 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
41 | ingob | 649 | |
102 | killagreg | 650 | TargetHomeDeviation.North = (s32)(((float)TargetHomeDeviation.North * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
651 | TargetHomeDeviation.East = (s32)(((float)TargetHomeDeviation.East * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
||
652 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
||
73 | killagreg | 653 | |
41 | ingob | 654 | RangedTargetPosition.Status = INVALID; |
655 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
||
73 | killagreg | 656 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
41 | ingob | 657 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
73 | killagreg | 658 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
41 | ingob | 659 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
103 | killagreg | 660 | RangedTargetPosition.Status = NEWDATA; |
41 | ingob | 661 | } |
662 | else |
||
663 | { // the target is located within the operation radius area |
||
664 | // simple copy the loaction to the ranged target position |
||
665 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
||
92 | killagreg | 666 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
41 | ingob | 667 | } |
668 | } |
||
669 | else |
||
670 | { // deviation could not be determined |
||
671 | GPS_ClearPosition(&RangedTargetPosition); |
||
672 | } |
||
673 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
||
674 | } |
||
675 | } |
||
676 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
||
677 | // remember last target position pointer |
||
678 | pTargetPositionOld = GPS_pTargetPosition; |
||
679 | |||
680 | /* Calculate position deviation from ranged target */ |
||
681 | |||
682 | // calculate deviation of current position to ranged target position in cm |
||
73 | killagreg | 683 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
92 | killagreg | 684 | { // set target reached flag of we once reached the target point |
93 | killagreg | 685 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
92 | killagreg | 686 | { |
93 | killagreg | 687 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
92 | killagreg | 688 | } |
41 | ingob | 689 | // implement your control code here based |
73 | killagreg | 690 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
41 | ingob | 691 | GPS_Stick.Nick = 0; |
692 | GPS_Stick.Roll = 0; |
||
693 | GPS_Stick.Yaw = 0; |
||
694 | } |
||
695 | else // deviation could not be calculated |
||
696 | { // do nothing on gps sticks! |
||
697 | GPS_Neutral(); |
||
103 | killagreg | 698 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached |
41 | ingob | 699 | } |
700 | |||
701 | }// eof if GPSSignal is OK |
||
702 | else // GPSSignal not OK |
||
703 | { |
||
704 | GPS_Neutral(); |
||
705 | // beep if signal is not sufficient |
||
706 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
||
707 | { |
||
708 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
||
709 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
||
710 | } |
||
711 | } |
||
103 | killagreg | 712 | GPSData.Status = PROCESSED; // mark as processed |
41 | ingob | 713 | break; |
1 | ingob | 714 | } |
41 | ingob | 715 | |
95 | killagreg | 716 | DebugOut.Analog[6] = NCFlags; |
73 | killagreg | 717 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
718 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
||
41 | ingob | 719 | DebugOut.Analog[29] = GPS_Stick.Nick; |
720 | DebugOut.Analog[30] = GPS_Stick.Roll; |
||
721 | |||
722 | // update navi data, send back to ground station |
||
73 | killagreg | 723 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
41 | ingob | 724 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
73 | killagreg | 725 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
41 | ingob | 726 | NaviData.SatsInUse = GPSData.NumOfSats; |
89 | killagreg | 727 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
728 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
||
729 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
||
730 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
||
41 | ingob | 731 | NaviData.UBat = FC.UBat; |
732 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
||
74 | killagreg | 733 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
73 | killagreg | 734 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
735 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
||
736 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
||
125 | killagreg | 737 | NaviData.RC_Quality = FC.RC_Quality; |
738 | NaviData.RC_RSSI = FC.RC_RSSI; |
||
739 | NaviData.MKFlags = FC.MKFlags; |
||
92 | killagreg | 740 | NaviData.NCFlags = NCFlags; |
74 | killagreg | 741 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
89 | killagreg | 742 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
97 | killagreg | 743 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
41 | ingob | 744 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
103 | killagreg | 745 | return; |
1 | ingob | 746 | } |
747 |