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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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171 | ingob | 16 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 17 | // + FOR NON COMMERCIAL USE ONLY |
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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171 | ingob | 38 | // + Die Portierung oder Nutzung 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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171 | ingob | 53 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 54 | // |
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 |
185 | killagreg | 138 | static u8 wpclear = FALSE; |
133 | killagreg | 139 | static u32 SwitchDelay = 0; |
41 | ingob | 140 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
133 | killagreg | 141 | |
41 | ingob | 142 | // in case of bad receiving conditions |
143 | if(FC.RC_Quality < 100) |
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144 | { // set fixed parameter |
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97 | killagreg | 145 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
41 | ingob | 146 | GPS_Parameter.Gain = (float) 100; |
147 | GPS_Parameter.P = (float) 90; |
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148 | GPS_Parameter.I = (float) 90; |
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149 | GPS_Parameter.D = (float) 90; |
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150 | GPS_Parameter.A = (float) 90; |
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151 | GPS_Parameter.ACC = (float) 0; |
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73 | killagreg | 152 | GPS_Parameter.P_Limit = 90; |
153 | GPS_Parameter.I_Limit = 90; |
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154 | GPS_Parameter.D_Limit = 90; |
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155 | GPS_Parameter.PID_Limit = 200; |
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156 | GPS_Parameter.BrakingDuration = 0; |
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89 | killagreg | 157 | GPS_Parameter.SpeedCompensation = (float) 30; |
41 | ingob | 158 | GPS_Parameter.MinSat = 6; |
159 | GPS_Parameter.StickThreshold = 8; |
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160 | GPS_Parameter.WindCorrection = 0.0; |
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161 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
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73 | killagreg | 162 | |
41 | ingob | 163 | } |
164 | else |
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165 | { |
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166 | // update parameter from FC |
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167 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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168 | else |
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169 | { |
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96 | killagreg | 170 | if(Parameter.NaviGpsModeControl < 50) |
171 | { |
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159 | killagreg | 172 | if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY); |
133 | killagreg | 173 | if(CheckDelay(SwitchDelay)) |
159 | killagreg | 174 | { |
133 | killagreg | 175 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
176 | } |
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96 | killagreg | 177 | } |
178 | else if(Parameter.NaviGpsModeControl < 180) |
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179 | { |
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133 | killagreg | 180 | if(FlightMode_Old == GPS_FLIGHT_MODE_AID) SetDelay(SWITCH_DELAY); |
181 | if(CheckDelay(SwitchDelay)) |
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182 | { |
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183 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
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184 | } |
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96 | killagreg | 185 | } |
186 | else |
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187 | { |
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133 | killagreg | 188 | if(FlightMode_Old == GPS_FLIGHT_MODE_WAYPOINT) SetDelay(SWITCH_DELAY); |
189 | if(CheckDelay(SwitchDelay)) |
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190 | { |
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191 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
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192 | } |
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96 | killagreg | 193 | } |
41 | ingob | 194 | } |
195 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
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196 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
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197 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
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198 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
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199 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
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200 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
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102 | killagreg | 201 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
202 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
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203 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
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92 | killagreg | 204 | GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation; |
73 | killagreg | 205 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
89 | killagreg | 206 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
41 | ingob | 207 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
208 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
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209 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
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102 | killagreg | 210 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
41 | ingob | 211 | } |
185 | killagreg | 212 | // FlightMode transitions |
103 | killagreg | 213 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
214 | { |
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185 | killagreg | 215 | BeepTime = 100; // beep to indicate that mode has been switched |
103 | killagreg | 216 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
185 | killagreg | 217 | switch(GPS_Parameter.FlightMode) |
218 | { |
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219 | case GPS_FLIGHT_MODE_FREE: |
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220 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
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221 | NCFlags |= NC_FLAG_FREE; |
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222 | if(!StopNavigation && wpclear) |
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223 | { |
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224 | WPList_Clear(); // clear WPList if mode has changed to Free |
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225 | wpclear = FALSE; |
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226 | } |
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227 | break; |
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228 | |||
229 | case GPS_FLIGHT_MODE_AID: |
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230 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
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231 | NCFlags |= NC_FLAG_PH; |
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232 | break; |
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233 | |||
234 | case GPS_FLIGHT_MODE_WAYPOINT: |
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235 | wpclear = TRUE; // clear WP's only if CH was once active |
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236 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
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237 | NCFlags |= NC_FLAG_CH; |
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238 | break; |
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239 | |||
240 | default: // should never happen |
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241 | NCFlags = 0; |
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242 | break; |
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243 | } |
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244 | FlightMode_Old = GPS_Parameter.FlightMode; |
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103 | killagreg | 245 | } |
41 | ingob | 246 | } |
247 | |||
248 | //------------------------------------------------------------- |
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249 | // This function defines a good GPS signal condition |
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250 | u8 GPS_IsSignalOK(void) |
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251 | { |
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252 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
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253 | else return(0); |
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254 | } |
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255 | |||
1 | ingob | 256 | //------------------------------------------------------------ |
41 | ingob | 257 | // Checks for manual control action |
258 | u8 GPS_IsManuallyControlled(void) |
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259 | { |
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102 | killagreg | 260 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0) && (FC.RC_Quality > 150) ) |
261 | { |
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262 | NCFlags |= NC_FLAG_MANUAL_CONTROL; |
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263 | return(1); |
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264 | } |
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265 | else |
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266 | { |
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267 | NCFlags &= ~NC_FLAG_MANUAL_CONTROL; |
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268 | return(0); |
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103 | killagreg | 269 | } |
41 | ingob | 270 | } |
271 | |||
272 | //------------------------------------------------------------ |
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273 | // copy GPS position from source position to target position |
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274 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
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275 | { |
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276 | u8 retval = 0; |
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277 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
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278 | // copy only valid positions |
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279 | if(pGPSPosSrc->Status != INVALID) |
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280 | { |
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281 | // if the source GPS position is not invalid |
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282 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
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283 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
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284 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
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285 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
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286 | retval = 1; |
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287 | } |
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288 | return(retval); |
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289 | } |
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290 | |||
291 | //------------------------------------------------------------ |
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292 | // clear position data |
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293 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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294 | { |
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295 | u8 retval = FALSE; |
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296 | if(pGPSPos == NULL) return(retval); // bad pointer |
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297 | else |
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298 | { |
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299 | pGPSPos->Longitude = 0; |
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300 | pGPSPos->Latitude = 0; |
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301 | pGPSPos->Altitude = 0; |
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302 | pGPSPos->Status = INVALID; |
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303 | retval = TRUE; |
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304 | } |
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305 | return (retval); |
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306 | } |
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307 | |||
308 | |||
309 | //------------------------------------------------------------ |
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97 | killagreg | 310 | void GPS_Neutral(void) |
41 | ingob | 311 | { |
312 | GPS_Stick.Nick = 0; |
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313 | GPS_Stick.Roll = 0; |
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314 | GPS_Stick.Yaw = 0; |
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315 | } |
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316 | |||
317 | //------------------------------------------------------------ |
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1 | ingob | 318 | void GPS_Init(void) |
319 | { |
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110 | killagreg | 320 | UART1_PutString("\r\n GPS init..."); |
41 | ingob | 321 | UBX_Init(); |
322 | GPS_Neutral(); |
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323 | GPS_ClearPosition(&GPS_HoldPosition); |
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324 | GPS_ClearPosition(&GPS_HomePosition); |
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325 | GPS_pTargetPosition = NULL; |
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326 | WPList_Init(); |
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152 | killagreg | 327 | GPS_pWaypoint = NULL; |
41 | ingob | 328 | GPS_UpdateParameter(); |
110 | killagreg | 329 | UART1_PutString("ok"); |
41 | ingob | 330 | } |
1 | ingob | 331 | |
41 | ingob | 332 | //------------------------------------------------------------ |
333 | // calculate the bearing to target position from its deviation |
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334 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
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335 | { |
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336 | s32 bearing; |
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337 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
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338 | bearing = (270L - bearing)%360L; |
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339 | return(bearing); |
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1 | ingob | 340 | } |
41 | ingob | 341 | |
342 | |||
1 | ingob | 343 | //------------------------------------------------------------ |
41 | ingob | 344 | // Rescale xy-vector length if length limit is violated |
102 | killagreg | 345 | // returns vector len after scaling |
346 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
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41 | ingob | 347 | { |
102 | killagreg | 348 | s32 dist; |
98 | killagreg | 349 | |
102 | killagreg | 350 | dist = (s32)hypot(*x,*y); // the length of the vector |
99 | killagreg | 351 | if (dist > limit) |
41 | ingob | 352 | // if vector length is larger than the given limit |
103 | killagreg | 353 | { // scale vector compontents so that the length is cut off to limit |
102 | killagreg | 354 | *x = (s32)(( (double)(*x) * (double)limit ) / (double)dist); |
355 | *y = (s32)(( (double)(*y) * (double)limit ) / (double)dist); |
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99 | killagreg | 356 | dist = limit; |
41 | ingob | 357 | } |
99 | killagreg | 358 | return(dist); |
41 | ingob | 359 | } |
1 | ingob | 360 | |
41 | ingob | 361 | //------------------------------------------------------------ |
362 | // transform the integer deg into float radians |
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363 | inline double RadiansFromGPS(s32 deg) |
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1 | ingob | 364 | { |
41 | ingob | 365 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
366 | } |
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1 | ingob | 367 | |
41 | ingob | 368 | //------------------------------------------------------------ |
369 | // transform the integer deg into float deg |
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370 | inline double DegFromGPS(s32 deg) |
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371 | { |
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372 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
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373 | } |
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1 | ingob | 374 | |
41 | ingob | 375 | //------------------------------------------------------------ |
376 | // calculate the deviation from the current position to the target position |
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73 | killagreg | 377 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
41 | ingob | 378 | { |
73 | killagreg | 379 | double temp1, temp2; |
41 | ingob | 380 | // if given pointer is NULL |
381 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
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382 | // if positions are invalid |
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383 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
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1 | ingob | 384 | |
41 | ingob | 385 | // The deviation from the current to the target position along north and east direction is |
386 | // simple the lat/lon difference. To convert that angular deviation into an |
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387 | // arc length the spherical projection has to be considered. |
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388 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
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389 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
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390 | // The arc length per longitude degree depends on the correspondig latitude and |
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391 | // is 111.2km * cos(latitude). |
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1 | ingob | 392 | |
41 | ingob | 393 | // calculate the shortest longitude deviation from target |
394 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
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395 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
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396 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
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397 | if(temp1 > 180.0f) temp1 -= 360.0f; |
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398 | else if (temp1 < -180.0f) temp1 += 360.0f; |
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73 | killagreg | 399 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
41 | ingob | 400 | // calculate latitude deviation from target |
401 | // this is allways within -180 deg ... 180 deg |
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402 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
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403 | // deviation from target position in cm |
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404 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
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405 | |||
73 | killagreg | 406 | pDeviationFromTarget->Status = INVALID; |
407 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
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408 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
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41 | ingob | 409 | // If the position deviation is small enough to neglect the earth curvature |
410 | // (this is for our application always fulfilled) the distance to target |
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411 | // can be calculated by the pythagoras of north and east deviation. |
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102 | killagreg | 412 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
73 | killagreg | 413 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
414 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
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415 | pDeviationFromTarget->Status = NEWDATA; |
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41 | ingob | 416 | return TRUE; |
417 | |||
418 | baddata: |
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73 | killagreg | 419 | pDeviationFromTarget->North = 0L; |
420 | pDeviationFromTarget->East = 0L; |
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421 | pDeviationFromTarget->Distance = 0L; |
||
422 | pDeviationFromTarget->Bearing = 0L; |
||
423 | pDeviationFromTarget->Status = INVALID; |
||
41 | ingob | 424 | return FALSE; |
425 | } |
||
426 | |||
427 | //------------------------------------------------------------ |
||
428 | void GPS_Navigation(void) |
||
429 | { |
||
430 | static u32 beep_rythm; |
||
431 | static u32 GPSDataTimeout = 0; |
||
129 | killagreg | 432 | float compassheading, sin_h, cos_h; |
41 | ingob | 433 | |
434 | // pointer to current target position |
||
435 | static GPS_Pos_t * pTargetPositionOld = NULL; |
||
436 | |||
437 | 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 | 438 | static s32 OperatingRadiusOld = -1; |
41 | ingob | 439 | static u32 WPTime = 0; |
440 | |||
129 | killagreg | 441 | |
442 | |||
443 | // get current heading from the FC gyro compass heading |
||
444 | if(abs(FC.StickYaw) > 20 || FromFlightCtrl.GyroHeading > 3600) compassheading = (float)I2C_Heading.Heading * M_PI_180; |
||
445 | else compassheading = ((float)FromFlightCtrl.GyroHeading * M_PI_180) / 10.0; |
||
446 | |||
447 | sin_h = sin(compassheading); |
||
448 | cos_h = cos(compassheading); |
||
449 | |||
450 | |||
41 | ingob | 451 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
452 | //+ Check for new data from GPS-receiver |
||
453 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
454 | switch(GPSData.Status) |
||
455 | { |
||
456 | case INVALID: // no gps data available |
||
457 | // do nothing |
||
73 | killagreg | 458 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 459 | break; |
460 | |||
461 | case PROCESSED: // the current data have been allready processed |
||
462 | // if no new data are available within the timeout switch to invalid state. |
||
463 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
||
464 | // wait for new gps data |
||
465 | break; |
||
466 | |||
467 | case NEWDATA: // handle new gps data |
||
468 | |||
469 | // update GPS Parameter from FC-Data via SPI interface |
||
470 | GPS_UpdateParameter(); |
||
471 | |||
472 | // wait maximum of 3 times the normal data update time before data timemout |
||
473 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
||
474 | beep_rythm++; |
||
475 | |||
476 | // debug |
||
92 | killagreg | 477 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
478 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
||
479 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
||
41 | ingob | 480 | |
481 | // If GPS signal condition is sufficient for a reliable position measurement |
||
482 | if(GPS_IsSignalOK()) |
||
483 | { |
||
73 | killagreg | 484 | // update home deviation info |
485 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
||
74 | killagreg | 486 | |
41 | ingob | 487 | // if the MK is starting or the home position is invalid then store the home position |
488 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
||
489 | { // try to update the home position from the current position |
||
490 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
||
491 | { |
||
492 | BeepTime = 700; // beep on success |
||
493 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
||
494 | } |
||
495 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
||
152 | killagreg | 496 | if(GPS_pWaypoint != NULL) // if new WP exist |
497 | { // update WP hold time stamp immediately! |
||
159 | killagreg | 498 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
152 | killagreg | 499 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
500 | } |
||
41 | ingob | 501 | } |
502 | |||
503 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
||
504 | |||
505 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
||
103 | killagreg | 506 | switch(GPS_Parameter.FlightMode) |
41 | ingob | 507 | { |
508 | // the GPS control is deactived |
||
509 | case GPS_FLIGHT_MODE_FREE: |
||
96 | killagreg | 510 | |
73 | killagreg | 511 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 512 | // update hold position |
513 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
514 | // no target position |
||
515 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 516 | GPS_TargetRadius = 0; |
41 | ingob | 517 | break; |
518 | |||
519 | // the GPS supports the position hold, if the pilot takes no action |
||
520 | case GPS_FLIGHT_MODE_AID: |
||
96 | killagreg | 521 | |
41 | ingob | 522 | if(GPS_IsManuallyControlled()) |
523 | { |
||
73 | killagreg | 524 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
129 | killagreg | 525 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
41 | ingob | 526 | GPS_pTargetPosition = NULL; |
92 | killagreg | 527 | GPS_TargetRadius = 0; |
41 | ingob | 528 | } |
529 | else |
||
530 | { |
||
159 | killagreg | 531 | /* |
129 | killagreg | 532 | #define PH_MOVE_THRESHOLD 8 |
533 | if( ((abs(FC.StickNick) > PH_MOVE_THRESHOLD) || (abs(FC.StickRoll) > PH_MOVE_THRESHOLD) ) && (FC.RC_Quality > 150)) |
||
534 | { // indirect control by moving the hold position with rc sticks |
||
535 | // rc sticks have a range of +/-127 counts |
||
536 | // GPS Coordinates are in 1-E7 deg, i.e. 1 counts is 1E-7°/360°*40E+8cm = 1.11 cm |
||
537 | // normal manual activtion threshold is 8 counts that results in a change of the hold position |
||
538 | // of min 8*1.11cm * 5Hz = 8.88 = 44.4cm/s an max 127*1.11cm *5Hz = 705cm/s |
||
539 | GPS_HoldPosition.Latitude += (s32)(cos_h*FC.StickNick + sin_h*FC.StickRoll); |
||
540 | GPS_HoldPosition.Longitude += (s32)((sin_h*FC.StickNick - cos_h*FC.StickRoll) / cos(RadiansFromGPS(GPS_HoldPosition.Latitude)) ); |
||
133 | killagreg | 541 | }*/ |
159 | killagreg | 542 | // set target position |
41 | ingob | 543 | GPS_pTargetPosition = &GPS_HoldPosition; |
92 | killagreg | 544 | GPS_TargetRadius = 100; // 1 meter |
41 | ingob | 545 | } |
546 | break; |
||
547 | |||
548 | // the GPS control is directed to a target position |
||
549 | // given by a waypoint or by the home position |
||
550 | case GPS_FLIGHT_MODE_WAYPOINT: |
||
74 | killagreg | 551 | |
73 | killagreg | 552 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
41 | ingob | 553 | { |
73 | killagreg | 554 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
555 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
||
556 | GPS_pTargetPosition = NULL; // set target position invalid |
||
92 | killagreg | 557 | GPS_TargetRadius = 0; |
73 | killagreg | 558 | } |
559 | else // no manual control -> gps position hold active |
||
560 | { |
||
561 | // waypoint trigger logic |
||
130 | killagreg | 562 | if(GPS_pWaypoint != NULL) // pointer to waypoint exist |
41 | ingob | 563 | { |
73 | killagreg | 564 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
41 | ingob | 565 | { |
73 | killagreg | 566 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
152 | killagreg | 567 | if(GPS_pWaypoint != NULL) // if new WP exist |
568 | { // update WP hold time stamp immediately! |
||
159 | killagreg | 569 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
152 | killagreg | 570 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
571 | } |
||
73 | killagreg | 572 | BeepTime = 255; |
41 | ingob | 573 | } |
73 | killagreg | 574 | else // waypoint position is valid |
575 | { |
||
576 | // if WP has been reached once, wait hold time before trigger to next one |
||
92 | killagreg | 577 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
73 | killagreg | 578 | { |
579 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
||
580 | if(CheckDelay(WPTime)) |
||
581 | { |
||
582 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
||
151 | killagreg | 583 | if(GPS_pWaypoint == NULL) GPS_pWaypoint = WPList_End(); // goto last WP if next one not exist |
584 | if(GPS_pWaypoint != NULL) // if new WP exist |
||
585 | { // update WP hold time stamp immediately! |
||
159 | killagreg | 586 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
152 | killagreg | 587 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
151 | killagreg | 588 | } |
73 | killagreg | 589 | } |
152 | killagreg | 590 | } // EOF target reached |
92 | killagreg | 591 | else |
592 | { |
||
593 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
||
594 | } |
||
41 | ingob | 595 | } |
159 | killagreg | 596 | } |
130 | killagreg | 597 | else // pointer to waypoint does not exist |
598 | { |
||
599 | // try to catch the first waypoint from the list |
||
152 | killagreg | 600 | GPS_pWaypoint = WPList_Begin(); |
601 | if(GPS_pWaypoint != NULL) // if new WP exist |
||
602 | { // update WP hold time stamp immediately! |
||
159 | killagreg | 603 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
152 | killagreg | 604 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
159 | killagreg | 605 | } |
130 | killagreg | 606 | } |
607 | // EOF waypoint trigger logic |
||
74 | killagreg | 608 | |
73 | killagreg | 609 | if(GPS_pWaypoint != NULL) // Waypoint exist |
41 | ingob | 610 | { |
159 | killagreg | 611 | // possible new data have been put into wp-list |
612 | if(GPS_pWaypoint->Position.Status == NEWDATA) |
||
613 | { |
||
614 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
||
615 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
616 | } |
||
41 | ingob | 617 | // update the hold position |
618 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
159 | killagreg | 619 | // set target to the waypoint |
620 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
||
621 | // update target radius |
||
102 | killagreg | 622 | GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
92 | killagreg | 623 | |
41 | ingob | 624 | } |
73 | killagreg | 625 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
626 | { |
||
627 | // fly back to home postion |
||
628 | if(GPS_HomePosition.Status == INVALID) |
||
629 | { |
||
630 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
||
92 | killagreg | 631 | GPS_TargetRadius = 100; |
73 | killagreg | 632 | BeepTime = 255; // beep to indicate missin home position |
633 | } |
||
634 | else // the home position is valid |
||
635 | { |
||
636 | // update the hold position |
||
637 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
638 | // set target to home position |
||
639 | GPS_pTargetPosition = &GPS_HomePosition; |
||
92 | killagreg | 640 | GPS_TargetRadius = 100; |
73 | killagreg | 641 | } |
642 | } |
||
643 | } // EOF no manual control |
||
41 | ingob | 644 | break; |
645 | |||
646 | case GPS_FLIGHT_MODE_UNDEF: |
||
647 | default: |
||
73 | killagreg | 648 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 649 | // update hold position |
650 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
651 | // no target position |
||
652 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 653 | GPS_TargetRadius = 0; |
41 | ingob | 654 | break; |
655 | |||
656 | }// EOF GPS Mode Handling |
||
657 | |||
658 | |||
659 | /* Calculation of range target based on the real target */ |
||
660 | |||
661 | // if no target position exist clear the ranged target position |
||
662 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
||
663 | else |
||
664 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
||
665 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
||
666 | { |
||
73 | killagreg | 667 | BeepTime = 255; // beep to indicate setting of a new target position |
92 | killagreg | 668 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
41 | ingob | 669 | // calculate deviation of new target position from home position |
73 | killagreg | 670 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
41 | ingob | 671 | { |
672 | // check distance from home position |
||
73 | killagreg | 673 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
41 | ingob | 674 | { |
675 | //calculate ranged target position to be within the operation radius area |
||
92 | killagreg | 676 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
41 | ingob | 677 | |
102 | killagreg | 678 | TargetHomeDeviation.North = (s32)(((float)TargetHomeDeviation.North * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
679 | TargetHomeDeviation.East = (s32)(((float)TargetHomeDeviation.East * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
||
680 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
||
73 | killagreg | 681 | |
41 | ingob | 682 | RangedTargetPosition.Status = INVALID; |
683 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
||
73 | killagreg | 684 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
41 | ingob | 685 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
73 | killagreg | 686 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
41 | ingob | 687 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
103 | killagreg | 688 | RangedTargetPosition.Status = NEWDATA; |
41 | ingob | 689 | } |
690 | else |
||
691 | { // the target is located within the operation radius area |
||
692 | // simple copy the loaction to the ranged target position |
||
693 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
||
92 | killagreg | 694 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
41 | ingob | 695 | } |
696 | } |
||
697 | else |
||
698 | { // deviation could not be determined |
||
699 | GPS_ClearPosition(&RangedTargetPosition); |
||
700 | } |
||
701 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
||
702 | } |
||
703 | } |
||
704 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
||
705 | // remember last target position pointer |
||
706 | pTargetPositionOld = GPS_pTargetPosition; |
||
707 | |||
708 | /* Calculate position deviation from ranged target */ |
||
709 | |||
710 | // calculate deviation of current position to ranged target position in cm |
||
73 | killagreg | 711 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
92 | killagreg | 712 | { // set target reached flag of we once reached the target point |
93 | killagreg | 713 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
92 | killagreg | 714 | { |
93 | killagreg | 715 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
92 | killagreg | 716 | } |
41 | ingob | 717 | // implement your control code here based |
73 | killagreg | 718 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
41 | ingob | 719 | GPS_Stick.Nick = 0; |
720 | GPS_Stick.Roll = 0; |
||
721 | GPS_Stick.Yaw = 0; |
||
722 | } |
||
723 | else // deviation could not be calculated |
||
724 | { // do nothing on gps sticks! |
||
725 | GPS_Neutral(); |
||
103 | killagreg | 726 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached |
41 | ingob | 727 | } |
728 | |||
729 | }// eof if GPSSignal is OK |
||
730 | else // GPSSignal not OK |
||
731 | { |
||
732 | GPS_Neutral(); |
||
733 | // beep if signal is not sufficient |
||
734 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
||
735 | { |
||
736 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
||
737 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
||
738 | } |
||
739 | } |
||
103 | killagreg | 740 | GPSData.Status = PROCESSED; // mark as processed |
41 | ingob | 741 | break; |
1 | ingob | 742 | } |
41 | ingob | 743 | |
95 | killagreg | 744 | DebugOut.Analog[6] = NCFlags; |
73 | killagreg | 745 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
746 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
||
41 | ingob | 747 | DebugOut.Analog[29] = GPS_Stick.Nick; |
748 | DebugOut.Analog[30] = GPS_Stick.Roll; |
||
749 | |||
750 | // update navi data, send back to ground station |
||
73 | killagreg | 751 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
41 | ingob | 752 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
73 | killagreg | 753 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
41 | ingob | 754 | NaviData.SatsInUse = GPSData.NumOfSats; |
89 | killagreg | 755 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
756 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
||
757 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
||
758 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
||
41 | ingob | 759 | NaviData.UBat = FC.UBat; |
760 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
||
74 | killagreg | 761 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
73 | killagreg | 762 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
763 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
||
764 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
||
125 | killagreg | 765 | NaviData.RC_Quality = FC.RC_Quality; |
766 | NaviData.RC_RSSI = FC.RC_RSSI; |
||
767 | NaviData.MKFlags = FC.MKFlags; |
||
92 | killagreg | 768 | NaviData.NCFlags = NCFlags; |
74 | killagreg | 769 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
89 | killagreg | 770 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
97 | killagreg | 771 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
41 | ingob | 772 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
103 | killagreg | 773 | return; |
1 | ingob | 774 | } |
775 |