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41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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516 | holgerb | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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41 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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516 | holgerb | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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41 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
41 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
516 | holgerb | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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41 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
490 | killagreg | 56 | #include <ctype.h> |
57 | #include <stdio.h> |
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516 | holgerb | 58 | #include <stdlib.h> |
41 | ingob | 59 | #include <string.h> |
60 | #include "91x_lib.h" |
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61 | #include "waypoints.h" |
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62 | #include "uart1.h" |
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490 | killagreg | 63 | #include "fat16.h" |
504 | holgerb | 64 | #include "main.h" |
513 | killagreg | 65 | #include "spi_slave.h" |
41 | ingob | 66 | |
496 | killagreg | 67 | |
68 | WPL_Store_t WPL_Store; |
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69 | |||
280 | killagreg | 70 | Point_t PointList[MAX_LIST_LEN]; |
71 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
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72 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
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73 | u8 WPCount = 0; // number of waypoints |
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491 | killagreg | 74 | u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
75 | u8 POICount = 0; // number of point of interest in the list |
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601 | holgerb | 76 | u8 FsPointCnt = 0; |
517 | holgerb | 77 | s16 HeadingOld = -1; |
577 | holgerb | 78 | u32 SD_WaypointTimeout = 5; // Setting on SD-Card |
41 | ingob | 79 | |
296 | killagreg | 80 | u8 WPActive = FALSE; |
280 | killagreg | 81 | |
82 | u8 PointList_Init(void) |
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41 | ingob | 83 | { |
516 | holgerb | 84 | return PointList_Clear(); |
41 | ingob | 85 | } |
86 | |||
280 | killagreg | 87 | u8 PointList_Clear(void) |
41 | ingob | 88 | { |
89 | u8 i; |
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227 | killagreg | 90 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
91 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
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280 | killagreg | 92 | WPCount = 0; // no waypoints |
601 | holgerb | 93 | FsPointCnt = 0; |
516 | holgerb | 94 | POICount = 0; |
280 | killagreg | 95 | PointCount = 0; // no contents |
296 | killagreg | 96 | WPActive = FALSE; |
280 | killagreg | 97 | NaviData.WaypointNumber = WPCount; |
98 | NaviData.WaypointIndex = 0; |
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99 | for(i = 0; i < MAX_LIST_LEN; i++) |
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41 | ingob | 100 | { |
280 | killagreg | 101 | PointList[i].Position.Status = INVALID; |
102 | PointList[i].Position.Latitude = 0; |
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103 | PointList[i].Position.Longitude = 0; |
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104 | PointList[i].Position.Altitude = 0; |
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105 | PointList[i].Heading = 361; // invalid value |
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106 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
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107 | PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
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490 | killagreg | 108 | PointList[i].Event_Flag = 0; // future implementation |
109 | PointList[i].Index = 0; |
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286 | killagreg | 110 | PointList[i].Type = POINT_TYPE_INVALID; |
490 | killagreg | 111 | PointList[i].WP_EventChannelValue = 0; |
286 | killagreg | 112 | PointList[i].AltitudeRate = 0; // no change of setpoint |
490 | killagreg | 113 | PointList[i].Speed = 0; |
114 | PointList[i].CamAngle = 0; |
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115 | PointList[i].Name[0] = 0; |
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41 | ingob | 116 | } |
504 | holgerb | 117 | ClearWLP_Name(); |
516 | holgerb | 118 | return TRUE; |
41 | ingob | 119 | } |
120 | |||
280 | killagreg | 121 | u8 PointList_GetCount(void) |
41 | ingob | 122 | { |
280 | killagreg | 123 | return PointCount; // number of points in the list |
41 | ingob | 124 | } |
125 | |||
295 | killagreg | 126 | Point_t* PointList_GetAt(u8 index) |
41 | ingob | 127 | { |
295 | killagreg | 128 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
129 | else return(NULL); |
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130 | } |
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131 | |||
132 | u8 PointList_SetAt(Point_t* pPoint) |
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133 | { |
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134 | // if index is in range |
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296 | killagreg | 135 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
41 | ingob | 136 | { |
295 | killagreg | 137 | // check list entry before update |
138 | switch(PointList[pPoint->Index-1].Type) |
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277 | killagreg | 139 | { |
295 | killagreg | 140 | case POINT_TYPE_INVALID: // was invalid |
141 | switch(pPoint->Type) |
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142 | { |
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143 | default: |
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144 | case POINT_TYPE_INVALID: |
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145 | // nothing to do |
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146 | break; |
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147 | |||
785 | holgerb | 148 | case POINT_TYPE_LAND: |
149 | FsPointCnt++; // break fehlt absichtlich |
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295 | killagreg | 150 | case POINT_TYPE_WP: |
151 | WPCount++; |
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152 | PointCount++; |
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153 | break; |
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516 | holgerb | 154 | |
295 | killagreg | 155 | case POINT_TYPE_POI: |
156 | POICount++; |
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157 | PointCount++; |
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158 | break; |
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601 | holgerb | 159 | case POINT_TYPE_FS: |
160 | FsPointCnt++; |
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161 | PointCount++; |
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162 | break; |
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295 | killagreg | 163 | } |
516 | holgerb | 164 | break; |
165 | |||
785 | holgerb | 166 | case POINT_TYPE_LAND: // was a landing point |
295 | killagreg | 167 | switch(pPoint->Type) |
168 | { |
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169 | case POINT_TYPE_INVALID: |
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170 | WPCount--; |
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171 | PointCount--; |
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172 | break; |
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277 | killagreg | 173 | |
295 | killagreg | 174 | default: |
785 | holgerb | 175 | case POINT_TYPE_LAND: |
176 | break; |
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295 | killagreg | 177 | case POINT_TYPE_WP: |
785 | holgerb | 178 | FsPointCnt--; |
179 | break; |
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180 | case POINT_TYPE_FS: |
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181 | FsPointCnt++; |
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182 | WPCount--; |
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183 | break; |
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184 | case POINT_TYPE_POI: |
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185 | POICount++; |
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186 | WPCount--; |
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187 | break; |
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188 | } |
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189 | break; |
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190 | case POINT_TYPE_WP: |
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191 | switch(pPoint->Type) |
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192 | { |
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193 | case POINT_TYPE_INVALID: |
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194 | WPCount--; |
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195 | PointCount--; |
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196 | break; |
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197 | |||
198 | default: |
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199 | case POINT_TYPE_LAND: |
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200 | FsPointCnt++; |
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201 | break; |
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202 | case POINT_TYPE_WP: |
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295 | killagreg | 203 | //nothing to do |
204 | break; |
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601 | holgerb | 205 | case POINT_TYPE_FS: |
206 | FsPointCnt++; |
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207 | WPCount--; |
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208 | break; |
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295 | killagreg | 209 | case POINT_TYPE_POI: |
210 | POICount++; |
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211 | WPCount--; |
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212 | break; |
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213 | } |
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214 | break; |
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516 | holgerb | 215 | |
295 | killagreg | 216 | case POINT_TYPE_POI: // was a poi |
217 | switch(pPoint->Type) |
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218 | { |
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219 | case POINT_TYPE_INVALID: |
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220 | POICount--; |
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221 | PointCount--; |
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222 | break; |
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223 | |||
785 | holgerb | 224 | case POINT_TYPE_LAND: |
225 | FsPointCnt++; // break fehlt absichtlich |
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295 | killagreg | 226 | case POINT_TYPE_WP: |
227 | WPCount++; |
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228 | POICount--; |
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229 | break; |
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601 | holgerb | 230 | |
231 | case POINT_TYPE_FS: |
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232 | FsPointCnt++; |
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233 | POICount--; |
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234 | break; |
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516 | holgerb | 235 | |
295 | killagreg | 236 | case POINT_TYPE_POI: |
237 | default: |
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238 | // nothing to do |
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239 | break; |
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240 | } |
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601 | holgerb | 241 | case POINT_TYPE_FS: // was a Failsafe |
242 | switch(pPoint->Type) |
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243 | { |
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244 | case POINT_TYPE_INVALID: |
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245 | FsPointCnt--; |
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246 | PointCount--; |
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247 | break; |
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248 | |||
785 | holgerb | 249 | case POINT_TYPE_LAND: |
250 | FsPointCnt++; |
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601 | holgerb | 251 | case POINT_TYPE_WP: |
252 | WPCount++; |
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253 | FsPointCnt--; |
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254 | break; |
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255 | |||
256 | case POINT_TYPE_POI: |
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257 | POICount++; |
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258 | FsPointCnt--; |
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259 | break; |
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260 | |||
261 | case POINT_TYPE_FS: |
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262 | break; |
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263 | default: |
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264 | // nothing to do |
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265 | break; |
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266 | } |
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516 | holgerb | 267 | break; |
277 | killagreg | 268 | } |
516 | holgerb | 269 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
295 | killagreg | 270 | NaviData.WaypointNumber = WPCount; |
271 | return pPoint->Index; |
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41 | ingob | 272 | } |
296 | killagreg | 273 | else return(0); |
41 | ingob | 274 | } |
275 | |||
227 | killagreg | 276 | // returns the pointer to the first waypoint within the list |
785 | holgerb | 277 | Point_t* PointList_WPBegin(u32 start) |
41 | ingob | 278 | { |
786 | holgerb | 279 | u8 i, wp_nr = 0; |
227 | killagreg | 280 | WPIndex = 0; // set list position invalid |
295 | killagreg | 281 | |
283 | holgerb | 282 | if(WPActive == FALSE) return(NULL); |
295 | killagreg | 283 | |
277 | killagreg | 284 | POIIndex = 0; // set invalid POI |
785 | holgerb | 285 | if(PointCount > start) |
152 | killagreg | 286 | { |
225 | killagreg | 287 | // search for first wp in list |
786 | holgerb | 288 | for(i = 0; i <MAX_LIST_LEN; i++) |
225 | killagreg | 289 | { |
785 | holgerb | 290 | if(((PointList[i].Type == POINT_TYPE_WP)||(PointList[i].Type == POINT_TYPE_LAND)) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
225 | killagreg | 291 | { |
227 | killagreg | 292 | WPIndex = i + 1; |
786 | holgerb | 293 | wp_nr++; // count the number of scipped WPs to make sure that the Index in the NaviData is correct |
294 | if(i >= start) break; |
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225 | killagreg | 295 | } |
296 | } |
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277 | killagreg | 297 | if(WPIndex) // found a WP in the list |
298 | { |
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786 | holgerb | 299 | NaviData.WaypointIndex = wp_nr; |
549 | holgerb | 300 | NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
277 | killagreg | 301 | // update index to POI |
280 | killagreg | 302 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
516 | holgerb | 303 | else POIIndex = 0; |
277 | killagreg | 304 | } |
305 | else // some points in the list but no WP found |
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306 | { |
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280 | killagreg | 307 | NaviData.WaypointIndex = 0; |
277 | killagreg | 308 | //Check for an existing POI |
295 | killagreg | 309 | for(i = 0; i < MAX_LIST_LEN; i++) |
277 | killagreg | 310 | { |
280 | killagreg | 311 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
277 | killagreg | 312 | { |
313 | POIIndex = i + 1; |
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314 | break; |
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315 | } |
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316 | } |
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317 | } |
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152 | killagreg | 318 | } |
277 | killagreg | 319 | else // no point in the list |
152 | killagreg | 320 | { |
516 | holgerb | 321 | POIIndex = 0; |
322 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 323 | } |
295 | killagreg | 324 | |
325 | if(WPIndex) return(&(PointList[WPIndex-1])); |
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326 | else return(NULL); |
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41 | ingob | 327 | } |
328 | |||
225 | killagreg | 329 | // returns the last waypoint |
280 | killagreg | 330 | Point_t* PointList_WPEnd(void) |
151 | killagreg | 331 | { |
516 | holgerb | 332 | |
277 | killagreg | 333 | u8 i; |
227 | killagreg | 334 | WPIndex = 0; // set list position invalid |
277 | killagreg | 335 | POIIndex = 0; // set invalid |
283 | holgerb | 336 | |
280 | killagreg | 337 | if(WPActive == FALSE) return(NULL); |
277 | killagreg | 338 | |
280 | killagreg | 339 | if(PointCount > 0) |
151 | killagreg | 340 | { |
227 | killagreg | 341 | // search backward! |
295 | killagreg | 342 | for(i = 1; i <= MAX_LIST_LEN; i++) |
225 | killagreg | 343 | { |
785 | holgerb | 344 | if(((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) || (PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_LAND)) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
516 | holgerb | 345 | { |
295 | killagreg | 346 | WPIndex = MAX_LIST_LEN - i + 1; |
225 | killagreg | 347 | break; |
348 | } |
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349 | } |
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277 | killagreg | 350 | if(WPIndex) // found a WP within the list |
351 | { |
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280 | killagreg | 352 | NaviData.WaypointIndex = WPCount; |
353 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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516 | holgerb | 354 | else POIIndex = 0; |
277 | killagreg | 355 | } |
278 | killagreg | 356 | else // list contains some points but no WP in the list |
277 | killagreg | 357 | { |
358 | // search backward for a POI! |
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295 | killagreg | 359 | for(i = 1; i <= MAX_LIST_LEN; i++) |
277 | killagreg | 360 | { |
295 | killagreg | 361 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
516 | holgerb | 362 | { |
295 | killagreg | 363 | POIIndex = MAX_LIST_LEN - i + 1; |
277 | killagreg | 364 | break; |
365 | } |
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366 | } |
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516 | holgerb | 367 | NaviData.WaypointIndex = 0; |
277 | killagreg | 368 | } |
151 | killagreg | 369 | } |
277 | killagreg | 370 | else // no point in the list |
227 | killagreg | 371 | { |
280 | killagreg | 372 | POIIndex = 0; |
373 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 374 | } |
295 | killagreg | 375 | if(WPIndex) return(&(PointList[WPIndex-1])); |
376 | else return(NULL); |
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151 | killagreg | 377 | } |
378 | |||
41 | ingob | 379 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
280 | killagreg | 380 | Point_t* PointList_WPNext(void) |
41 | ingob | 381 | { |
227 | killagreg | 382 | u8 wp_found = 0; |
280 | killagreg | 383 | if(WPActive == FALSE) return(NULL); |
516 | holgerb | 384 | |
295 | killagreg | 385 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
41 | ingob | 386 | { |
227 | killagreg | 387 | u8 i; |
295 | killagreg | 388 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
225 | killagreg | 389 | { |
785 | holgerb | 390 | if(((PointList[i].Type == POINT_TYPE_WP) || (PointList[i].Type == POINT_TYPE_LAND)) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
225 | killagreg | 391 | { |
227 | killagreg | 392 | wp_found = i+1; |
225 | killagreg | 393 | break; |
394 | } |
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601 | holgerb | 395 | /* |
396 | else |
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397 | if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
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398 | { |
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399 | GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
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400 | } |
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401 | */ |
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225 | killagreg | 402 | } |
41 | ingob | 403 | } |
227 | killagreg | 404 | if(wp_found) |
405 | { |
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406 | WPIndex = wp_found; // update list position |
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280 | killagreg | 407 | NaviData.WaypointIndex++; |
408 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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227 | killagreg | 409 | else POIIndex = 0; |
280 | killagreg | 410 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
227 | killagreg | 411 | } |
516 | holgerb | 412 | else |
280 | killagreg | 413 | { // no next wp found |
516 | holgerb | 414 | NaviData.WaypointIndex = 0; |
277 | killagreg | 415 | POIIndex = 0; |
416 | return(NULL); |
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417 | } |
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516 | holgerb | 418 | } |
280 | killagreg | 419 | |
420 | void PointList_WPActive(u8 set) |
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421 | { |
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295 | killagreg | 422 | if(set) |
516 | holgerb | 423 | { |
295 | killagreg | 424 | WPActive = TRUE; |
785 | holgerb | 425 | PointList_WPBegin(0); // updates POI index |
295 | killagreg | 426 | } |
427 | else |
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428 | { |
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429 | WPActive = FALSE; |
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430 | POIIndex = 0; // disable POI also |
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431 | } |
||
280 | killagreg | 432 | } |
516 | holgerb | 433 | |
280 | killagreg | 434 | Point_t* PointList_GetPOI(void) |
224 | killagreg | 435 | { |
516 | holgerb | 436 | return PointList_GetAt(POIIndex); |
224 | killagreg | 437 | } |
438 | |||
513 | killagreg | 439 | |
490 | killagreg | 440 | #define LINE_MAX 70 |
441 | #define WP_FILE_VERSION_COMPATIBLE 3 |
||
513 | killagreg | 442 | |
443 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
||
490 | killagreg | 444 | { |
445 | File_t *fp; |
||
495 | killagreg | 446 | s8 wpline[LINE_MAX]; |
447 | u8 retval = WPL_ERROR; |
||
513 | killagreg | 448 | |
767 | holgerb | 449 | UART1_PutString("\r\n Save WPL..."); |
490 | killagreg | 450 | |
451 | if(Fat16_IsValid()) |
||
452 | { // check if wpl file is existing |
||
513 | killagreg | 453 | if(fexist_(filename)) |
495 | killagreg | 454 | { //file is existent |
516 | holgerb | 455 | if(!(overwride)) |
495 | killagreg | 456 | { |
457 | UART1_PutString("Error: file exist!\r\n"); |
||
458 | return(WPL_FILEEXIST); |
||
516 | holgerb | 459 | } |
495 | killagreg | 460 | } |
513 | killagreg | 461 | fp = fopen_(filename, 'w'); // try to open the file |
490 | killagreg | 462 | if(fp == NULL) |
463 | { |
||
464 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
||
465 | return(retval); |
||
466 | } |
||
467 | // Create general section and key entries |
||
468 | fputs_("[General]\r\n", fp); |
||
516 | holgerb | 469 | sprintf(wpline, "Name=%s\r\n", listname); |
494 | killagreg | 470 | fputs_(wpline, fp); |
516 | holgerb | 471 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
490 | killagreg | 472 | fputs_(wpline, fp); |
473 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
||
474 | fputs_(wpline, fp); |
||
475 | // dump all points if existent |
||
476 | if(PointCount) |
||
477 | { |
||
478 | u8 i, u8_1; |
||
479 | s32 i32_1, i32_2; |
||
504 | holgerb | 480 | NewWPL_Name = 1; |
490 | killagreg | 481 | for (i = 0; i < PointCount; i++) |
482 | { |
||
483 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
||
484 | fputs_(wpline, fp); |
||
485 | // write latitude in deg |
||
486 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
||
487 | else u8_1 = '+'; |
||
488 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
||
489 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
||
490 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
491 | fputs_(wpline, fp); |
||
492 | // write longitude in deg |
||
493 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
||
494 | else u8_1 = '+'; |
||
495 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
||
496 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
||
497 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
498 | fputs_(wpline, fp); |
||
499 | // write tolerace radius in m |
||
500 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
||
501 | fputs_(wpline, fp); |
||
502 | // write altitude in m |
||
503 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
||
504 | else u8_1 = '+'; |
||
505 | if(PointList[i].Type == POINT_TYPE_POI) |
||
506 | { |
||
507 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
||
508 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
||
509 | } |
||
510 | else |
||
511 | { |
||
512 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
||
513 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
||
514 | } |
||
515 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
||
516 | fputs_(wpline, fp); |
||
517 | // write climb rate in 0.1 m/s |
||
518 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
||
519 | fputs_(wpline, fp); |
||
520 | // write hold time in s |
||
521 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
||
522 | fputs_(wpline, fp); |
||
523 | // write event channel value |
||
524 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
||
525 | fputs_(wpline, fp); |
||
526 | // write heading in deg (0= nothing, neg. values index to poi) |
||
527 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
||
528 | fputs_(wpline, fp); |
||
529 | // write speed in 0.1 m/s |
||
530 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
||
531 | fputs_(wpline, fp); |
||
532 | // write cam angle in degree (255 -> POI-Automatic) |
||
533 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
||
534 | fputs_(wpline, fp); |
||
535 | // write point type |
||
536 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
||
516 | holgerb | 537 | fputs_(wpline, fp); |
538 | // write prefix |
||
490 | killagreg | 539 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
540 | fputs_(wpline, fp); |
||
642 | holgerb | 541 | sprintf(wpline, "AutoTrigger=%d\r\n", PointList[i].AutoPhotoDistance); |
542 | fputs_(wpline, fp); |
||
490 | killagreg | 543 | } // EOF loop over all points |
544 | } // EOF if(PointCount) |
||
545 | if(EOF == fclose_(fp)) |
||
546 | { |
||
547 | UART1_PutString("failed!\r\n"); |
||
548 | } |
||
549 | else |
||
550 | { |
||
551 | UART1_PutString("ok\r\n"); |
||
495 | killagreg | 552 | retval = WPL_OK; |
516 | holgerb | 553 | } |
490 | killagreg | 554 | } // EOF if(Fat16_IsValid()) |
516 | holgerb | 555 | else |
497 | killagreg | 556 | { |
557 | UART1_PutString("no file system found!\r\n"); |
||
558 | retval = WPL_NO_SDCARD_FOUND; |
||
559 | } |
||
490 | killagreg | 560 | return(retval); |
561 | } |
||
562 | |||
519 | holgerb | 563 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
490 | killagreg | 564 | { |
565 | File_t *fp; |
||
496 | killagreg | 566 | s8 wpline[LINE_MAX]; |
567 | u8 retval = WPL_ERROR; |
||
516 | holgerb | 568 | |
490 | killagreg | 569 | s8 *name, *value; |
570 | u8 i; |
||
571 | |||
572 | u8 IsGeneralSection = 0; |
||
573 | u8 IsPointSection = 0; |
||
574 | u8 WPNumber = 0; |
||
498 | killagreg | 575 | |
576 | // clear point list first |
||
577 | PointList_Clear(); |
||
517 | holgerb | 578 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
767 | holgerb | 579 | UART1_PutString("\r\n Read "); |
516 | holgerb | 580 | UART1_PutString(filename); |
490 | killagreg | 581 | UART1_PutString("..."); |
582 | |||
583 | if(Fat16_IsValid()) |
||
584 | { // check if wpl file is existing |
||
513 | killagreg | 585 | fp = fopen_(filename, 'r'); // try to open the file |
490 | killagreg | 586 | if(fp == NULL) |
587 | { |
||
588 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
||
496 | killagreg | 589 | return(retval); |
490 | killagreg | 590 | } |
591 | // read all lines from file |
||
592 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
||
593 | { |
||
594 | if ( // ignorelines starting with \r,\n,' ',';','#' |
||
595 | (wpline[0] != '\n') && |
||
596 | (wpline[0] != '\r') && |
||
597 | (wpline[0] != ' ' ) && |
||
598 | (wpline[0] != ';' ) && |
||
599 | (wpline[0] != '#' ) |
||
600 | ) |
||
601 | { |
||
602 | // check for section line found |
||
603 | if(wpline[0] == '[') |
||
604 | { |
||
605 | // next section found |
||
606 | IsGeneralSection = 0; |
||
607 | IsPointSection = 0; |
||
608 | |||
609 | name = strtok(&wpline[1], "]"); |
||
610 | if(name != NULL) // if section name |
||
611 | { |
||
612 | // check section type |
||
613 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
614 | |||
615 | if(strncmp(name, "POINT", 5) == 0) |
||
616 | { |
||
617 | IsPointSection = (u8)atoi(&name[5]); |
||
618 | PointCount++; |
||
619 | } |
||
620 | else if(strcmp(name, "GENERAL") == 0) |
||
621 | { |
||
622 | IsGeneralSection = 1; |
||
623 | } |
||
624 | else |
||
625 | { |
||
626 | UART1_PutString("Unknown section: "); |
||
627 | UART1_PutString(name); |
||
628 | UART1_PutString("\r\n"); |
||
629 | } |
||
630 | } |
||
631 | } // EOF section line |
||
632 | else |
||
633 | { // look for key entrys of each sections |
||
634 | name = strtok(wpline, "="); // get name |
||
635 | value = strtok(NULL, "="); // get value |
||
636 | if ((name != NULL) && (value != NULL)) |
||
637 | { |
||
638 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
639 | if(IsPointSection && (IsPointSection <= WPNumber)) |
||
640 | { |
||
641 | if(strcmp(name, "LATITUDE") == 0) |
||
642 | { |
||
643 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
||
644 | } |
||
645 | else if(strcmp(name, "LONGITUDE") == 0) |
||
646 | { |
||
647 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
||
648 | } |
||
649 | else if(strcmp(name, "RADIUS") == 0) |
||
650 | { |
||
651 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
||
652 | } |
||
653 | else if(strcmp(name, "ALTITUDE") == 0) |
||
654 | { |
||
655 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
||
656 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
||
657 | } |
||
658 | else if(strcmp(name, "CLIMBRATE") == 0) |
||
659 | { |
||
660 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
||
661 | } |
||
662 | else if(strcmp(name, "DELAYTIME") == 0) |
||
663 | { |
||
664 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
||
665 | } |
||
666 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
||
667 | { |
||
668 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
||
669 | } |
||
670 | else if(strcmp(name, "HEADING") == 0) |
||
671 | { |
||
672 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
||
673 | } |
||
674 | else if(strcmp(name, "SPEED") == 0) |
||
675 | { |
||
519 | holgerb | 676 | if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
677 | else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
||
490 | killagreg | 678 | } |
679 | else if(strcmp(name, "CAM-NICK") == 0) |
||
680 | { |
||
681 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
||
682 | } |
||
683 | else if(strcmp(name, "TYPE") == 0) |
||
684 | { |
||
685 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
||
686 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
||
687 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
||
516 | holgerb | 688 | |
490 | killagreg | 689 | switch(PointList[IsPointSection-1].Type) |
690 | { |
||
785 | holgerb | 691 | case POINT_TYPE_LAND: |
692 | FsPointCnt++; // break fehlt absichtlich |
||
490 | killagreg | 693 | case POINT_TYPE_WP: |
694 | // this works only if altitude key is set before point type key in WPL file !! |
||
516 | holgerb | 695 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
490 | killagreg | 696 | WPCount++; |
697 | break; |
||
601 | holgerb | 698 | case POINT_TYPE_FS: |
699 | FsPointCnt++; |
||
700 | break; |
||
490 | killagreg | 701 | case POINT_TYPE_POI: |
702 | POICount++; |
||
703 | break; |
||
704 | } |
||
705 | } |
||
706 | else if(strcmp(name, "PREFIX") == 0) |
||
707 | { |
||
708 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
||
709 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
||
710 | } |
||
642 | holgerb | 711 | else if(strcmp(name, "AUTOTRIGGER") == 0) |
712 | { |
||
713 | PointList[IsPointSection-1].AutoPhotoDistance = (u8)atoi(value); |
||
714 | } |
||
490 | killagreg | 715 | else |
716 | { |
||
717 | UART1_PutString("Unknown key: "); |
||
718 | UART1_PutString(name); |
||
719 | UART1_PutString("\r\n"); |
||
516 | holgerb | 720 | } |
490 | killagreg | 721 | } // EOF point section |
722 | else if(IsGeneralSection) |
||
723 | { |
||
724 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
||
516 | holgerb | 725 | { |
490 | killagreg | 726 | WPNumber = (u8)atoi(value); |
727 | if(!WPNumber) // no waypoints in file |
||
728 | { |
||
516 | holgerb | 729 | return(WPL_NO_WAYPOINTS); // we are done here |
490 | killagreg | 730 | } |
731 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
||
732 | { |
||
514 | holgerb | 733 | UART1_PutString("To many points!"); |
497 | killagreg | 734 | return(WPL_ERROR); |
516 | holgerb | 735 | } |
490 | killagreg | 736 | } |
737 | else if (strcmp(name, "FILEVERSION") == 0) |
||
738 | { |
||
739 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
||
740 | { |
||
496 | killagreg | 741 | PointList_Clear(); |
490 | killagreg | 742 | UART1_PutString("Bad file version!\r\n"); |
516 | holgerb | 743 | return(WPL_ERROR); |
490 | killagreg | 744 | } |
745 | } |
||
495 | killagreg | 746 | else if (strcmp(name, "NAME") == 0) |
747 | { |
||
513 | killagreg | 748 | if(listname) |
498 | killagreg | 749 | { |
513 | killagreg | 750 | u8 len = strlen(value); |
751 | if(len) |
||
752 | { |
||
753 | if(value[len-1] == '\r') |
||
754 | { |
||
755 | value[len-1] = 0; |
||
540 | holgerb | 756 | // len--; |
513 | killagreg | 757 | } |
758 | } |
||
759 | if(len > listnamelen) len = listnamelen; |
||
760 | if(len) |
||
761 | { |
||
762 | value[len-1] = 0; // terminate string |
||
763 | if(listname) memcpy(listname, value, len); |
||
764 | } |
||
765 | NewWPL_Name = 1; |
||
498 | killagreg | 766 | } |
495 | killagreg | 767 | } |
490 | killagreg | 768 | else |
769 | { |
||
770 | UART1_PutString("Unknown key: "); |
||
771 | UART1_PutString(name); |
||
772 | UART1_PutString("\r\n"); |
||
773 | } |
||
774 | } // EOF general section |
||
775 | } // EOF valid key entry |
||
776 | } // EOF key entry line |
||
777 | } // valid line |
||
778 | } // EOF loop over all lines |
||
779 | fclose_(fp); |
||
780 | NaviData.WaypointNumber = WPCount; |
||
516 | holgerb | 781 | retval = WPL_OK; |
782 | UART1_PutString("ok\r\n"); |
||
490 | killagreg | 783 | } // EOF if(Fat16_IsValid()) |
516 | holgerb | 784 | else |
497 | killagreg | 785 | { |
786 | UART1_PutString("no file system found!\r\n"); |
||
787 | retval = WPL_NO_SDCARD_FOUND; |
||
516 | holgerb | 788 | } |
490 | killagreg | 789 | return(retval); |
491 | killagreg | 790 | } |
490 | killagreg | 791 | |
513 | killagreg | 792 | // load actual point list from SD card |
793 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
||
794 | { |
||
516 | holgerb | 795 | u8 filename[30]; |
513 | killagreg | 796 | |
797 | pWPL_Store->Name[0] = 0; // clear current list name |
||
798 | |||
799 | // user absolute path, i.e. leading / |
||
800 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
||
801 | { |
||
516 | holgerb | 802 | sprintf(filename, "/default.wpl"); |
513 | killagreg | 803 | } |
804 | else |
||
805 | { |
||
806 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
807 | } |
||
519 | holgerb | 808 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
513 | killagreg | 809 | } |
810 | |||
811 | // save actual point list to SD card |
||
812 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
||
813 | { |
||
814 | u8 filename[30]; |
||
516 | holgerb | 815 | |
816 | |||
513 | killagreg | 817 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
516 | holgerb | 818 | // user absolute path, i.e. leading / |
513 | killagreg | 819 | if(pWPL_Store->Index == 0) |
820 | { |
||
821 | sprintf(filename, "/default.wpl"); |
||
822 | } |
||
823 | else |
||
824 | { |
||
825 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
826 | } |
||
827 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
||
828 | } |
||
829 | |||
830 | |||
516 | holgerb | 831 | // save actual gps positiin and heading to file |
513 | killagreg | 832 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
833 | { |
||
834 | u8 retval = WPL_ERROR; |
||
835 | u8 filename[30]; |
||
836 | Point_t WP; |
||
837 | |||
767 | holgerb | 838 | UART1_PutString("\r\n write single point\r\n"); |
516 | holgerb | 839 | if(GPSData.Position.Status == INVALID) |
840 | { |
||
767 | holgerb | 841 | UART1_PutString("ERROR: No GPS - Fix\r\n"); |
514 | holgerb | 842 | return(retval); |
516 | holgerb | 843 | } |
513 | killagreg | 844 | |
845 | // clear current point list |
||
846 | PointList_Clear(); |
||
847 | // prepare WP at current position |
||
519 | holgerb | 848 | |
737 | holgerb | 849 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance_dm > 7*10) |
519 | holgerb | 850 | { // take actual position |
851 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
||
852 | } |
||
853 | else |
||
854 | { // take last target position |
||
855 | GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
||
856 | } |
||
857 | |||
513 | killagreg | 858 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
859 | // set heading |
||
545 | holgerb | 860 | WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
513 | killagreg | 861 | if(WP.Heading == 0) WP.Heading = 360; |
519 | holgerb | 862 | WP.ToleranceRadius = 120; // 12m |
863 | WP.HoldTime = 2; |
||
513 | killagreg | 864 | WP.Index = 1; |
865 | WP.Type = POINT_TYPE_WP; |
||
695 | holgerb | 866 | WP.WP_EventChannelValue = 100; |
576 | holgerb | 867 | if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
516 | holgerb | 868 | { |
519 | holgerb | 869 | WP.AltitudeRate = 255; // Auto |
870 | WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
||
516 | holgerb | 871 | } |
872 | else |
||
514 | holgerb | 873 | { |
516 | holgerb | 874 | WP.AltitudeRate = 0; |
875 | WP.Position.Altitude = 0; |
||
514 | holgerb | 876 | } |
519 | holgerb | 877 | WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
513 | killagreg | 878 | WP.CamAngle = 0; |
521 | holgerb | 879 | WP.Name[0] = 'S'; |
880 | WP.Name[1] = 'P'; |
||
881 | WP.Name[2] = 'T'; |
||
882 | WP.Name[3] = 0; |
||
513 | killagreg | 883 | // add this point to wp list |
884 | PointList_SetAt(&WP); |
||
514 | holgerb | 885 | |
886 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
||
516 | holgerb | 887 | UART1_PutString(filename); |
514 | holgerb | 888 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
513 | killagreg | 889 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
514 | holgerb | 890 | |
891 | // clear current point list |
||
519 | holgerb | 892 | if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
549 | holgerb | 893 | else // es ist gearde ein Wegpunktflug aktiv -> updaten |
519 | holgerb | 894 | { |
895 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
785 | holgerb | 896 | GPS_pWaypoint = PointList_WPBegin(0); // updates POI index |
519 | holgerb | 897 | } |
898 | |||
513 | killagreg | 899 | return(retval); |
900 | } |
||
901 | // load target gps posititon and heading from file |
||
902 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
||
903 | { |
||
519 | holgerb | 904 | u8 filename[30], result = 0; |
516 | holgerb | 905 | |
514 | holgerb | 906 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
513 | killagreg | 907 | pWPL_Store->Name[0] = 0; // clear current list name |
519 | holgerb | 908 | result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
909 | if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
||
910 | return(result); |
||
513 | killagreg | 911 | } |
912 | |||
913 | |||
516 | holgerb | 914 | |
504 | holgerb | 915 | void ClearWLP_Name(void) |
916 | { |
||
513 | killagreg | 917 | u8 i; |
918 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
||
919 | NewWPL_Name = 1; |
||
504 | holgerb | 920 | } |
513 | killagreg | 921 | |
491 | killagreg | 922 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
503 | holgerb | 923 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
491 | killagreg | 924 | { |
925 | u8 retval = 0; |
||
513 | killagreg | 926 | s32 altitude; |
927 | GPS_Pos_t OldRefPos; |
||
491 | killagreg | 928 | GPS_Pos_Deviation_t RefDeviation; |
516 | holgerb | 929 | |
491 | killagreg | 930 | // check inputs for plausibility; |
516 | holgerb | 931 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
491 | killagreg | 932 | if(pRefPos == NULL) return(retval); |
933 | if(pRefPos->Status == INVALID) return(retval); |
||
934 | |||
513 | killagreg | 935 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
491 | killagreg | 936 | { |
937 | u8 i; |
||
513 | killagreg | 938 | // iterate the position list |
491 | killagreg | 939 | for(i = 0; i < PointCount; i++) |
940 | { |
||
941 | retval = 0; |
||
513 | killagreg | 942 | // backup altitude of this point |
943 | altitude = PointList[i].Position.Altitude; |
||
944 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
||
945 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
||
491 | killagreg | 946 | // copy of the new reference position into this list place |
947 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
||
516 | holgerb | 948 | // restore former altitude |
513 | killagreg | 949 | PointList[i].Position.Altitude = altitude; |
491 | killagreg | 950 | // move new reference according to the deviation of the old reference |
513 | killagreg | 951 | if(RotationAngle > 0) |
952 | { |
||
737 | holgerb | 953 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance_cm ); |
513 | killagreg | 954 | // Now rotate the heading positions if they are fixed angles |
955 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
||
956 | } |
||
957 | else // no rotation |
||
958 | { |
||
959 | // move new reference according to the deviation of the old reference |
||
960 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
||
961 | } |
||
516 | holgerb | 962 | if(!retval) break; |
491 | killagreg | 963 | } |
964 | } // else ref pos old not copied! |
||
965 | if(!retval) PointList_Clear(); |
||
966 | return(retval); |
||
967 | } |
||
968 | |||
516 | holgerb | 969 | |
491 | killagreg | 970 |