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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * 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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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include "main.h" |
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| 58 | |||
| 59 | u8 OsdBar; // Direction home for OSD |
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| 60 | s16 OsdDistance; // Distance home |
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| 61 | s16 GPS_Nick; |
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| 62 | s16 GPS_Roll; |
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| 63 | |||
| 64 | struct str_GPSParameter GPSParameter; |
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| 65 | |||
| 66 | #define GPS_MODE_FREE 0 |
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| 67 | #define GPS_MODE_AID 1 |
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| 68 | #define GPS_MODE_HOLD 2 |
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| 69 | #define GPS_MODE_HOME 3 |
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| 70 | u32 GpsFlightMode = GPS_MODE_FREE; |
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| 71 | |||
| 72 | //------------------------------------------------------------ |
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| 73 | // Init variables or send configuration to GPS module |
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| 74 | void GPS_Init(void) |
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| 75 | { |
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| 76 | GPS_Nick = 0; |
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| 77 | GPS_Roll = 0; |
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| 78 | OsdDistance = 0; |
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| 79 | OsdBar = 0; |
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| 80 | |||
| 81 | GPSParameter.P = 100; |
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| 82 | GPSParameter.I = 100; |
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| 83 | GPSParameter.D = 100; |
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| 84 | GPSParameter.A = 100; |
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| 85 | GPSParameter.ACC = 100; |
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| 86 | GPSParameter.ModeSchalter = 100; |
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| 87 | GPSParameter.Amplification = 100;; |
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| 88 | } |
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| 89 | //------------------------------------------------------------ |
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| 90 | |||
| 91 | u8 Navigation(void) |
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| 92 | { |
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| 93 | static char GpsFix = 0, NewGpsMode = 0; |
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| 94 | static u32 beep_rythm; |
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| 95 | u32 tmp_long; |
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| 96 | if(NewGPSDataAvail) // there are new data from gps module |
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| 97 | { |
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| 98 | NewGPSDataAvail = 0; |
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| 99 | beep_rythm++; |
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| 100 | |||
| 101 | GPSParameter.ModeSchalter = Parameter_UserParam1; |
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| 102 | GPSParameter.Amplification = (float) Parameter_UserParam2 / (100.0); |
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| 103 | GPSParameter.P = (float) Parameter_UserParam3; |
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| 104 | GPSParameter.I = (float) Parameter_UserParam4; |
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| 105 | GPSParameter.D = (float) Parameter_UserParam5; |
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| 106 | GPSParameter.A = (float) Parameter_UserParam6; |
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| 107 | GPSParameter.ACC = (float) Parameter_UserParam7; |
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| 108 | |||
| 109 | if(SenderOkay < 100) // Empfangsausfall |
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| 110 | { |
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| 111 | GPSParameter.ModeSchalter = 0; |
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| 112 | GPSParameter.Amplification = 100; |
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| 113 | GPSParameter.P = (float) 90; |
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| 114 | GPSParameter.I = (float) 90; |
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| 115 | GPSParameter.D = (float) 90; |
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| 116 | GPSParameter.A = (float) 90; |
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| 117 | GPSParameter.ACC = (float) 90; |
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| 118 | } |
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| 119 | |||
| 120 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 121 | //+ GPS-Mode |
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| 122 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 123 | tmp_long = GpsFlightMode; |
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| 124 | if(GPSParameter.ModeSchalter < 20) GpsFlightMode = GPS_MODE_AID; |
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| 125 | else |
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| 126 | if(GPSParameter.ModeSchalter < 200) GpsFlightMode = GPS_MODE_FREE; |
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| 127 | else GpsFlightMode = GPS_MODE_HOME; |
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| 128 | if(GpsFlightMode != tmp_long) // Mode changed |
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| 129 | { |
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| 130 | BeepTime = 100; |
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| 131 | NewGpsMode = 1; |
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| 132 | } |
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| 133 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 134 | |||
| 135 | |||
| 136 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 137 | //+ Fix okay |
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| 138 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 139 | if((GPS_Data.Flags & GPS_FIX) && ((GPS_Data.Used_Sat >= GPS_SAT_MIN) || GpsFix)) |
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| 140 | { |
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| 141 | GpsFix = 1; // hysteresis |
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| 142 | // here is a good place to put your GPS code... |
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| 143 | GPS_Nick = 0; // do nothing |
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| 144 | GPS_Roll = 0; // do nothing |
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| 145 | } |
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| 146 | else |
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| 147 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 148 | //+ No Fix |
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| 149 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 150 | { |
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| 151 | GPS_Nick = 0; // reset value |
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| 152 | GPS_Roll = 0; // reset value |
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| 153 | if(!(GPS_Data.Flags & 0x01) && !(beep_rythm % 5)) BeepTime = 100; |
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| 154 | else if (GPS_Data.Used_Sat < GPS_SAT_MIN && !(beep_rythm % 5)) BeepTime = 10; |
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| 155 | } |
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| 156 | } |
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| 157 | return (0); |
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| 158 | } |
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| 159 |