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| Rev | Author | Line No. | Line |
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| 2136 | - | 1 | /* |
| 2 | * FollowMe.c |
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| 3 | * |
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| 4 | * Created on: 18.05.2012 |
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| 5 | * Author: cebra |
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| 6 | */ |
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| 7 | /***************************************************************************** |
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| 8 | * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
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| 9 | * * |
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| 10 | * This program is free software; you can redistribute it and/or modify * |
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| 11 | * it under the terms of the GNU General Public License as published by * |
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| 12 | * the Free Software Foundation; either version 2 of the License. * |
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| 13 | * * |
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| 14 | * This program is distributed in the hope that it will be useful, * |
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| 15 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 16 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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| 17 | * GNU General Public License for more details. * |
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| 18 | * * |
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| 19 | * You should have received a copy of the GNU General Public License * |
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| 20 | * along with this program; if not, write to the * |
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| 21 | * Free Software Foundation, Inc., * |
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| 22 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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| 23 | * * |
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| 24 | * * |
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| 25 | * Credits to: * |
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| 26 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
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| 27 | * http://www.mikrokopter.de * |
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| 28 | * Gregor "killagreg" Stobrawa for his version of the MK code * |
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| 29 | * Thomas Kaiser "thkais" for the original project. See * |
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| 30 | * http://www.ft-fanpage.de/mikrokopter/ * |
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| 31 | * http://forum.mikrokopter.de/topic-4061-1.html * |
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| 32 | * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
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| 33 | * http://www.mylifesucks.de/oss/c-osd/ * |
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| 34 | * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
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| 35 | *****************************************************************************/ |
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| 36 | //############################################################################ |
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| 37 | //# HISTORY followme.c |
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| 38 | //# |
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| 2212 | - | 39 | //# |
| 2214 | - | 40 | //# 14.10.2015 Starter |
| 41 | //# - Added Offset to FollowMe |
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| 42 | //# - Stuff in FollowMeStep2 only for debug! |
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| 2212 | - | 43 | //# |
| 44 | //# 22.09.2015 Starter |
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| 45 | //# - FollowMeStep2 erweitert mit Kreisberechnung und test auf PKT |
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| 46 | //# - PKT-Pos von lat lon auf latitude und longitude umbenannt |
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| 47 | //# |
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| 2200 | - | 48 | //# 20.09.2015 Starter |
| 49 | //# FollowMeStep2 erweitert auf aktuelle GPS-Daten und followme_calculate_offset(...) |
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| 50 | //# |
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| 2136 | - | 51 | //# 03.08.2015 Cebra |
| 52 | //# - add: void Debug_GPS (void) hinzugefügt zur Test der GPS Berechnung FollowMe |
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| 53 | //# |
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| 54 | //# 20.07.2015 CB |
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| 55 | //# - chg: FollowMe Datensatz an NC.211 angepasst |
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| 56 | //# |
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| 57 | //# 27.06.2014 OG |
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| 58 | //# - chg: Anzeige von Satfix und Satanzahl auf MINVERSX, MNORMALX |
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| 59 | //# |
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| 60 | //# 26.06.2014 OG |
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| 61 | //# - chg: angepasst auf neue NMEA-Datenstruktur (gps_nmea.h) |
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| 62 | //# |
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| 63 | //# 24.06.2014 OG |
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| 64 | //# - chg: FollowMe() angepasst auf geaendertes GPSMouse_ShowData() |
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| 65 | //# |
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| 66 | //# 22.06.2014 OG |
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| 67 | //# - chg: FollowMe() umgestellt auf GPSMouse_ShowData() (in gps/gpsmouse.c) |
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| 68 | //# - del: Variable CheckGPS |
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| 69 | //# |
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| 70 | //# 21.06.2014 OG |
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| 71 | //# - chg: verschiedene Layoutaenderungen am Anzeigescreen und Anzeige der |
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| 72 | //# Entfernung zwischen Kopter und Target |
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| 73 | //# - chg: MK-Timeoutout Erkennung verbessert/angepasst |
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| 74 | //# |
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| 75 | //# 19.06.2014 OG |
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| 76 | //# - erster Prototyp der Follow Me zum Kopter sendet |
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| 77 | //# - etliche Aenderungen im Codeaufbau |
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| 78 | //# |
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| 79 | //# 01.06.2014 OG |
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| 80 | //# - chg: FollowMe() - verschiedene Anzeigefunktionen auskommentiert und |
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| 81 | //# als DEPRICATED Klassifiziert wegen Cleanup der alten OSD Screens |
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| 82 | //# - chg: FollowMe() - Check bzgl. NC-Hardware entfernt da das bereits durch das |
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| 83 | //# Hauptmenue erledigt wird |
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| 84 | //# |
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| 85 | //# 13.05.2014 OG |
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| 86 | //# - chg: FollowMe() - Variable 'flag' auskommentiert |
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| 87 | //# wegen Warning: variable set but not used |
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| 88 | //# - chg: FollowMe() - Variable 'old_FCFlags' auskommentiert |
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| 89 | //# wegen Warning: variable set but not used |
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| 90 | //# - chg: FollowMe() - den Bereich in dem FC-Settings geladen werdeb |
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| 91 | //# auskommentiert weil man das a) vorallem nicht benoetigt |
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| 92 | //# und b) die load_setting() so nicht mehr existiert |
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| 93 | //# (der Codebereich kann meines erachtens geloescht werden) |
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| 94 | //# - del: verschiedene Verweise auf 'mk_param_struct' entfernt, weil es |
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| 95 | //# das a) nicht mehr gibt und b) hier gar nicht benoetigt wird |
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| 96 | //# - chg: FollowMe() - OSD_Timeout() entfernt (weil es das nicht mehr gibt) |
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| 97 | //# und erstmal durch ein PKT_Message_P() ersetzt |
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| 98 | //# * ACHTUNG: UNGETESTET! * (bei Bedarf anpassen, followme hat niedrige Prio) |
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| 99 | //# - add: #include "../pkt/pkt.h" |
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| 100 | //# |
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| 101 | //# 05.05.2013 Cebra |
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| 102 | //# - chg: #ifdef USE_FOLLOWME |
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| 103 | //# |
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| 104 | //############################################################################ |
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| 105 | |||
| 106 | #include "../cpu.h" |
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| 107 | #include <avr/io.h> |
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| 108 | #include <inttypes.h> |
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| 109 | #include <stdlib.h> |
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| 110 | #include <avr/pgmspace.h> |
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| 111 | #include <util/delay.h> |
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| 112 | |||
| 113 | #include <string.h> |
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| 114 | #include <stdarg.h> |
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| 115 | #include <stdio.h> |
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| 116 | |||
| 117 | #include "../main.h" |
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| 118 | |||
| 119 | #ifdef USE_FOLLOWME |
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| 120 | |||
| 121 | #include "../followme/followme.h" |
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| 122 | #include "../osd/osd.h" |
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| 123 | #include "../lcd/lcd.h" |
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| 124 | #include "../timer/timer.h" |
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| 125 | #include "../uart/usart.h" |
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| 126 | #include "../eeprom/eeprom.h" |
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| 127 | #include "../messages.h" |
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| 128 | #include "../bluetooth/bluetooth.h" |
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| 129 | #include "../setup/setup.h" |
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| 130 | #include "../uart/uart1.h" |
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| 131 | #include "../mk-data-structs.h" |
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| 132 | #include "../pkt/pkt.h" |
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| 133 | #include "../gps/gps.h" |
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| 134 | //#include "../gps/gps_nmea.h" |
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| 135 | #include "../avr-nmea-gps-library/nmea.h" |
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| 136 | #include "../gps/gpsmouse.h" |
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| 137 | |||
| 138 | |||
| 139 | //####################################################################################################################### |
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| 140 | |||
| 141 | |||
| 142 | //-------------------- |
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| 143 | // Timings |
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| 144 | //-------------------- |
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| 145 | //#define MK_TIMEOUT 300 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (3 sec) |
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| 146 | #define MK_TIMEOUT 400 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (4 sec) |
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| 147 | |||
| 148 | |||
| 149 | |||
| 150 | //-------------------- |
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| 151 | #define COSD_WASFLYING 4 |
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| 152 | |||
| 153 | // global definitions and global vars |
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| 154 | NaviData_t *naviData; |
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| 155 | unsigned char Element; |
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| 156 | uint16_t heading_home; |
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| 157 | |||
| 158 | // Hier Höhenanzeigefehler Korrigieren |
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| 159 | #define AltimeterAdjust 1.5 |
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| 160 | |||
| 2212 | - | 161 | positionOffset followMeOffset; |
| 2136 | - | 162 | |
| 163 | |||
| 2212 | - | 164 | |
| 2136 | - | 165 | // Flags |
| 166 | //uint8_t COSD_FLAGS2 = 0; |
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| 167 | // |
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| 168 | //GPS_Pos_t last5pos[7]; |
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| 169 | uint8_t FM_error = 0; |
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| 170 | |||
| 171 | |||
| 172 | //--------------------- |
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| 173 | // Waypoint Types |
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| 174 | // TODO OG: verschieben nach: mk-data-structs.h |
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| 175 | //--------------------- |
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| 176 | #define POINT_TYPE_INVALID 255 |
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| 177 | #define POINT_TYPE_WP 0 |
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| 178 | #define POINT_TYPE_POI 1 |
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| 179 | |||
| 180 | |||
| 181 | //--------------------- |
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| 182 | // Status |
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| 183 | // GPS_Pos_t |
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| 184 | // aus MK source |
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| 185 | // |
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| 186 | // TODO OG: verschieben nach: mk-data-structs.h |
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| 187 | //--------------------- |
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| 188 | #define INVALID 0x00 |
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| 189 | #define NEWDATA 0x01 |
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| 190 | #define PROCESSED 0x02 |
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| 191 | |||
| 192 | |||
| 193 | |||
| 194 | //-------------------------------------------------------------- |
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| 195 | //-------------------------------------------------------------- |
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| 196 | void FollowMe( void ) |
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| 197 | { |
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| 198 | //uint8_t status; |
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| 199 | GPS_Pos_t currpos; |
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| 200 | uint8_t tmp_dat; |
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| 201 | uint8_t redraw; |
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| 202 | uint8_t drawmode; |
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| 203 | uint32_t NMEA_GPGGA_counter_old; // Merker: zaehlt empfangene GPGGA-Pakete |
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| 204 | uint32_t send_followme_counter; |
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| 205 | |||
| 206 | int8_t ok; |
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| 207 | int8_t xoffs; |
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| 208 | int8_t yoffs; |
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| 209 | Point_t FollowMe; |
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| 210 | uint8_t mktimeout = false; |
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| 211 | |||
| 2214 | - | 212 | nmeaPOS NMEApos; |
| 213 | nmeaPOS NMEAtarget; |
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| 2136 | - | 214 | |
| 215 | GPS_PosDev_t targetdev; |
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| 216 | |||
| 217 | |||
| 218 | //--------------------- |
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| 219 | // 1. Daten GPS-Maus |
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| 220 | //--------------------- |
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| 221 | ok = GPSMouse_ShowData( GPSMOUSE_SHOW_WAITSATFIX, 500 ); // 500 = 5 Sekunden Verzoegerung nach Satfix |
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| 222 | if( ok <= 0 ) |
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| 223 | { |
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| 224 | return; // Fehler bzgl. BT GPS-Maus -> exit |
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| 225 | } |
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| 226 | |||
| 227 | |||
| 228 | //--------------------- |
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| 229 | // 2. Follow Me |
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| 230 | //--------------------- |
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| 231 | set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
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| 232 | |||
| 233 | lcd_cls (); |
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| 234 | |||
| 235 | SwitchToNC(); |
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| 236 | |||
| 237 | mode = 'O'; |
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| 238 | |||
| 239 | // disable debug... |
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| 240 | // RS232_request_mk_data (0, 'd', 0); |
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| 241 | tmp_dat = 0; |
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| 242 | SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
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| 243 | |||
| 244 | // request OSD Data from NC every 100ms |
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| 245 | // RS232_request_mk_data (1, 'o', 100); |
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| 246 | tmp_dat = 10; |
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| 247 | SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
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| 248 | |||
| 249 | //OSD_active = true; // benötigt für Navidata Ausgabe an SV2 |
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| 250 | |||
| 251 | //------------------------- |
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| 252 | // Init: Timer & Flags |
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| 253 | //------------------------- |
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| 254 | timer_mk_timeout = MK_TIMEOUT; |
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| 255 | |||
| 256 | abo_timer = ABO_TIMEOUT; |
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| 257 | |||
| 258 | |||
| 259 | MKLiPoCells_Init(); |
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| 260 | |||
| 261 | redraw = true; |
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| 262 | |||
| 263 | NMEA.Counter = 0; |
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| 264 | NMEA_GPGGA_counter_old = 0; |
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| 265 | send_followme_counter = 0; |
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| 266 | |||
| 267 | |||
| 268 | while( (receiveNMEA) ) |
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| 269 | { |
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| 270 | //----------------------------------------- |
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| 271 | // Screen redraw |
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| 272 | //----------------------------------------- |
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| 273 | if( redraw ) |
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| 274 | { |
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| 275 | lcd_cls(); |
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| 276 | |||
| 277 | lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("FollowMe") ); // Titel: oben, mitte |
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| 278 | |||
| 279 | lcd_line( (6*6-3), 0, (6*6-3), 11, 1); // Linie Vertikal links |
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| 280 | lcd_line( (15*6+5), 0, (15*6+5), 11, 1); // Linie Vertikal rechts |
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| 281 | lcd_line( 0, 12, 127, 12, 1); // Linie Horizontal |
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| 282 | |||
| 283 | //lcd_line( 0, 39, 127, 39, 1); // Linie Horizontal Mitte |
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| 284 | lcd_line( 66, 39, 127, 39, 1); // Linie Horizontal Mitte |
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| 285 | |||
| 286 | lcd_rect_round( 0, 33, 66, 12, 1, R1); // Rahmen fuer "Di" (Distance) |
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| 287 | |||
| 288 | lcdx_printf_at_P( 3, 2, MNORMAL, 3,-1, PSTR("Al:") ); // Label: "Al:" |
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| 289 | |||
| 290 | draw_icon_mk( 1, 18); |
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| 291 | draw_icon_target_round( 1, 50); |
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| 292 | |||
| 293 | redraw = false; |
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| 294 | } |
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| 295 | |||
| 296 | |||
| 297 | |||
| 298 | //----------------------------------------- |
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| 299 | // neue MK Daten vorhanden |
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| 300 | //----------------------------------------- |
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| 301 | if( rxd_buffer_locked ) // neue MK Daten |
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| 302 | { |
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| 303 | Decode64 (); |
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| 304 | naviData = (NaviData_t *) pRxData; |
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| 305 | |||
| 306 | if( mktimeout ) redraw = true; |
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| 307 | mktimeout = false; |
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| 308 | |||
| 309 | FM_error = 0; // noch benoetigt? |
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| 310 | |||
| 311 | currpos.Latitude = naviData->CurrentPosition.Latitude; |
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| 312 | currpos.Longitude = naviData->CurrentPosition.Longitude; |
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| 313 | |||
| 314 | //---------------------------------- |
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| 315 | // speichere letzte GPS-Positionen |
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| 316 | //---------------------------------- |
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| 317 | Config.LastLatitude = naviData->CurrentPosition.Latitude; // speichere letzte Position in Config |
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| 318 | Config.LastLongitude = naviData->CurrentPosition.Longitude; // speichere letzte Position in Config |
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| 319 | |||
| 320 | |||
| 321 | //---------------------------------- |
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| 322 | // LiPo Cell Check |
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| 323 | //---------------------------------- |
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| 324 | MKLiPoCells_Check(); // ggf. Zellenzahl ermitteln |
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| 325 | |||
| 326 | |||
| 327 | //################# |
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| 328 | //# MK |
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| 329 | //################# |
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| 330 | |||
| 331 | //----------------- |
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| 332 | // Oben: MK-Batt Level (Volt) |
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| 333 | //----------------- |
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| 334 | OSD_Element_BattLevel2( 0, 0, 0,0 ); |
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| 335 | |||
| 336 | //----------------- |
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| 337 | // Oben: Batt Level Bar |
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| 338 | //----------------- |
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| 339 | OSD_Element_Battery_Bar( 0, 9, 30, 1, ORIENTATION_H); |
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| 340 | |||
| 341 | //----------------- |
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| 342 | // Oben: MK-Flugzeit |
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| 343 | //----------------- |
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| 344 | writex_time(16, 0, naviData->FlyingTime, MNORMAL, 2,0); |
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| 345 | |||
| 346 | //----------------- |
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| 347 | // Hoehe |
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| 348 | //----------------- |
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| 349 | xoffs = 3; |
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| 350 | yoffs = -1; |
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| 351 | writex_altimeter( 7, 2, naviData->Altimeter, MNORMAL, xoffs,yoffs ); |
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| 352 | |||
| 353 | //----------------- |
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| 354 | // MK: Sat Anzahl |
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| 355 | //----------------- |
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| 356 | yoffs = -27; |
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| 2212 | - | 357 | if( naviData->SatsInUse > 5 ) |
| 358 | drawmode = MNORMALX; |
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| 359 | else |
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| 360 | drawmode = MINVERSX; |
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| 2136 | - | 361 | writex_ndigit_number_u( 17, 5, naviData->SatsInUse, 2, 0,drawmode, 3,2+yoffs); |
| 362 | draw_icon_satmini( 116+3, 42+yoffs); |
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| 363 | |||
| 364 | |||
| 365 | //----------------- |
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| 366 | // MK: GPS |
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| 367 | //----------------- |
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| 368 | writex_gpspos( 3, 4, currpos.Latitude , MNORMAL,-3,-8 ); // Line 4 L: Latitude |
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| 369 | writex_gpspos(12, 4, currpos.Longitude, MNORMAL, 1,-8 ); // Line 4 R: Longitude |
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| 370 | // lcdx_printf_at_P( 1, 4, MNORMAL, -3,-8 , PSTR("%d"), NMEA.Latitude); |
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| 371 | // lcdx_printf_at_P( 10, 4, MNORMAL, -1,-8 , PSTR("%d"), NMEA.Longitude); |
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| 372 | |||
| 373 | |||
| 374 | |||
| 375 | //################# |
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| 376 | //# DISTANCE TO TARGET |
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| 377 | //################# |
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| 378 | |||
| 379 | //----------------- |
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| 380 | // Target: Distance to Target |
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| 381 | //----------------- |
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| 382 | xoffs = 7; |
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| 383 | yoffs = 4; |
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| 384 | //GPS_PosDev_t gps_Deviation( GPS_Pos_t pos1, GPS_Pos_t pos2 ) |
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| 385 | targetdev = gps_Deviation( FollowMe.Position, naviData->CurrentPosition); |
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| 386 | lcdx_printf_at_P( 0, 4, MNORMAL, xoffs,yoffs , PSTR("Di: %3d m"), (targetdev.Distance / 10) ); |
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| 387 | |||
| 388 | |||
| 389 | //################# |
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| 390 | //# TARGET (GPS Maus) |
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| 391 | //################# |
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| 392 | |||
| 393 | yoffs = 8; |
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| 394 | |||
| 395 | //----------------- |
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| 396 | // Send Counter |
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| 397 | //----------------- |
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| 398 | //lcdx_printf_at_P(4, 5, MNORMAL, 0,5, PSTR("S: %ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
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| 399 | lcdx_printf_at_P( 4, 5, MNORMAL, -3,yoffs, PSTR("Tx:%5ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
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| 400 | |||
| 401 | |||
| 402 | //----------------- |
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| 403 | // Target: Fix |
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| 404 | //----------------- |
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| 405 | if( NMEA.SatFix == 1 || NMEA.SatFix == 2 ) |
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| 406 | drawmode = MNORMALX; |
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| 407 | else |
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| 408 | drawmode = MINVERSX; |
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| 409 | |||
| 410 | lcdx_printf_at_P( 14, 5, drawmode, 1,yoffs, PSTR("F:%1d"), NMEA.SatFix ); // GPS-Maus: Satfix |
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| 411 | |||
| 412 | |||
| 413 | //----------------- |
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| 414 | // Target: Sat Anzahl |
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| 415 | //----------------- |
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| 416 | if( NMEA.SatsInUse > 5 ) |
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| 417 | drawmode = MNORMALX; |
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| 418 | else |
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| 419 | drawmode = MINVERSX; |
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| 420 | |||
| 421 | writex_ndigit_number_u( 17, 5, NMEA.SatsInUse, 2, 0,drawmode, 4,yoffs); |
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| 422 | draw_icon_satmini( 116+4, 40+yoffs); |
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| 423 | |||
| 424 | |||
| 425 | //----------------- |
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| 426 | // Target: Lat / Long |
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| 427 | //----------------- |
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| 428 | writex_gpspos( 3, 7, NMEA.Latitude , MNORMAL,-3,1 ); // GPS-Maus: Latitude |
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| 429 | writex_gpspos(12, 7, NMEA.Longitude, MNORMAL, 1,1 ); // GPS-Maus: Longitude |
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| 430 | |||
| 431 | rxd_buffer_locked = FALSE; |
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| 432 | |||
| 433 | timer_mk_timeout = MK_TIMEOUT; |
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| 434 | } |
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| 435 | |||
| 436 | //----------------------------------------- |
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| 437 | // if( !NMEA_receiveBT() ) |
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| 438 | // { |
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| 439 | // receiveNMEA = false; |
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| 440 | // } |
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| 441 | // else |
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| 442 | // { |
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| 443 | // NMEA_GetNewData(); |
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| 444 | // } |
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| 445 | |||
| 446 | |||
| 447 | // Sourcecode aus NaviCtrl/V2.10e/uart1.c |
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| 448 | // FOLLOW_ME |
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| 449 | // else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
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| 450 | // { |
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| 451 | // if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
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| 452 | // { |
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| 453 | // TransmitAlsoToFC = 1; |
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| 454 | // // update FollowMe content |
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| 455 | // FollowMe.Position.Longitude = GPSData.Position.Longitude; |
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| 456 | // FollowMe.Position.Latitude = GPSData.Position.Latitude; |
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| 457 | // FollowMe.Position.Status = NEWDATA; |
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| 458 | // FollowMe.Position.Altitude = 1; |
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| 459 | // // 0 -> no Orientation |
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| 460 | // // 1-360 -> CompassCourse Setpoint |
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| 461 | // // -1 -> points to WP1 -> itself |
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| 462 | // FollowMe.Heading = -1; |
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| 463 | // FollowMe.ToleranceRadius = 1; |
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| 464 | // FollowMe.HoldTime = 60; |
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| 465 | // FollowMe.Event_Flag = 1; |
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| 466 | // FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
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| 467 | // FollowMe.Type = POINT_TYPE_WP; |
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| 468 | // FollowMe.WP_EventChannelValue = 100; // set servo value |
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| 469 | // FollowMe.AltitudeRate = 0; // do not change height |
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| 470 | // FollowMe.Speed = 0; // rate to change the Position (0 = max) |
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| 471 | // FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
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| 472 | // FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
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| 473 | // FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
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| 474 | // FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
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| 475 | // FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
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| 476 | // FollowMe.reserve[0] = 0; // reserve |
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| 477 | // FollowMe.reserve[1] = 0; // reserve |
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| 478 | // MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
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| 479 | // } |
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| 480 | // UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
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| 481 | // } |
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| 482 | // |
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| 483 | |||
| 484 | |||
| 485 | |||
| 486 | |||
| 487 | //----------------------------------------- |
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| 488 | // neue NMEA Daten? |
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| 489 | //----------------------------------------- |
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| 490 | if(NMEA_isdataready() && receiveNMEA) |
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| 491 | { |
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| 492 | if( NMEA.Counter > NMEA_GPGGA_counter_old ) |
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| 493 | { |
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| 494 | if( (NMEA.SatsInUse > 5) && (NMEA.SatFix == 1 || NMEA.SatFix == 2) ) |
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| 495 | { |
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| 496 | //Config.FM_Refresh |
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| 497 | |||
| 2212 | - | 498 | // FollowMeStep2 |
| 2214 | - | 499 | followMeOffset.latitude = Config.FM_Offest_Latitude; |
| 500 | followMeOffset.longitude = Config.FM_Offset_Longitude; |
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| 2212 | - | 501 | |
| 2214 | - | 502 | NMEApos.latitude = NMEA.Latitude; |
| 503 | NMEApos.longitude = NMEA.Longitude; |
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| 504 | |||
| 505 | followme_add_offset(&NMEApos, &NMEAtarget, &followMeOffset); |
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| 506 | |||
| 2136 | - | 507 | FollowMe.Position.Status = NEWDATA; |
| 2214 | - | 508 | FollowMe.Position.Longitude = NMEAtarget.longitude; |
| 509 | FollowMe.Position.Latitude = NMEAtarget.latitude; |
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| 2136 | - | 510 | FollowMe.Position.Altitude = 1; // 20.7.2015 CB |
| 511 | // FollowMe.Position.Altitude = NMEA.Altitude; // ist das wirklich ok? NEIN C.B. |
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| 512 | |||
| 513 | FollowMe.Heading = -1; // invalid heading |
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| 514 | FollowMe.ToleranceRadius = Config.FM_Radius; // 5 meter default |
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| 515 | FollowMe.HoldTime = 60; // ????? go home after 60s without any update ?????? |
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| 516 | // FollowMe.Event_Flag = 0; // no event |
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| 517 | FollowMe.Event_Flag = 1; // 20.7.2015 CB |
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| 518 | FollowMe.Index = 1; // 2st wp, 0 = Delete List, 1 place at first entry in the list |
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| 519 | FollowMe.Type = POINT_TYPE_WP; // Typ des Wegpunktes |
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| 520 | FollowMe.Name[0] = 'F'; // Name des Wegpunktes (ASCII) |
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| 521 | FollowMe.Name[1] = 'O'; |
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| 522 | FollowMe.Name[2] = 'L'; |
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| 523 | FollowMe.Name[3] = 'L'; |
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| 524 | // FollowMe.WP_EventChannelValue = 0; // Will be transferred to the FC and can be used as Poti value there |
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| 525 | FollowMe.WP_EventChannelValue = 100; // set servo value 20.7.2015 |
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| 526 | FollowMe.AltitudeRate = 0; // rate to change the Aetpoint |
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| 527 | FollowMe.Speed = Config.FM_Speed; // rate to change the Position |
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| 528 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
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| 529 | FollowMe.reserve[0] = 0; // reserve |
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| 530 | FollowMe.reserve[1] = 0; // reserve |
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| 531 | |||
| 532 | SendOutData( 's', ADDRESS_NC, 1, &FollowMe, sizeof(FollowMe) ); //'s' = target Position 'w' = Waypoint |
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| 533 | send_followme_counter++; |
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| 534 | |||
| 535 | //void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
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| 536 | // SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
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| 537 | //SendOutData( 's', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); //'s' = target Position 'w' = Waypoint |
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| 538 | |||
| 539 | } |
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| 540 | |||
| 541 | NMEA_GPGGA_counter_old = NMEA.Counter; |
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| 542 | } |
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| 543 | } |
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| 544 | |||
| 545 | //----------------------------------------- |
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| 546 | // TASTEN |
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| 547 | //----------------------------------------- |
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| 548 | if( get_key_press(1 << KEY_ESC) ) |
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| 549 | { |
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| 550 | break; |
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| 551 | } |
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| 552 | |||
| 553 | if( get_key_press(1 << KEY_ENTER) ) |
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| 554 | { |
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| 555 | break; |
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| 556 | } |
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| 557 | |||
| 558 | //----------------------------------------- |
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| 559 | //----------------------------------------- |
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| 560 | if( !abo_timer ) |
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| 561 | { |
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| 562 | // renew abo every 3 sec |
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| 563 | // request OSD Data from NC every 100ms |
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| 564 | // RS232_request_mk_data (1, 'o', 100); |
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| 565 | tmp_dat = 10; |
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| 566 | SendOutData ( 'o', ADDRESS_NC, 1, &tmp_dat, 1); |
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| 567 | |||
| 568 | abo_timer = ABO_TIMEOUT; |
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| 569 | } |
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| 570 | |||
| 571 | //-------------------------- |
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| 572 | // Daten Timeout vom MK? |
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| 573 | //-------------------------- |
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| 574 | if( timer_mk_timeout == 0 ) |
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| 575 | { |
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| 576 | if( !mktimeout ) OSD_MK_ShowTimeout(); // nur anzeigen wenn noch nicht im mktimeout-Modus |
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| 577 | set_beep ( 200, 0x0080, BeepNormal); // Beep |
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| 578 | mktimeout = true; |
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| 579 | timer_mk_timeout = MK_TIMEOUT; |
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| 580 | //OSDScreenRefresh = OSD_SCREEN_REDRAW; |
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| 581 | // OSD_MK_Connect( MK_CONNECT ); |
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| 582 | } |
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| 583 | |||
| 584 | } // end: while( (receiveNMEA) ); |
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| 585 | |||
| 586 | |||
| 587 | |||
| 588 | //--------------------- |
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| 589 | // BEENDEN |
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| 590 | //--------------------- |
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| 591 | OSD_active = false; |
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| 592 | |||
| 593 | |||
| 594 | //--------------------- |
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| 595 | // GPS beenden |
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| 596 | //--------------------- |
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| 597 | GPSMouse_Disconnect(); |
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| 598 | } |
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| 599 | |||
| 600 | |||
| 601 | |||
| 602 | |||
| 603 | |||
| 2200 | - | 604 | // |
| 605 | #ifdef USE_FOLLOWME_STEP2 |
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| 2136 | - | 606 | void Debug_GPS (void) |
| 607 | { |
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| 2212 | - | 608 | uint8_t redraw = true; |
| 609 | nmeaPOS NMEApos; |
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| 610 | nmeaPOS NMEATarget; |
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| 2195 | - | 611 | |
| 2199 | - | 612 | set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
| 2136 | - | 613 | |
| 614 | |||
| 2212 | - | 615 | #ifdef ONLINE |
| 616 | int retcode = GPSMouse_Connect(); // Abfrage der GPS-Daten zum testen -> Quick an Dirty ;-) |
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| 2200 | - | 617 | if( retcode <= 0 ) |
| 618 | { |
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| 619 | return; |
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| 620 | } |
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| 2212 | - | 621 | #endif |
| 2195 | - | 622 | |
| 2212 | - | 623 | #ifdef DEBUG |
| 624 | // NMEApos.lat = 520000000; |
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| 625 | // NMEApos.lon = 0; |
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| 626 | // Config.FM_Azimuth = 90; |
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| 627 | // Config.FM_Distance = 10000; |
||
| 628 | #endif |
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| 2200 | - | 629 | |
| 2199 | - | 630 | while( true ) |
| 631 | { |
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| 2212 | - | 632 | NMEApos.latitude = NMEA.Latitude; |
| 633 | NMEApos.longitude = NMEA.Longitude; |
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| 2136 | - | 634 | |
| 2199 | - | 635 | if( redraw ) |
| 636 | { |
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| 637 | lcd_cls(); |
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| 2136 | - | 638 | |
| 2212 | - | 639 | lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("FollowMeStep2") ); |
| 2200 | - | 640 | lcdx_printf_center_P( 1, MNORMAL, 1,0, PSTR(" Source Lat/Lon") ); |
| 641 | lcdx_printf_center_P( 3, MNORMAL, 1,0, PSTR(" Target Lat/Lon") ); |
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| 2136 | - | 642 | |
| 2199 | - | 643 | redraw = false; |
| 644 | } |
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| 2136 | - | 645 | |
| 2212 | - | 646 | writex_gpspos( 1, 2, NMEApos.latitude, MNORMAL, 0,0 ); // GPS-Maus: Latitude |
| 647 | writex_gpspos(10, 2, NMEApos.longitude, MNORMAL, 0,0 ); // GPS-Maus: Longitude |
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| 2136 | - | 648 | |
| 2214 | - | 649 | followme_calculate_offset(Config.FM_Offset_Longitude, Config.FM_Offest_Latitude, &followMeOffset); |
| 2136 | - | 650 | |
| 2212 | - | 651 | #ifdef DEBUG |
| 2214 | - | 652 | writex_gpspos( 1, 6, (int32_t)Config.FM_Offest_Latitude*100, MNORMAL, 0, 0 ); |
| 653 | writex_gpspos( 10, 6, (int32_t)Config.FM_Offset_Longitude*100, MNORMAL, 0, 0 ); |
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| 2212 | - | 654 | writex_gpspos( 1, 7, (int32_t)followMeOffset.latitude*100, MNORMAL, 0, 0 ); |
| 655 | writex_gpspos( 10, 7, (int32_t)followMeOffset.longitude*100, MNORMAL, 0, 0 ); |
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| 656 | #endif |
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| 2136 | - | 657 | |
| 2212 | - | 658 | followme_add_offset(&NMEApos, &NMEATarget, &followMeOffset); |
| 2136 | - | 659 | |
| 2212 | - | 660 | writex_gpspos( 1, 4, (int32_t)NMEATarget.latitude, MNORMAL, 0, 0 ); // Ziel Latitude |
| 661 | writex_gpspos(10, 4, (int32_t)NMEATarget.longitude, MNORMAL, 0, 0 ); // Ziel Longitude |
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| 2136 | - | 662 | |
| 663 | |||
| 664 | |||
| 665 | |||
| 2212 | - | 666 | // Tasten |
| 2199 | - | 667 | if( get_key_press(1 << KEY_ESC) ) |
| 668 | { |
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| 2212 | - | 669 | #ifdef ONLINE |
| 2200 | - | 670 | GPSMouse_Disconnect(); |
| 2212 | - | 671 | #endif |
| 2199 | - | 672 | break; |
| 673 | } |
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| 2136 | - | 674 | |
| 2199 | - | 675 | if( get_key_press(1 << KEY_ENTER) ) |
| 676 | { |
||
| 2212 | - | 677 | redraw = true; |
| 2199 | - | 678 | } |
| 2212 | - | 679 | |
| 680 | if( get_key_press(1 << KEY_MINUS) ) |
||
| 681 | { |
||
| 2214 | - | 682 | Config.FM_Offest_Latitude -= 10; |
| 2212 | - | 683 | redraw = true; |
| 684 | } |
||
| 685 | if( get_key_press(1 << KEY_PLUS) ) |
||
| 686 | { |
||
| 2214 | - | 687 | Config.FM_Offest_Latitude += 10; |
| 2212 | - | 688 | redraw = true; |
| 689 | } |
||
| 2195 | - | 690 | } |
| 2136 | - | 691 | } |
| 692 | |||
| 2195 | - | 693 | |
| 694 | |||
| 2212 | - | 695 | #endif // FOLLOW_ME_STEP2 |
| 2136 | - | 696 | #endif // #ifdef USE_FOLLOWME |
| 697 | |||
| 698 |