0,0 → 1,264 |
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/****************************************************************/ |
/* */ |
/* NG-Video 5,8GHz */ |
/* */ |
/* Copyright (C) 2011 - gebad */ |
/* */ |
/* This code is distributed under the GNU Public License */ |
/* which can be found at http://www.gnu.org/licenses/gpl.txt */ |
/* */ |
/****************************************************************/ |
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#include "usart.h" |
#include "math.h" |
#include <stdio.h> |
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#include "servo.h" |
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#define DLEFT 0 |
#define DRIGHT 1 |
#define DEG_TO_RAD 0.0174533// degrees to radians = PI / 180 |
#define RAD_TO_DEG 57.2957795// radians to degrees = 180 / PI |
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typedef struct { |
double distance; |
double bearing; |
} geo_t; |
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/**************************************************************/ |
/* */ |
/* RSSI Tracking */ |
/* */ |
/**************************************************************/ |
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void Tracking_RSSI(void) |
{ uint16_t u0, u1; |
static uint8_t direction; |
static uint16_t servo1pos; |
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u0 = (ADC_Read(RSSI0) * (uint32_t)udbm_korr_1)/UDBM_KORR_FA; |
u1 = (ADC_Read(RSSI1) * (uint32_t)udbm_korr_2)/UDBM_KORR_FA; |
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if (direction == DLEFT) { |
if (u0 < u1) { |
if ( servo1pos > 0) --servo1pos; // Servo Endposition? |
servoSetPosition(SERVO_PAN, servo1pos); // beibehaltene Richtung ==> sofort ausführen |
} |
else |
if (u0 > (u1 + track_hyst)) direction = DRIGHT; // Richtungwechsel, wenn Hysterese überschritten |
} |
else { |
if (u0 > u1) { |
if ( servo1pos < ServoSteps()) ++servo1pos; // Servo Endposition? |
servoSetPosition(SERVO_PAN, servo1pos); // beibehaltene Richtung ==> sofort ausführen |
} |
else |
if ((track_hyst + u0) < u1) direction = DLEFT; // Richtungwechsel, wenn Hysterese überschritten |
} |
} |
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/**************************************************************/ |
/* */ |
/* GPS Tracking */ |
/* */ |
/**************************************************************/ |
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// Datenempfang vom MK ==> blinkt Antennensymbol |
void Displ_wiRX(void) |
{ static uint8_t timer = 0; |
char Sats; |
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if ((bat_low != 0) && (pmenu[0] == '\0')) { // nicht im Menü und nicht bei Akku leer blinken |
lcdGotoXY(1, 0); |
if (wi232RX) { // Datensatz vom MK empfangen? |
if (timer < BLINK_PERIOD/2) |
lcdPutc(1); |
else { |
Sats = navi_data.SatsInUse; // aktuell empfangene Satellitenanzahl |
if (navi_data.SatsInUse > 9) |
Sats = 'X'; // Anzeige einstellig, da kein Platz auf Display |
else |
Sats = navi_data.SatsInUse + '0'; // Umrechnung Char |
lcdPutc(Sats); |
} |
} |
else |
lcdPutc(' '); |
wi232RX = 0; |
if (++timer == BLINK_PERIOD) timer = 0; |
} |
} |
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// Berechnung von Distanz und Winkels aus GPS-Daten home(MK eingeschaltet) |
// zur aktuellen Position(nach Motorstart) |
geo_t calc_geo(HomePos_t home, GPS_Pos_t pos) |
{ double lat1, lon1, lat2, lon2, d1, dlat; |
geo_t geo; |
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lon1 = home.Home_Lon; |
lat1 = home.Home_Lat; |
lon2 = (double)pos.Longitude / 10000000; |
lat2 = (double)pos.Latitude / 10000000; |
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// Formel verwendet von http://www.kompf.de/gps/distcalc.html |
// 111.3 km = Abstand zweier Breitenkreise und/oder zweier Längenkreise am Äquator |
// es wird jedoch in Meter weiter gerechnet |
d1 = 111300 * (double)cos((double)(lat1 + lat2) / 2 * DEG_TO_RAD) * (lon1 - lon2); |
dlat = 111300 * (double)(lat1 - lat2); |
// returns a value in metres http://www.kompf.de/gps/distcalc.html |
geo.bearing = fmod((RAD_TO_DEG * (double)atan2(d1, dlat)) + 180, 360); // +180 besserer Vergleich mit MkCockpit |
if (geo.bearing > 360) geo.bearing -= 360; // bekam schon Werte über 400 |
geo.distance = sqrt(d1 * d1 + dlat * dlat); |
return(geo); |
} |
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// MK OSD-Daten lesen und verifizieren |
uint8_t OSD_Data_valid(void) |
{ uint8_t ret = 0; |
char *tx_osd = {"#co?]==EH\r"}; |
// char interval[2] = {10, '\0'}; |
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if (rx_line_decode('O')) { // OSD-Datensatz prüfen/dekodieren |
navi_data = *((NaviData_t*)data_decode); // dekodierte Daten mit Struktur OSD-Daten versehen |
// GPS-Daten nicht zu alt und ok. |
if ((rx_timeout < RX_TIME_OLD) && (navi_data.NCFlags & NC_FLAG_GPS_OK)) { |
ret = 1; |
} |
} |
// ca. 150ms keine OSD-Daten empfangen ==> sende neue Anforderung an MK |
// if ((track_tx) && (rx_timeout > RX_TIMEOUT)) tx_Mk(NC_ADDRESS, 'o', interval, 1); // 10 * 10ms interval |
if ((track_tx) && (rx_timeout > RX_TIMEOUT)) USART_send_Str(tx_osd); // 10 * 10ms interval |
return(ret); |
} |
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// Umrechnung Winkel in Servoschritte |
void servo_track(uint8_t servo_nr, int16_t Angel) |
{ |
servoSetPosition(servo_nr, (uint16_t)((float)Angel * ServoSteps() / 180)); |
} |
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// MK eingeschaltet und GPS-ok, danach Motoren gestartet ==> Berechnung horizontaler/vertikaler Servowinkel |
// Hauptprogramm von GPS Antennen-Nachführung |
void Tracking_GPS(void) |
{ geo_t geo; |
int AngelPan, AngelTilt; |
char puffer[30]; |
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if (OSD_Data_valid()) { |
if (coldstart) { |
// erst nach Neustart NGVideo und beim Motorstart werden Daten vom MK übernommen |
if (navi_data.FCStatusFlags & FC_FLAG_MOTOR_START) { |
MK_pos.Home_Lon = (double)navi_data.HomePosition.Longitude / 10000000; |
MK_pos.Home_Lat = (double)navi_data.HomePosition.Latitude / 10000000; |
MK_pos.Home_Alt = navi_data.HomePosition.Altitude; |
MK_pos.direction = navi_data.CompassHeading; |
coldstart = 0; |
} |
} |
else { |
geo = calc_geo(MK_pos, navi_data.CurrentPosition); |
AngelTilt = RAD_TO_DEG * (double)atan2((double)(navi_data.CurrentPosition.Altitude - MK_pos.Home_Alt) / 1000, geo.distance); |
if (geo.distance < 4) { // Abstand MK- zu Antennenposition < 4m ==> Pan-Servo in Mittelstellung |
geo.bearing = MK_pos.direction; |
AngelTilt = 0; |
} |
// egal wo der Übergangspunkt 359, 360, 1grd ist => Winkelübergangspunkt auf 0 bzw. 180grd des Servos bringen |
// 360 grd negative Winkelwerte als positive |
AngelPan = fmod(geo.bearing - MK_pos.direction + 360 + 90, 360); |
if (AngelPan > 360) AngelPan -= 360; |
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if (AngelTilt < 0) AngelTilt = 0; |
if (AngelTilt > 180) AngelTilt = 180; |
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if (AngelPan >= 180) { // zwecks 360grd-Abdeckung flipt Pan-/Tilt-Servo |
AngelPan = AngelPan - 180; |
AngelTilt = 180 - AngelTilt; |
} |
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servo_track(0, AngelPan); |
servo_track(1, AngelTilt); |
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if ((gps_display > GPS_DISP_NONE) && (bat_low != 0)) { |
if (gps_disp_clear) { |
gps_disp_clear = 0; |
lcdClear(); |
} |
// der Einfachheit halber doch noch mit Kommazahlen sprintf(...) |
switch(gps_display) { |
case GPS_DISP_CALC: |
sprintf( puffer, "Dir:%3d", MK_pos.direction); |
lcdGotoXY(0, 0); |
lcdPuts(puffer); |
sprintf( puffer, "Dis:%4.1f", geo.distance); |
lcdGotoXY(8, 0); |
lcdPuts(puffer); |
sprintf( puffer, "Bea:%5.1f", geo.bearing); |
lcdGotoXY(0, 1); |
lcdPuts(puffer); |
sprintf( puffer, "Pan:%3d", AngelPan); |
lcdGotoXY(0, 2); |
lcdPuts(puffer); |
sprintf( puffer, "Til:%3d", AngelTilt); |
lcdGotoXY(8, 2); |
lcdPuts(puffer); |
break; |
case GPS_DISP_CURRENT: |
sprintf( puffer, "aLon:%10.6f", (double)navi_data.CurrentPosition.Longitude / 10000000); |
lcdGotoXY(0, 0); |
lcdPuts(puffer); |
sprintf( puffer, "aLat:%10.6f", (double)navi_data.CurrentPosition.Latitude / 10000000); |
lcdGotoXY(0, 1); |
lcdPuts(puffer); |
sprintf( puffer, "aAlt:%10.1f", (double)navi_data.CurrentPosition.Altitude / 1000); |
lcdGotoXY(0, 2); |
lcdPuts(puffer); |
break; |
case GPS_DISP_HOME: |
sprintf( puffer, "hLon:%10.6f", MK_pos.Home_Lon); |
lcdGotoXY(0, 0); |
lcdPuts(puffer); |
sprintf( puffer, "hLat:%10.6f", MK_pos.Home_Lat); |
lcdGotoXY(0, 1); |
lcdPuts(puffer); |
sprintf( puffer, "hAlt:%10.1f", (double)MK_pos.Home_Alt / 1000); |
lcdGotoXY(0, 2); |
lcdPuts(puffer); |
break; |
} |
} |
} |
} |
Displ_wiRX(); |
} |
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/************************************************************************/ |
/* */ |
/* MKCockPit Tracking */ |
/* */ |
/* http://www.pololu.com/file/download/ssc03a_guide.pdf?file_id=0J37 * */ |
/* */ |
/************************************************************************/ |
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void Tracking_MKCockpit(void) |
{ uint16_t ServoPos; |
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if (Get_Pololu_cmd(data_decode, POLOLU_CMD)) { |
switch(data_decode[0]) { |
// Command 0: Set Parameters(1 data byte) |
case 0x00: ; |
break; |
// Command 1: Set Speed (1 data byte) |
case 0x01: ; |
break; |
// Command 4: Set Position,Absollute(2 data bytes) - angepasst für default MKCockPit |
case 0x04:ServoPos = data_decode[2]; |
ServoPos = ((ServoPos << 7) | data_decode[3]) / 20; // ServoPos * ServoSteps() sonst zu groß |
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if (ServoPos >= 60) ServoPos -= 60; else ServoPos = 0; |
if (ServoPos > 180) ServoPos = 180; |
servoSetPosition(data_decode[1], (uint16_t)((float)ServoPos * ServoSteps() / 180)); |
} |
} |
} |