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| /* |
| * tracking.c |
| * |
| * Created on: 13.02.2012 |
| * Author: cebra |
| */ |
| |
| |
| //############################################################################ |
| //# HISTORY tracking.c |
| //# |
| //# 27.06.2014 OG |
| //# - umgestellt auf gps/gps_nmea.c |
| //# - Codeformattierung |
| //# - chg: auf #include "../gps/mymath.h" angepasst |
| //# - del: #include "tools.h" |
| //# |
| //# 25.06.2014 OG |
| //# - chg: PKT_tracking() - auskommentierungen um Zugriffe auf Config.gps_UsedGPSMouse |
| //# zu unterbinden. Anmerkung dazu siehe dort. |
| //# |
| //# 22.06.2014 OG |
| //# - chg: Tracking_NMEA() - do_tracking() auskommentiert (spaeter fuer |
| //# Tracking wieder geradeziehen) |
| //# - Variable 'CheckGPS' hinzugefuegt weil aus anderen Sourcen (setup.c) entfernt |
| //# |
| //# 18.06.2014 OG |
| //# - chg: Code-Formattierung |
| //# |
| //# 16.06.2014 OG |
| //# - add: NMEA_GPGGA_counter (zaehlt empfangene GPGGA-Pakete) |
| //# |
| //# 01.06.2014 OG |
| //# - chg: PKT_trackingMK() - verschiedene Anzeigefunktionen auskommentiert und |
| //# als DEPRICATED Klassifiziert wegen Cleanup der alten OSD Screens |
| //# |
| //# 30.05.2014 OG |
| //# - chg: calc_geo()- my_itoa() ersetzt durch writex_gpspos() und lcdx_printf_at_P() |
| //# weil my_itoa() nicht mehr vorhanden |
| //# |
| //# 13.05.2014 OG |
| //# - chg: PKT_trackingBT() - Variable 'BT_WhasOn' auskommentiert |
| //# wegen Warning: variable set but not used |
| //# - chg: PKT_trackingBT() - Variable 'flag' auskommentiert |
| //# wegen Warning: variable set but not used |
| //# |
| //# 28.04.2014 OG |
| //# - chg: PKT_trackingBT(), PKT_trackingMK() - OSD_Timeout() entfernt (weil es |
| //# das nicht mehr gibt) und erstmal durch ein PKT_Message_P() ersetzt |
| //# * ACHTUNG: UNGETESTET! * (bei Bedarf anpassen, tracking hat niedrige Prio) |
| //# - add: include "../pkt/pkt.h" |
| //# |
| //# 12.02.2014 OG |
| //# - del: mk_param_struct entfernt |
| //# |
| //# 29.08.2013 Cebra |
| //# - chg: falsche Parameterübergabe bei getLatitude/getLongitude |
| //# |
| //# 25.08.2013 Cebra |
| //# - add: #ifdef USE_TRACKING . NMEA Routinen werden nur noch für BT_NMEA genutzt |
| //# |
| //# 26.06.2013 Cebra |
| //# - chg: Modulumschaltung für WiFlypatch geändert |
| //# |
| //############################################################################ |
| |
| |
| #include "../cpu.h" |
| #include <string.h> |
| #include <util/delay.h> |
| #include <avr/interrupt.h> |
| #include <stdlib.h> |
| #include <math.h> |
| #include "../main.h" |
| |
| |
| //++++++++++++++++++++++++++++++++++ |
| #ifdef USE_TRACKING |
| //++++++++++++++++++++++++++++++++++ |
| |
| |
| #include "../tracking/tracking.h" |
| #include "../tracking/ng_servo.h" |
| #include <avr/pgmspace.h> |
| #include "../bluetooth/fifo.h" |
| #include "../bluetooth/bluetooth.h" |
| #include "../lcd/lcd.h" |
| |
| #include "../mk-data-structs.h" |
| #include "../messages.h" |
| #include "../lcd/lcd.h" |
| #include "../eeprom/eeprom.h" |
| #include "../timer/timer.h" |
| #include "../uart/uart1.h" |
| #include "../uart/usart.h" |
| #include "../osd/osd.h" |
| #include "../gps/mymath.h" |
| #include "../setup/setup.h" |
| #include "../pkt/pkt.h" |
| //#include "../gps/gps_nmea.h" |
| #include "../avr-nmea-gps-library/nmea.h" |
| |
| |
| |
| uint8_t CheckGPS = true; // Patch 22.06.2014 OG: hier integriert weil ais anseren Sourcen entfernt (u.a. setup.c) |
| |
| char data_decode[RXD_BUFFER_SIZE]; |
| |
| |
| #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 |
| #define AltFaktor 22.5 |
| #define TIMEOUT 200 // 2 sec |
| |
| NaviData_t *naviData; |
| |
| |
| HomePos_t MK_pos; // Home position of station |
| GPS_Pos_t currentPos; // Current position of flying object |
| |
| |
| uint8_t tracking = TRACKING_MIN; |
| uint8_t track_hyst = TRACKING_HYSTERESE; |
| uint8_t track_tx =0; |
| uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix |
| geo_t geo; |
| int16_t anglePan, angleTilt; |
| |
| |
| |
| |
| //// Berechnung von Distanz und Winkel 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; |
| // |
| // lon1 = MK_pos.Home_Lon; |
| // lat1 = MK_pos.Home_Lat; |
| // lon2 = (double)pos->Longitude / 10000000.0; |
| // lat2 = (double)pos->Latitude / 10000000.0; |
| // |
| // // 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); |
| //} |
| |
| // Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet) |
| // zur aktuellen Position(nach Motorstart) |
| |
| //-------------------------------------------------------------- |
| // bei Gelegenheit den Code auf gps/gps.c/gps_Deviation() aendern |
| //-------------------------------------------------------------- |
| geo_t calc_geo( HomePos_t *home, GPS_Pos_t *pos ) |
| { |
| int32_t lat1, lon1, lat2, lon2; |
| int32_t d1, dlat; |
| geo_t geo; |
| |
| lon1 = home->Home_Lon; |
| lat1 = home->Home_Lat; |
| lon2 = pos->Longitude; |
| lat2 = pos->Latitude; |
| |
| if( !CheckGPS ) |
| { |
| writex_gpspos( 0, 3, home->Home_Lat , MNORMAL, 0,0); // Anzeige: Breitengrad (Latitude) |
| writex_gpspos( 11, 3, home->Home_Lon , MNORMAL, 0,0); // Anzeige: Laengengrad (Longitude) |
| writex_gpspos( 0, 4, pos->Latitude , MNORMAL, 0,0); // Anzeige: Breitengrad (Latitude) |
| writex_gpspos( 11, 4, pos->Longitude , MNORMAL, 0,0); // Anzeige: Laengengrad (Longitude) |
| |
| //lcd_puts_at (0, 3, my_itoa(home->Home_Lat, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
| //lcd_puts_at (11, 3, my_itoa(home->Home_Lon, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
| //lcd_puts_at (0, 4, my_itoa(pos->Latitude, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
| //lcd_puts_at (11, 4, my_itoa(pos->Longitude, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
| } |
| |
| // Formel verwendet von http://www.kompf.de/gps/distcalc.html |
| // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Langenkreise am Äquator |
| // es wird jedoch in dm Meter weiter gerechnet |
| // (tlon1 - tlon2)/10) sonst uint32_t-Überlauf bei cos(0) gleich 1 |
| d1 = (1359 * (int32_t)(c_cos_8192((lat1 + lat2) / 20000000)) * ((lon1 - lon2)/10))/ 10000000; |
| dlat = 1113 * (lat1 - lat2) / 10000; |
| geo.bearing = (my_atan2(d1, dlat) + 540) % 360; // 360 +180 besserer Vergleich mit MkCockpit |
| geo.distance = sqrt32(d1 * d1 + dlat * dlat); |
| |
| if( !CheckGPS ) |
| { |
| lcd_printp_at (0, 5, PSTR("Bear:"), 0); |
| |
| lcdx_printf_at_P( 5, 5, MNORMAL, 0,0, PSTR("%3d"), geo.bearing ); |
| //lcd_puts_at (5, 5, my_itoa((uint32_t)geo.bearing, 3, 0, 0), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
| |
| lcd_printp_at (8, 5, PSTR("\x1e"), 0); |
| lcd_printp_at (9, 5, PSTR("Dist:"), 0); |
| |
| lcdx_printf_at_P( 15, 5, MNORMAL, 0,0, PSTR("%3d"), geo.distance ); |
| //lcd_puts_at (15, 5, my_itoa((uint32_t)geo.distance, 3, 1, 1), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
| |
| lcd_printp_at (20, 5, PSTR("m"), 0); |
| } |
| |
| return(geo); |
| } |
| |
| |
| |
| |
| |
| //-------------------------------------------------------------- |
| //-------------------------------------------------------------- |
| void do_tracking( void ) |
| { |
| static uint8_t hysteresis = 0; |
| |
| geo = calc_geo(&MK_pos, ¤tPos); |
| angleTilt = my_atan2((currentPos.Altitude - MK_pos.Home_Alt) / 100, geo.distance); |
| |
| if (geo.distance < 40 || (geo.distance < 60 && hysteresis)) |
| { // < 4m ==> Pan-Servo in Mittelstellung. Hysterese bis 6m, damit Servo im Grenzbereich nicht wild rumschl�gt |
| geo.bearing = MK_pos.direction; |
| if (currentPos.Altitude - MK_pos.Home_Alt < 4000) angleTilt = 0; // man fliegt nicht direkt �ber Kopf |
| hysteresis = 1; |
| } |
| else |
| { |
| hysteresis = 0; |
| } |
| |
| // egal wo der Übergangspunkt 359, 360, 1grd ist => Winkelübergangspunkt auf 0 bzw. 180grd des Servos bringen |
| // 360 grd negative Winkelwerte als positive |
| anglePan = (geo.bearing + 450 - MK_pos.direction) % 360; // 450 = 360 + 90 |
| |
| if (angleTilt < 0) |
| angleTilt = 0; |
| |
| if (angleTilt > 180) |
| angleTilt = 180; |
| |
| if (anglePan >= 180) |
| { // zwecks 360grd-Abdeckung flipt Pan-/Tilt-Servo |
| anglePan = anglePan - 180; |
| angleTilt = 180 - angleTilt; |
| } |
| |
| servoSetAngle(0, anglePan); |
| servoSetAngle(1, angleTilt); |
| |
| if (!CheckGPS) |
| { |
| lcd_printp_at (0, 6, PSTR("Pan :"), 0); |
| write_ndigit_number_u (6, 6, anglePan, 3, 1,0); |
| lcd_printp_at (11, 6, PSTR("Tilt:"), 0); |
| write_ndigit_number_u (17, 6, angleTilt, 3, 1,0); |
| } |
| |
| // write_ndigit_number_u (0, 5, (uint16_t)(currentPos.Altitude/10000000), 2, 0,0); |
| //// lcd_printp_at (4, 4, PSTR("."), 0); |
| // write_ndigit_number_u (2, 5, (uint16_t)((currentPos.Altitude/1000) % 10000), 4, 1,0); |
| // write_ndigit_number_u (6, 5, (uint16_t)((currentPos.Altitude/10) % 100), 2, 1,0); |
| // |
| // write_ndigit_number_u (10, 5, (uint16_t)(MK_pos.Home_Alt/10000000), 2, 0,0); |
| //// lcd_printp_at (4, 4, PSTR("."), 0); |
| // write_ndigit_number_u (12, 5, (uint16_t)((MK_pos.Home_Alt/1000) % 10000), 4, 1,0); |
| // write_ndigit_number_u (16, 5, (uint16_t)((MK_pos.Home_Alt/10) % 100), 2, 1,0); |
| } |
| |
| |
| |
| //-------------------------------------------------------------- |
| //-------------------------------------------------------------- |
| uint8_t PKT_trackingBT( void ) // Tracking mit NMEA-Daten von BT-Maus |
| { |
| //uint8_t BT_WhasOn = 0; |
| uint8_t BT_status; |
| //uint8_t flag; |
| uint8_t tmp_dat; |
| coldstart =1; |
| |
| //lcd_printp_at(0,1, PSTR("try NMEA data from:"), 0); |
| lcd_puts_at (0, 1,Config.gps_UsedDevName, 0); |
| //set_BTOn(); |
| set_Modul_On(Bluetooth); |
| |
| //BT_WhasOn = true; |
| if( Config.BTIsSlave==true ) |
| { |
| bt_downlink_init(); |
| } |
| |
| lcd_printp_at (18, 1, PSTR(" ?? "), 0); |
| BT_status = bt_connect(Config.gps_UsedMac); |
| |
| if( BT_status==true ) |
| { |
| lcd_printp_at (18, 1, PSTR(" OK "), 0); |
| receiveNMEA = true; |
| } |
| else |
| { |
| lcd_printp_at (17, 1, PSTR("FAIL"), 2); |
| } |
| |
| |
| if( receiveNMEA==true ) |
| { |
| lcd_cls_line( 0, 1, 20); |
| lcd_printp_at( 0, 2, PSTR(" Latitude Longitude"), 2); |
| lcd_printp_at( 0, 3, PSTR("H"), 0); |
| lcd_printp_at( 0, 4, PSTR("M"), 0); |
| |
| bt_rx_ready = 0; |
| |
| SwitchToNC(); |
| mode = 'O'; |
| |
| // disable debug... |
| // RS232_request_mk_data (0, 'd', 0); |
| tmp_dat = 0; |
| SendOutData( 'd', ADDRESS_ANY, 1, &tmp_dat, 1); |
| |
| // request OSD Data from NC every 100ms |
| // RS232_request_mk_data (1, 'o', 100); |
| tmp_dat = 10; |
| SendOutData( 'o', ADDRESS_NC, 1, &tmp_dat, 1); |
| |
| //OSD_active = true; // benoetigt für Navidata Ausgabe an SV2 |
| //flag = 0; |
| |
| timer = TIMEOUT; |
| abo_timer = ABO_TIMEOUT; |
| |
| do |
| { |
| //bt_rx_ready = 0; |
| |
| // if( !NMEA_receiveBT() ) |
| // break; |
| if (!NMEA_isdataready()) |
| break; |
| |
| if( rxd_buffer_locked ) |
| { |
| timer = TIMEOUT; |
| Decode64 (); |
| naviData = (NaviData_t *) pRxData; |
| |
| currentPos = naviData->CurrentPosition; |
| |
| //currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)(naviData->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5; |
| |
| |
| //----------------- |
| // MK: Lat / Long |
| //----------------- |
| writex_gpspos( 2, 4, currentPos.Latitude , MNORMAL, 0,0 ); // MK: Latitude |
| writex_gpspos(12, 4, currentPos.Longitude, MNORMAL, 0,0 ); // MK: Longitude |
| |
| |
| |
| // NMEA_GetNewData(); // neue NMEA GPGGA Daten von der BT GPA-Maus holen |
| |
| |
| |
| //----------------- |
| // GPS-Maus: Lat / Long |
| //----------------- |
| writex_gpspos( 2, 3, NMEA.Latitude , MNORMAL, 0,0 ); // GPS-Maus: Latitude |
| writex_gpspos(12, 3, NMEA.Longitude, MNORMAL, 0,0 ); // GPS-Maus: Longitude |
| |
| |
| //do_tracking(); // das geht so noch nicht mit einer BT GPS-Maus! do_tracking(); ueberarbeiten! |
| |
| |
| if( !CheckGPS ) |
| { |
| //lcd_printp_at( 0, 2, PSTR("GPS Time: "), 0); |
| lcd_puts_at( 13, 0, NMEA.Time , 2); |
| |
| lcd_printp_at( 16, 1, PSTR("Sat:"), 0); |
| write_ndigit_number_u( 19, 1, NMEA.SatsInUse, 2, 1,0); |
| |
| lcd_printp_at( 0, 1, PSTR("Fix:"), 0); |
| write_ndigit_number_u( 4, 1, NMEA.SatFix, 1, 1,0); |
| |
| lcd_printp_at( 6, 1, PSTR("HDOP:"), 0); |
| write_ndigit_number_u_10th( 11, 1, NMEA.HDOP, 3, 0,0); |
| } |
| |
| |
| rxd_buffer_locked = FALSE; |
| |
| |
| if( !abo_timer ) |
| { |
| // renew abo every 3 sec |
| // request OSD Data from NC every 100ms |
| // RS232_request_mk_data (1, 'o', 100); |
| tmp_dat = 10; |
| SendOutData( 'o', ADDRESS_NC, 1, &tmp_dat, 1); |
| |
| abo_timer = ABO_TIMEOUT; |
| } |
| |
| } // end: if (rxd_buffer_locked) |
| |
| |
| |
| if( !timer ) |
| { |
| //OSD_Timeout(flag); // <- 28.04.2014 OG: gibt es nicht mehr - ersetzt durch PKT_Message_P() (ungetestet) |
| |
| //void PKT_Message_P( const char *text, uint8_t error, uint16_t timeout, uint8_t beep, uint8_t clearscreen ) |
| PKT_Message_P( strGet(OSD_ERROR), true, 200, true, true ); // max. 2 Sekunden anzeigen |
| |
| //flag = 0; |
| error = 1; |
| } |
| |
| } while( !get_key_press (1 << KEY_ESC) || !receiveNMEA==true || error ==1); |
| |
| |
| lcd_cls_line(0,1,21); |
| lcd_cls_line(0,2,21); |
| lcd_cls_line(0,3,21); |
| lcd_cls_line(0,4,21); |
| lcd_cls_line(0,5,21); |
| lcd_cls_line(0,6,21); |
| |
| if( !receiveNMEA ) |
| lcd_printp_at (0, 2, PSTR("lost BT data"), 0); |
| |
| |
| lcd_printp_at (0, 3, PSTR("GPS trennen"), 0); |
| |
| } // end: if( receiveNMEA==true ) |
| else |
| { |
| lcd_printp_at (0, 4, PSTR("Error at connecting"), 0); |
| lcd_printp_at (0, 5, PSTR("switch on BT Mouse!!"), 0); |
| while( !get_key_press (1 << KEY_ENTER) ); |
| } |
| |
| receiveNMEA = false; |
| |
| if( !bt_disconnect() ) |
| lcd_printp_at (0, 3, PSTR("Fehler beim Trennen"), 0); |
| |
| //set_BTOff(); |
| set_Modul_On(USB); |
| return true; |
| } |
| |
| |
| |
| //-------------------------------------------------------------- |
| //-------------------------------------------------------------- |
| uint8_t PKT_trackingMK( void ) // Tracking mit GPS-Daten vom Mikrokopter |
| { |
| //uint8_t BT_WhasOn = 0; |
| //uint8_t BT_status; |
| uint8_t GPSfix=0; |
| uint8_t tmp_dat; |
| uint8_t toggletimer=0; |
| coldstart = true; |
| |
| |
| lcd_printp_at (0, 2, PSTR("S Latitude Longitude"), 2); |
| |
| lcd_cls_line (0,1,20); |
| |
| //lcd_printp_at (0, 3, PSTR("H"), 0); |
| //lcd_printp_at (0, 4, PSTR("M"), 0); |
| |
| SwitchToNC(); |
| mode = 'O'; |
| |
| // disable debug... |
| // RS232_request_mk_data (0, 'd', 0); |
| tmp_dat = 0; |
| SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
| |
| // request OSD Data from NC every 100ms |
| // RS232_request_mk_data (1, 'o', 100); |
| tmp_dat = 10; |
| SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
| timer = TIMEOUT; |
| abo_timer = ABO_TIMEOUT; |
| error = 0; |
| |
| do |
| { |
| if( rxd_buffer_locked ) |
| { |
| timer = TIMEOUT; |
| Decode64 (); |
| naviData = (NaviData_t *) pRxData; |
| //OSD_Screen_Element (18, 1, OSD_SATS_IN_USE,1); |
| //if (GPSfix == true) OSD_Screen_Element (0, 1, OSD_STATUS_FLAGS,1); |
| |
| //--- |
| // 01.06.2014 OG: DEPRICATED (alte Funktionen in osd/osdold_screens.c - nicht mehr verwenden!) |
| //--- |
| //OSD_Element_SatsInUse( 18, 1, 1); |
| |
| //--- |
| // 01.06.2014 OG: DEPRICATED (alte Funktionen in osd/osdold_screens.c - nicht mehr verwenden!) |
| //--- |
| //if (GPSfix == true) OSD_Element_StatusFlags( 0, 1); |
| |
| if (!(naviData->NCFlags & NC_FLAG_GPS_OK)) |
| { |
| toggletimer++; |
| if (toggletimer == 50) toggletimer = 0; |
| if (toggletimer == 25) lcd_printp_at(0,1, PSTR("Whait for GPS Fix "), 2); |
| if (toggletimer == 1) lcd_printp_at(0,1, PSTR("Whait for GPS Fix "), 0); |
| |
| rxd_buffer_locked = false; |
| GPSfix = false; |
| } |
| else GPSfix = true; |
| |
| |
| if( GPSfix ) |
| { |
| if( coldstart ) |
| { |
| // erst nach Neustart NGVideo und beim Motorstart werden Daten vom MK übernommen |
| if (naviData->FCStatusFlags & FC_FLAG_MOTOR_START) |
| { |
| MK_pos.Home_Lon = naviData->HomePosition.Longitude; |
| MK_pos.Home_Lat = naviData->HomePosition.Latitude; |
| MK_pos.Home_Alt = naviData->HomePosition.Altitude; |
| MK_pos.direction = naviData->CompassHeading; |
| coldstart = false; |
| rxd_buffer_locked = false; |
| lcd_printp_at(0,1, PSTR(" "), 0); |
| } |
| else |
| { |
| lcd_printp_at(0,1, PSTR("GPS ok, start ok "), 0); |
| rxd_buffer_locked = false; |
| } |
| } // end: if( coldstart ) |
| else |
| { |
| //run |
| currentPos = naviData->CurrentPosition; |
| currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)(naviData->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5; |
| do_tracking(); |
| |
| //lcd_puts_at (13, 0, NMEAtime, 2); |
| //lcd_printp_at (16, 1, PSTR("Sat:"), 0); |
| //write_ndigit_number_u (19, 1, NMEAsatsInUse, 2, 1,0); |
| //lcd_printp_at (0, 1, PSTR("Fix:"), 0); |
| //write_ndigit_number_u (4, 1, posfix, 1, 1,0); |
| //lcd_printp_at (6, 1, PSTR("HDOP:"), 0); |
| //write_ndigit_number_u_10th (11, 1, HDOP, 3, 0,0); |
| |
| rxd_buffer_locked = FALSE; |
| } // run |
| } |
| |
| |
| if( !abo_timer ) |
| { |
| // renew abo every 3 sec |
| // request OSD Data from NC every 100ms |
| // RS232_request_mk_data (1, 'o', 100); |
| tmp_dat = 10; |
| SendOutData( 'o', ADDRESS_NC, 1, &tmp_dat, 1); |
| |
| abo_timer = ABO_TIMEOUT; |
| } |
| |
| } // end: if( rxd_buffer_locked ) |
| |
| |
| if( !timer ) |
| { |
| //OSD_Timeout(1); // <- 28.04.2014 OG: gibt es nicht mehr - ersetzt durch PKT_Message_P() (ungetestet) |
| |
| //void PKT_Message_P( const char *text, uint8_t error, uint16_t timeout, uint8_t beep, uint8_t clearscreen ) |
| PKT_Message_P( strGet(OSD_ERROR), true, 200, true, true ); // max. 2 Sekunden anzeigen |
| |
| error = 1; |
| } |
| |
| } while( (!get_key_press (1 << KEY_ENTER)) && (error ==0) ); |
| |
| |
| lcd_cls_line(0,1,21); |
| lcd_cls_line(0,2,21); |
| lcd_cls_line(0,3,21); |
| lcd_cls_line(0,4,21); |
| lcd_cls_line(0,5,21); |
| lcd_cls_line(0,6,21); |
| |
| if (error ==1) |
| { |
| lcd_printp_at (0, 2, PSTR("lost Wi.232 data"), 0); |
| _delay_ms(2000); |
| } |
| |
| return true; |
| } |
| |
| |
| |
| //-------------------------------------------------------------- |
| //-------------------------------------------------------------- |
| void PKT_tracking(void) |
| { |
| clear_key_all(); |
| lcd_cls (); |
| |
| // 25.06.2014 OG: auskommentiert weil erstmal kein Config.gps_UsedGPSMouse mehr unterstuetzt |
| // wird. Falls tracking.c mal richtig implementiert wird sollte man sich auf eine BT-GPS-Maus |
| // konzentrieren bis Tracking einwandfrei laeuft - wenn dann noch immer Bedarf nach MK-GPS ist |
| // kann man das ja wieder einbauen |
| // |
| //if (Config.gps_UsedGPSMouse==GPS_Bluetoothmouse1) lcd_printp_at(0,0, PSTR("Tracking Bluetooth "), 2); |
| //if (Config.gps_UsedGPSMouse==GPS_Mikrokopter) lcd_printp_at(0,0, PSTR(" Tracking Mikrokopter"), 2); |
| //if (Config.gps_UsedGPSMouse==GPS_Bluetoothmouse1) PKT_trackingBT(); |
| //if (Config.gps_UsedGPSMouse==GPS_Mikrokopter) PKT_trackingMK(); |
| |
| lcd_printp_at( 0,0, PSTR("Tracking Bluetooth "), MINVERS); |
| lcd_printp_at(12, 7, strGet(ENDE), MNORMAL); // Keyline |
| PKT_trackingBT(); |
| clear_key_all(); |
| } |
| |
| |
| |
| |
| //++++++++++++++++++++++++++++++++++ |
| #endif // #ifdef USE_TRACKING |
| //++++++++++++++++++++++++++++++++++ |
| |
| Property changes: |
|---|
| Added: svn:mime-type |
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| +text/plain |
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| \ No newline at end of property |
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