584,22 → 584,18 |
|
|
void Debug_GPS (void) |
|
{ |
|
uint8_t redraw; |
|
//char printbuff[100]; |
// |
double l1; |
GPS_Pos_t currpos; |
|
set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
redraw = true; |
uint8_t mktimeout = false; |
|
uint32_t NMEA_GPGGA_counter_old; // Merker: zaehlt empfangene GPGGA-Pakete |
uint32_t send_followme_counter; |
Point_t FollowMe; |
|
|
while( true ) |
{ |
|
608,68 → 604,15 |
// NMEApos.lat = 0x0FB51D1F; //# |
// NMEApos.lon = 0xE2CF4105; //# |
//# |
// NMEApos.lat = 0x1f1db5fb; //# |
// NMEApos.lon = 0x0541cfe2; //# |
NMEApos.lat = 0x1f1db5fb; //# |
NMEApos.lon = 0x0541cfe2; //# |
|
// l1 = NMEApos.lat; |
//# |
//######################################################### |
|
int ok = GPSMouse_ShowData( GPSMOUSE_SHOW_WAITSATFIX, 500 ); // 500 = 5 Sekunden Verzoegerung nach Satfix |
|
if( ok <= 0 ) |
{ |
return; // Fehler bzgl. BT GPS-Maus -> exit |
} |
|
if(NMEA_isdataready() && receiveNMEA) |
{ |
if( NMEA.Counter > NMEA_GPGGA_counter_old ) |
{ |
if( (NMEA.SatsInUse > 5) && (NMEA.SatFix == 1 || NMEA.SatFix == 2) ) |
{ |
|
NMEApos.lat = NMEA.Latitude; |
NMEApos.lon = NMEA.Longitude; |
//Config.FM_Refresh |
/* |
FollowMe.Position.Status = NEWDATA; |
FollowMe.Position.Longitude = NMEA.Longitude; |
FollowMe.Position.Latitude = NMEA.Latitude; |
FollowMe.Position.Altitude = 1; // 20.7.2015 CB |
// FollowMe.Position.Altitude = NMEA.Altitude; // ist das wirklich ok? NEIN C.B. |
|
FollowMe.Heading = -1; // invalid heading |
FollowMe.ToleranceRadius = Config.FM_Radius; // 5 meter default |
FollowMe.HoldTime = 60; // ????? go home after 60s without any update ?????? |
// FollowMe.Event_Flag = 0; // no event |
FollowMe.Event_Flag = 1; // 20.7.2015 CB |
FollowMe.Index = 1; // 2st wp, 0 = Delete List, 1 place at first entry in the list |
FollowMe.Type = POINT_TYPE_WP; // Typ des Wegpunktes |
FollowMe.Name[0] = 'F'; // Name des Wegpunktes (ASCII) |
FollowMe.Name[1] = 'O'; |
FollowMe.Name[2] = 'L'; |
FollowMe.Name[3] = 'L'; |
// FollowMe.WP_EventChannelValue = 0; // Will be transferred to the FC and can be used as Poti value there |
FollowMe.WP_EventChannelValue = 100; // set servo value 20.7.2015 |
FollowMe.AltitudeRate = 0; // rate to change the Aetpoint |
FollowMe.Speed = Config.FM_Speed; // rate to change the Position |
FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
FollowMe.reserve[0] = 0; // reserve |
FollowMe.reserve[1] = 0; // reserve |
|
SendOutData( 's', ADDRESS_NC, 1, &FollowMe, sizeof(FollowMe) ); //'s' = target Position 'w' = Waypoint |
send_followme_counter++; |
|
//void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
// SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
//SendOutData( 's', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); //'s' = target Position 'w' = Waypoint |
*/ |
} |
|
NMEA_GPGGA_counter_old = NMEA.Counter; |
} |
|
//----------------------------------------- |
// Screen redraw |
//----------------------------------------- |
719,10 → 662,9 |
//############################## Test GPS Offset |
|
|
//nmea_move_horz(&NMEApos,&NMEATarget, Config.FM_Azimuth, Config.FM_Distance/1000); // neues Ziel berechnen |
nmea_move_horz(&NMEApos,&NMEATarget, Config.FM_Azimuth, Config.FM_Distance/1000); // neues Ziel berechnen |
// neues Ziel berechnen |
|
followme_calculate_offset(&NMEApos, &NMEATarget, 1, 1); |
|
writex_gpspos( 1, 7, (int32_t)NMEATarget.lat , MNORMAL,0,0 ); // Ziel Latitude |
writex_gpspos(10, 7, (int32_t)NMEATarget.lon , MNORMAL, 0,0 ); // Ziel Longitude |
|
745,13 → 687,9 |
redraw = true; |
// break; |
} |
} |
} |
} |
|
|
|
|
#endif |
|
#endif // #ifdef USE_FOLLOWME |