| 0,0 → 1,67 |
|---|
| /* |
| * tracking.h |
| * |
| * Created on: 13.02.2012 |
| * Author: cebra |
| */ |
| |
| #ifndef TRACKING_H_ |
| #define TRACKING_H_ |
| |
| #define REPEAT 1 |
| #define REPEAT_MIN 1 |
| #define REPEAT_MAX 100 |
| #define PAUSE 10 |
| #define PAUSE_MIN 4 // mindestens 400ms, da mechanischer Servo-Lauf zur Position berücksichtigt werden muss |
| #define PAUSE_MAX 20 // Pause pro Links-, Mittel- und Rechtsposition 10*100ms |
| #define PAUSE_STEP 0 |
| #define PAUSE_STEP_MIN 0 // Pause bei jeden Servoschritt in ms |
| #define PAUSE_STEP_MAX 200 |
| /* Antennen-Nachführung */ |
| #define TRACKING_MIN 0 // aus, TRACKING_RSSI, TRACKING_GPS, TRACKING_MKCOCKPIT, TRACKING_NMEA |
| #define TRACKING_MAX 4 |
| /* Antennen-Nachführung per RSSI */ |
| #define TRACKING_HYSTERESE 40 // Hysterese bevor Tracking bei Richtungswechsel anspricht |
| #define TRACKING_HYST_MIN 0 |
| #define TRACKING_HYST_MAX 100 |
| |
| #define FC_FLAG_MOTOR_RUN 0x01 |
| #define FC_FLAG_FLY 0x02 |
| #define FC_FLAG_CALIBRATE 0x04 |
| #define FC_FLAG_MOTOR_START 0x08 |
| |
| //#define NC_FLAG_GPS_OK 0 |
| |
| |
| typedef struct { |
| int32_t distance; |
| int16_t bearing; |
| }geo_t; |
| |
| typedef struct { |
| int32_t Home_Lon; // in 1E-7 degrees |
| int32_t Home_Lat; // in 1E-7 degrees |
| int32_t Home_Alt; // in mm |
| int16_t direction; // ermittelte Konstante aus Mittelposition Antenne geo.bearing - navi_data.CompassHeading |
| }__attribute__((packed)) HomePos_t; |
| |
| |
| |
| extern uint8_t NMEAsatsInUse; // Number of satelites currently in use |
| extern int32_t NMEAlatitude, NMEAlongitude; |
| extern uint8_t posfix; // GPS Fix, 0 = Fix not available or invalid,1 = GPS SPS Mode, fix valid, |
| // 2 = Differential GPS, SPS Mode, fix valid, 6 = Dead Reckoning Mode, fix valid |
| extern int16_t HDOP; // Horizontal Dilution of Precision, 1.1 -xx.x, niederiger = besser |
| extern int16_t NMEAaltitude; // Höhe in Meter |
| extern char NMEAtime[9]; |
| |
| extern uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix |
| |
| void Tracking_NMEA(void); |
| uint8_t decodeNMEA(void); |
| void PKT_tracking(void); |
| |
| |
| |
| |
| #endif /* TRACKING_H_ */ |
| Property changes: |
|---|
| Added: svn:mime-type |
|---|
| +text/plain |
|---|
| \ No newline at end of property |
|---|