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/* |
* tracking.h |
* |
* Created on: 13.02.2012 |
* Author: cebra |
*/ |
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#ifndef TRACKING_H_ |
#define TRACKING_H_ |
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#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 |
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#define FC_FLAG_MOTOR_RUN 0x01 |
#define FC_FLAG_FLY 0x02 |
#define FC_FLAG_CALIBRATE 0x04 |
#define FC_FLAG_MOTOR_START 0x08 |
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//#define NC_FLAG_GPS_OK 0 |
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typedef struct { |
int32_t distance; |
int16_t bearing; |
}geo_t; |
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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; |
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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]; |
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extern uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix |
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void Tracking_NMEA(void); |
uint8_t decodeNMEA(void); |
void PKT_tracking(void); |
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#endif /* TRACKING_H_ */ |
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