0,0 → 1,639 |
/* |
This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
either version 3 of the License, or (at your option) any later version. |
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
GNU General Public License and GNU Lesser General Public License for more details. |
You should have received a copy of GNU General Public License (License_GPL.txt) and |
GNU Lesser General Public License (License_LGPL.txt) along with this program. |
If not, see <http://www.gnu.org/licenses/>. |
|
Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
*/ |
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
Peter Muehlenbrock |
Auswertung der Daten vom GPS im ublox Format |
Hold Modus mit PID Regler |
Rückstuerz zur Basis Funktion |
Stand 24.10.2007 |
Anederung: 24.10. Altitude in relativer Position jetzt auch drin |
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
*/ |
#include "main.h" |
//#include "gps.h" |
|
// Defines fuer ublox Messageformat um Auswertung zu steuern |
#define UBLOX_IDLE 0 |
#define UBLOX_SYNC1 1 |
#define UBLOX_SYNC2 2 |
#define UBLOX_CLASS 3 |
#define UBLOX_ID 4 |
#define UBLOX_LEN1 5 |
#define UBLOX_LEN2 6 |
#define UBLOX_CKA 7 |
#define UBLOX_CKB 8 |
#define UBLOX_PAYLOAD 9 |
|
// ublox Protokoll Identifier |
#define UBLOX_NAV_POSUTM 0x08 |
#define UBLOX_NAV_STATUS 0x03 |
#define UBLOX_NAV_VELED 0x12 |
#define UBLOX_NAV_CLASS 0x01 |
#define UBLOX_SYNCH1_CHAR 0xB5 |
#define UBLOX_SYNCH2_CHAR 0x62 |
|
signed int GPS_Nick = 0; |
signed int GPS_Roll = 0; |
short int ublox_msg_state = UBLOX_IDLE; |
static uint8_t chk_a =0; //Checksum |
static uint8_t chk_b =0; |
short int gps_state,gps_sub_state; //Zustaende der Statemachine |
short int gps_updte_flag; |
signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
static unsigned int rx_len; |
static unsigned int ptr_payload_data_end; |
unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
static uint8_t *ptr_payload_data; |
static uint8_t *ptr_pac_status; |
long int dist_flown; |
|
short int Get_GPS_data(void); |
|
NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
NAV_STATUS_t actual_status; // Aktueller Nav Status |
NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
|
GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
|
// Initialisierung |
void GPS_Neutral(void) |
{ |
ublox_msg_state = UBLOX_IDLE; |
gps_state = GPS_CRTL_IDLE; |
gps_sub_state = GPS_CRTL_IDLE; |
actual_pos.status = 0; |
actual_speed.status = 0; |
actual_status.status = 0; |
gps_home_position.status = 0; // Noch keine gueltige Home Position |
gps_act_position.status = 0; |
gps_rel_act_position.status = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
gps_updte_flag = 0; |
gps_int_x = 0; |
gps_int_y = 0; |
gps_alive_cnt = 0; |
} |
|
// Home Position sichern falls Daten verfuegbar sind. |
void GPS_Save_Home(void) |
{ |
short int n; |
n = Get_GPS_data(); |
if (n == 0) // Gueltige und aktuelle Daten ? |
{ |
// Neue GPS Daten liegen vor |
gps_home_position.utm_east = gps_act_position.utm_east; |
gps_home_position.utm_north = gps_act_position.utm_north; |
gps_home_position.utm_alt = gps_act_position.utm_alt; |
gps_home_position.status = 1; // Home Position gueltig |
} |
} |
|
// Relative Position zur Home Position bestimmen |
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
short int Get_Rel_Position(void) |
{ |
short int n = 0; |
n = Get_GPS_data(); |
if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
{ |
gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
gps_rel_act_position.status = 1; // gueltige Positionsdaten |
n = 0; |
gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
} |
else |
{ |
n = 2; //keine gueltigen Daten vorhanden |
gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
} |
return (n); |
} |
|
// Daten aus aktuellen ublox Messages extrahieren |
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
short int Get_GPS_data(void) |
{ |
short int n = 1; |
|
if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
{ |
if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
{ |
gps_act_position.utm_east = actual_pos.utm_east/10; |
gps_act_position.utm_north = actual_pos.utm_north/10; |
gps_act_position.utm_alt = actual_pos.utm_alt/10; |
gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
gps_act_position.heading = actual_speed.heading/100000; |
gps_act_position.status = 1; |
n = 0; //Daten gueltig |
} |
else |
{ |
gps_act_position.status = 0; //Keine gueltigen Daten |
n = 2; |
} |
actual_pos.status = 0; //neue ublox Messages anfordern |
actual_status.status = 0; |
actual_speed.status = 0; |
} |
return (n); |
} |
|
/* |
Daten vom GPS im ublox MSG Format auswerten |
Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
*/ |
void Get_Ublox_Msg(uint8_t rx) |
{ |
switch (ublox_msg_state) |
{ |
|
case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
else ublox_msg_state = UBLOX_IDLE; |
break; |
|
case UBLOX_SYNC1: |
|
if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
else ublox_msg_state = UBLOX_IDLE; |
chk_a = 0,chk_b = 0; |
break; |
|
case UBLOX_SYNC2: |
if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
else ublox_msg_state = UBLOX_IDLE; |
break; |
|
case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
switch (rx) |
{ |
case UBLOX_NAV_POSUTM: |
ptr_pac_status = &actual_pos.status; |
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
else |
{ |
ptr_payload_data = &actual_pos; |
ptr_payload_data_end = &actual_pos.status; |
ublox_msg_state = UBLOX_LEN1; |
} |
break; |
|
case UBLOX_NAV_STATUS: |
ptr_pac_status = &actual_status.status; |
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
else |
{ |
ptr_payload_data = &actual_status; |
ptr_payload_data_end = &actual_status.status; |
ublox_msg_state = UBLOX_LEN1; |
} |
break; |
|
case UBLOX_NAV_VELED: |
ptr_pac_status = &actual_speed.status; |
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
else |
{ |
ptr_payload_data = &actual_speed; |
ptr_payload_data_end = &actual_speed.status; |
ublox_msg_state = UBLOX_LEN1; |
} |
break; |
|
default: |
ublox_msg_state = UBLOX_IDLE; |
break; |
} |
chk_a = UBLOX_NAV_CLASS + rx; |
chk_b = UBLOX_NAV_CLASS + chk_a; |
break; |
|
case UBLOX_LEN1: // Laenge auswerten |
rx_len = rx; |
chk_a += rx; |
chk_b += chk_a; |
ublox_msg_state = UBLOX_LEN2; |
break; |
|
|
case UBLOX_LEN2: // Laenge auswerten |
rx_len = rx_len + (rx *256); // Laenge ermitteln |
chk_a += rx; |
chk_b += chk_a; |
ublox_msg_state = UBLOX_PAYLOAD; |
break; |
|
case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
if (rx_len > 0) |
{ |
*ptr_payload_data = rx; |
chk_a += rx; |
chk_b += chk_a; |
--rx_len; |
if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
{ |
ptr_payload_data++; |
ublox_msg_state = UBLOX_PAYLOAD; |
} |
else ublox_msg_state = UBLOX_CKA; |
} |
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
break; |
|
case UBLOX_CKA: // Checksum pruefen |
if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
break; |
|
case UBLOX_CKB: // Checksum pruefen |
if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
ublox_msg_state = UBLOX_IDLE; |
break; |
|
default: |
ublox_msg_state = UBLOX_IDLE; |
break; |
} |
} |
|
//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
short int GPS_CRTL(short int cmd) |
{ |
static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
static signed int int_east,int_north; //Integrierer |
static signed int dist_north,dist_east; |
static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
signed int n,diff_v; |
static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
long signed int dev,n_l; |
signed int dist_frm_start_east,dist_frm_start_north; |
switch (cmd) |
{ |
|
case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
{ |
cnt++; |
if (cnt > 500) // erst nach Verzoegerung |
{ |
// Erst mal initialisieren |
cnt = 0; |
gps_tick = 0; |
hold_fast = 0; |
hold_reset_int = 0; // Integrator enablen |
int_east = 0, int_north = 0; |
gps_reg_x = 0, gps_reg_y = 0; |
dist_east = 0, dist_north = 0; |
diff_east_f = 0, diff_north_f= 0; |
diff_east = 0, diff_north = 0; |
dist_flown = 0; |
gps_g2t_act_v = 0; |
gps_sub_state = GPS_CRTL_IDLE; |
// aktuelle positionsdaten abspeichern |
if (gps_rel_act_position.status > 0) |
{ |
gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
gps_rel_start_position.status = 1; // gueltige Positionsdaten |
gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
//Richtung zur Home Position bezogen auf Nordpol bestimmen |
hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
// in Winkel 0...360 Grad umrechnen |
if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
else hdng_2home = (270 - hdng_2home); |
dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
gps_state = GPS_CRTL_HOME_ACTIVE; |
return (GPS_STST_OK); |
} |
else |
{ |
gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
gps_state = GPS_CRTL_IDLE; |
return(GPS_STST_ERR); // Keine Daten da |
} |
} |
else return(GPS_STST_PEND); // noch warten |
} |
break; |
// ****************************** |
|
case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
{ |
cnt++; |
if (cnt > 500) // erst nach Verzoegerung |
{ |
cnt = 0; |
// aktuelle positionsdaten abspeichern |
if (gps_rel_act_position.status > 0) |
{ |
hold_fast = 0; |
hold_reset_int = 0; // Integrator enablen |
int_east = 0, int_north = 0; |
gps_reg_x = 0, gps_reg_y = 0; |
dist_east = 0, dist_north = 0; |
diff_east_f = 0, diff_north_f= 0; |
diff_east = 0, diff_north = 0; |
gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
gps_state = GPS_CRTL_HOLD_ACTIVE; |
return (GPS_STST_OK); |
} |
else |
{ |
gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
gps_state = GPS_CRTL_IDLE; |
return(GPS_STST_ERR); // Keine Daten da |
} |
} |
else return(GPS_STST_PEND); // noch warten |
} |
break; |
|
case GPS_CMD_STOP: // Lageregelung beenden |
cnt = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
gps_int_x = 0; |
gps_int_y = 0; |
gps_sub_state = GPS_CRTL_IDLE; |
gps_state = GPS_CRTL_IDLE; |
return (GPS_STST_OK); |
break; |
|
default: |
return (GPS_STST_ERR); |
break; |
} |
|
switch (gps_state) |
{ |
case GPS_CRTL_IDLE: |
cnt = 0; |
return (GPS_STST_OK); |
break; |
|
case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
//Der Sollwert des Lagereglers wird der Homeposition angenaehert |
if (gps_rel_start_position.status >0) |
{ |
if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
{ |
gps_tick++; |
int d1,d2,d3; |
d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
|
if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
{ |
if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
{ |
if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
gps_sub_state = GPS_HOME_FAST_IN_TOL; |
} |
else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
{ |
if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
} |
hold_reset_int = 0; // Integrator einsschalten |
hold_fast = 1; // Regler fuer schnellen Flug |
dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
} |
else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
{ |
if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
{ |
dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
} |
else |
{ |
dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
} |
hold_reset_int = 0; // Integrator ausschalten |
hold_fast = 1; // Wieder normal regeln |
dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
} |
else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
{ |
if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
{ |
gps_sub_state = GPS_HOME_IN_TOL; |
hold_fast = 0; // Wieder normal regeln |
hold_reset_int = 0; // Integrator wieder aktivieren |
if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
{ |
gps_rel_hold_position.utm_east = 0; |
gps_rel_hold_position.utm_north = 0; |
gps_sub_state = GPS_HOME_FINISHED; |
} |
} |
else gps_sub_state = GPS_HOME_OUTOF_TOL; |
} |
} |
gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
return (GPS_STST_OK); |
} |
else // Keine GPS Daten verfuegbar, deswegen Abbruch |
{ |
gps_state = GPS_CRTL_IDLE; |
return (GPS_STST_ERR); |
} |
break; |
|
|
case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
{ |
gps_updte_flag = 0; |
// ab hier wird geregelt |
diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
diff_north = -dist_north; |
dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
int_east += dist_east; |
int_north += dist_north; |
diff_east += dist_east; // Differenz zur vorhergehenden East Position |
diff_north += dist_north; // Differenz zur vorhergehenden North Position |
|
if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
{ |
diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
} |
else // schwache Filterung |
{ |
diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
} |
|
#define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
{ |
int_east -= dist_east; |
int_north -= dist_north; |
} |
if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
{ |
int_east = 0; |
int_north = 0; |
} |
|
// Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
// desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
signed long dist,int_east1,int_north1; |
int phi; |
phi = arctan_i(abs(dist_north),abs(dist_east)); |
dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
|
if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
{ |
diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
} |
else |
{ |
diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
} |
|
int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
else diff_p = GPS_PROP_NRML_V; |
|
//I Werte begrenzen |
#define INT1_MAX (20 * GPS_V) |
int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
|
//PID Regler Werte aufsummieren |
gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_east_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_north_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
|
//Ziel-Richtung bezogen auf Nordpol bestimmen |
GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
|
// in Winkel 0...360 Grad umrechnen |
if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
|
// Relative Richtung in bezug auf Nordachse des Kopters errechen |
n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
|
// Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
if (abs(gps_reg_x) > abs(gps_reg_y) ) |
{ |
dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
} |
else |
{ |
dev = (long)gps_reg_y; |
dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
} |
GPS_dist_2trgt = (int) dev; |
// Winkel und Distanz in Nick und Rollgroessen umrechnen |
GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
|
if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
|
//Kleine Werte verstaerken, Grosse abschwaechen |
n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
GPS_Roll = (int) n_l; |
n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
GPS_Nick = (int) n_l; |
|
if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
{ |
GPS_Roll = 0; |
GPS_Nick = 0; |
gps_state = GPS_CRTL_IDLE; |
return (GPS_STST_ERR); |
break; |
} |
else |
{ |
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
return (GPS_STST_OK); |
} |
} |
else |
{ |
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
return (GPS_STST_OK); |
} |
break; |
|
default: |
gps_state = GPS_CRTL_IDLE; |
return (GPS_STST_ERR); |
break; |
} |
return (GPS_STST_ERR); |
|
} |
|