| 283,8 → 283,10 |
|---|
| //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
| short int GPS_CRTL(short int cmd) |
| { |
| static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
| static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
| static int int_east,int_north; //Integrierer |
| static signed int dist_north,dist_east; |
| int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
| int n; |
| long int dist; |
| switch (cmd) |
| 349,18 → 351,22 |
|---|
| return (GPS_STST_OK); |
| break; |
| |
| case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
| case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
| if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
| { |
| gps_updte_flag = 0; |
| // ab hier wird geregelt |
| signed int dist_north,dist_east; |
| |
| diff_east = -dist_east; //Alten Wert 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 |
| |
| #define GPSINT_MAX 1000 |
| #define GPSINT_MAX 2048 //neuer Wert ab 25.9.2007 Begrenzung |
| if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
| { |
| int_east -= dist_east; |
| 367,15 → 373,15 |
|---|
| int_north -= dist_north; |
| } |
| |
| #define DIST_MAX 200 //neu ab 19.9. 1900 Begrenzung |
| #define DIST_MAX 100 //neuer Wert ab 24.9.2007 Begrenzung |
| if (dist_east > DIST_MAX) dist_east = DIST_MAX; |
| if (dist_east <-DIST_MAX) dist_east = -DIST_MAX; |
| if (dist_north > DIST_MAX) dist_north = DIST_MAX; |
| if (dist_north <-DIST_MAX) dist_north = -DIST_MAX; |
| |
| //PI Regler |
| gps_reg_x = ((int_east * Parameter_UserParam1)/16) + ((dist_east * Parameter_UserParam2)/8); // P+I Anteil |
| gps_reg_y = ((int_north * Parameter_UserParam1)/16) + ((dist_north * Parameter_UserParam2)/8); // P+I Anteil |
| //PID Regler |
| gps_reg_x = ((int_east * Parameter_UserParam1)/32) + ((dist_east * Parameter_UserParam2)/2)+ ((diff_east * Parameter_UserParam3)/2); // |
| gps_reg_y = ((int_north * Parameter_UserParam1)/32) + ((dist_north * Parameter_UserParam2)/2)+ ((diff_north * Parameter_UserParam3)/2); // I + P +D Anteil Y Achse |
| |
| //Richtung bezogen auf Nordpol bestimmen |
| GPS_hdng_abs_2trgt = arctan_i((long)gps_reg_x,(long)gps_reg_y); |
| 387,7 → 393,7 |
|---|
| // 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; |
| 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; |
| |