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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock ("Salvo") |
| // Definitionen fuer Modul GPS |
| // Stand 19.9.007 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| |
| extern void Get_Ublox_Msg(uint8_t rx) ; |
| //extern short int Get_GPS_data(void); |
| extern short int Get_Rel_Position(void); |
| extern void GPS_Save_Home(void); |
| extern short int GPS_CRTL(short int cmd); |
| |
| typedef struct { |
| unsigned long utm_itow; // time of week |
| long utm_east; // UTM Ost in cm |
| long utm_north; // UTM Nord in cm |
| long utm_alt; // hoehe in cm |
| uint8_t utm_zone; // |
| uint8_t utm_hem; // Hemisphere Indicator |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_POSUTM_t; |
| |
| typedef struct { |
| unsigned long itow; // time of week |
| uint8_t gpsfix_type;// 3=3D Fix |
| uint8_t nav_status_flag; |
| uint8_t nav_diff_status; |
| uint8_t nav_resevd; |
| long nav_tff; // Time to First Fix in ms |
| long nav_msss; // ms since startup |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_STATUS_t; |
| |
| typedef struct { |
| unsigned long itow; |
| long speed_n; // in cm/s |
| long speed_e; // in cm/s |
| long speed_alt; // in cm/s |
| unsigned long speed_3d; // in cm/s |
| unsigned long speed_gnd; // V ueber Grund in cm/s |
| long heading; // Richtung in deg/10000 |
| unsigned long sacc; // Speed Genauigkeit in cm/s |
| unsigned long cacc; // Richtungsgenauigkeit in deg |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_VELNED_t; |
| |
| |
| typedef struct { |
| long utm_east; // UTM Ost in 10 cm |
| long utm_north; // UTM Nord in 10 cm |
| long utm_alt; // hoehe in 10 cm |
| unsigned long speed_gnd; // V ueber Grund in 10cm/s |
| unsigned heading; // Richtung in Grad |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| |
| } GPS_ABS_POSITION_t; |
| |
| |
| typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position) |
| int utm_east; // UTM Ost in m |
| int utm_north; // UTM Nord in m |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| |
| } GPS_REL_POSITION_t; |
| |
| |
| extern GPS_ABS_POSITION_t gps_act_position; |
| extern GPS_ABS_POSITION_t gps_home_position; |
| extern GPS_REL_POSITION_t gps_rel_act_position; |
| extern GPS_REL_POSITION_t gps_rel_hold_position; |
| extern unsigned int cnt0,cnt1,cnt2; |
| extern short int gps_state; |
| extern signed int GPS_hdng_abs_2trgt; |
| extern signed int GPS_hdng_rel_2trgt; |
| extern signed int GPS_dist_2trgt; |
| extern signed int gps_reg_x,gps_reg_y; |
| extern signed int GPS_dist_2trgt; |
| |
| // Zustaende der zentralen GPS statemachine |
| #define GPS_CRTL_IDLE 0 // |
| #define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv |
| #define GPS_CRTL_HOME_ACTIVE 2 // Rueckglug zur Basis Aktiv |
| |
| // Kommandokonstanten fuer die zentrale GPS statemachine |
| #define GPS_CMD_REQ_INIT 0 // Initialisierung |
| #define GPS_CMD_STOP 1 // Lageregelung soll deaktiviert werden |
| #define GPS_CMD_REQ_HOLD 3 // Lageregelung soll aktiviert werden |
| #define GPS_CMD_REQ_HOME 4 // Das Heimfliegen soll aktiviert werden |
| |
| // Statusmeldungen der zentralen GPS statemachine |
| #define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen |
| #define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt |
| #define GPS_STST_ERR 2 // Fehler |
| |
| // GPS Lageregler |
| #define GPS_NICKROLL_MAX 30 //Maximaler Einfluss des GPS Lagereglers auf Nick und Roll |
| #define GPS_DIST_MAX 300 //Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm) |
| //Salvo 16.9.2007 GPS_STICK_HOLDOFF *************** |
| // Laut Datenblatt sind die Werte ueber Zeit und Temperatur sehr stabil. |
| #define GPS_STICK_HOLDOFF 25 // Wenn der Nick oder Roll groesser ist, wird GPS_HOLD deaktiviert |