0,0 → 1,941 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <ctype.h> |
#include <stdio.h> |
#include <stdlib.h> |
#include <string.h> |
#include "91x_lib.h" |
#include "waypoints.h" |
#include "uart1.h" |
#include "fat16.h" |
#include "main.h" |
#include "spi_slave.h" |
|
|
WPL_Store_t WPL_Store; |
|
Point_t PointList[MAX_LIST_LEN]; |
u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
u8 WPCount = 0; // number of waypoints |
u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
u8 POICount = 0; // number of point of interest in the list |
u8 FsPointCnt = 0; |
s16 HeadingOld = -1; |
u32 SD_WaypointTimeout = 5; // Setting on SD-Card |
|
u8 WPActive = FALSE; |
|
u8 PointList_Init(void) |
{ |
return PointList_Clear(); |
} |
|
u8 PointList_Clear(void) |
{ |
u8 i; |
WPIndex = 0; // real list position are 1 ,2, 3 ... |
POIIndex = 0; // real list position are 1 ,2, 3 ... |
WPCount = 0; // no waypoints |
FsPointCnt = 0; |
POICount = 0; |
PointCount = 0; // no contents |
WPActive = FALSE; |
NaviData.WaypointNumber = WPCount; |
NaviData.WaypointIndex = 0; |
for(i = 0; i < MAX_LIST_LEN; i++) |
{ |
PointList[i].Position.Status = INVALID; |
PointList[i].Position.Latitude = 0; |
PointList[i].Position.Longitude = 0; |
PointList[i].Position.Altitude = 0; |
PointList[i].Heading = 361; // invalid value |
PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
PointList[i].Event_Flag = 0; // future implementation |
PointList[i].Index = 0; |
PointList[i].Type = POINT_TYPE_INVALID; |
PointList[i].WP_EventChannelValue = 0; |
PointList[i].AltitudeRate = 0; // no change of setpoint |
PointList[i].Speed = 0; |
PointList[i].CamAngle = 0; |
PointList[i].Name[0] = 0; |
} |
ClearWLP_Name(); |
return TRUE; |
} |
|
u8 PointList_GetCount(void) |
{ |
return PointCount; // number of points in the list |
} |
|
Point_t* PointList_GetAt(u8 index) |
{ |
if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
else return(NULL); |
} |
|
u8 PointList_SetAt(Point_t* pPoint) |
{ |
// if index is in range |
if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
{ |
// check list entry before update |
switch(PointList[pPoint->Index-1].Type) |
{ |
case POINT_TYPE_INVALID: // was invalid |
switch(pPoint->Type) |
{ |
default: |
case POINT_TYPE_INVALID: |
// nothing to do |
break; |
|
case POINT_TYPE_WP: |
WPCount++; |
PointCount++; |
break; |
|
case POINT_TYPE_POI: |
POICount++; |
PointCount++; |
break; |
case POINT_TYPE_FS: |
FsPointCnt++; |
PointCount++; |
break; |
} |
break; |
|
case POINT_TYPE_WP: // was a waypoint |
switch(pPoint->Type) |
{ |
case POINT_TYPE_INVALID: |
WPCount--; |
PointCount--; |
break; |
|
default: |
case POINT_TYPE_WP: |
//nothing to do |
break; |
case POINT_TYPE_FS: |
FsPointCnt++; |
WPCount--; |
break; |
case POINT_TYPE_POI: |
POICount++; |
WPCount--; |
break; |
} |
break; |
|
case POINT_TYPE_POI: // was a poi |
switch(pPoint->Type) |
{ |
case POINT_TYPE_INVALID: |
POICount--; |
PointCount--; |
break; |
|
case POINT_TYPE_WP: |
WPCount++; |
POICount--; |
break; |
|
case POINT_TYPE_FS: |
FsPointCnt++; |
POICount--; |
break; |
|
case POINT_TYPE_POI: |
default: |
// nothing to do |
break; |
} |
case POINT_TYPE_FS: // was a Failsafe |
switch(pPoint->Type) |
{ |
case POINT_TYPE_INVALID: |
FsPointCnt--; |
PointCount--; |
break; |
|
case POINT_TYPE_WP: |
WPCount++; |
FsPointCnt--; |
break; |
|
case POINT_TYPE_POI: |
POICount++; |
FsPointCnt--; |
break; |
|
case POINT_TYPE_FS: |
break; |
default: |
// nothing to do |
break; |
} |
break; |
} |
memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
NaviData.WaypointNumber = WPCount; |
return pPoint->Index; |
} |
else return(0); |
} |
|
// returns the pointer to the first waypoint within the list |
Point_t* PointList_WPBegin(void) |
{ |
u8 i; |
WPIndex = 0; // set list position invalid |
|
if(WPActive == FALSE) return(NULL); |
|
POIIndex = 0; // set invalid POI |
if(PointCount > 0) |
{ |
// search for first wp in list |
for(i = 0; i <MAX_LIST_LEN; i++) |
{ |
if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
{ |
WPIndex = i + 1; |
break; |
} |
/* |
else |
if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) |
{ |
GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
} |
*/ |
} |
if(WPIndex) // found a WP in the list |
{ |
NaviData.WaypointIndex = 1; |
NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
// update index to POI |
if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
else POIIndex = 0; |
} |
else // some points in the list but no WP found |
{ |
NaviData.WaypointIndex = 0; |
//Check for an existing POI |
for(i = 0; i < MAX_LIST_LEN; i++) |
{ |
if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
{ |
POIIndex = i + 1; |
break; |
} |
} |
} |
} |
else // no point in the list |
{ |
POIIndex = 0; |
NaviData.WaypointIndex = 0; |
} |
|
if(WPIndex) return(&(PointList[WPIndex-1])); |
else return(NULL); |
} |
|
// returns the last waypoint |
Point_t* PointList_WPEnd(void) |
{ |
|
u8 i; |
WPIndex = 0; // set list position invalid |
POIIndex = 0; // set invalid |
|
if(WPActive == FALSE) return(NULL); |
|
if(PointCount > 0) |
{ |
// search backward! |
for(i = 1; i <= MAX_LIST_LEN; i++) |
{ |
if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
{ |
WPIndex = MAX_LIST_LEN - i + 1; |
break; |
} |
} |
if(WPIndex) // found a WP within the list |
{ |
NaviData.WaypointIndex = WPCount; |
if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
else POIIndex = 0; |
} |
else // list contains some points but no WP in the list |
{ |
// search backward for a POI! |
for(i = 1; i <= MAX_LIST_LEN; i++) |
{ |
if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
{ |
POIIndex = MAX_LIST_LEN - i + 1; |
break; |
} |
} |
NaviData.WaypointIndex = 0; |
} |
} |
else // no point in the list |
{ |
POIIndex = 0; |
NaviData.WaypointIndex = 0; |
} |
if(WPIndex) return(&(PointList[WPIndex-1])); |
else return(NULL); |
} |
|
// returns a pointer to the next waypoint or NULL if the end of the list has been reached |
Point_t* PointList_WPNext(void) |
{ |
u8 wp_found = 0; |
if(WPActive == FALSE) return(NULL); |
|
if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
{ |
u8 i; |
for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
{ |
if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
{ |
wp_found = i+1; |
break; |
} |
/* |
else |
if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
{ |
GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
} |
*/ |
} |
} |
if(wp_found) |
{ |
WPIndex = wp_found; // update list position |
NaviData.WaypointIndex++; |
if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
else POIIndex = 0; |
return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
} |
else |
{ // no next wp found |
NaviData.WaypointIndex = 0; |
POIIndex = 0; |
return(NULL); |
} |
} |
|
void PointList_WPActive(u8 set) |
{ |
if(set) |
{ |
WPActive = TRUE; |
PointList_WPBegin(); // updates POI index |
} |
else |
{ |
WPActive = FALSE; |
POIIndex = 0; // disable POI also |
} |
} |
|
Point_t* PointList_GetPOI(void) |
{ |
return PointList_GetAt(POIIndex); |
} |
|
|
#define LINE_MAX 70 |
#define WP_FILE_VERSION_COMPATIBLE 3 |
|
u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
{ |
File_t *fp; |
s8 wpline[LINE_MAX]; |
u8 retval = WPL_ERROR; |
|
UART1_PutString("\n\r Save WPL..."); |
|
if(Fat16_IsValid()) |
{ // check if wpl file is existing |
if(fexist_(filename)) |
{ //file is existent |
if(!(overwride)) |
{ |
UART1_PutString("Error: file exist!\r\n"); |
return(WPL_FILEEXIST); |
} |
} |
fp = fopen_(filename, 'w'); // try to open the file |
if(fp == NULL) |
{ |
UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
return(retval); |
} |
// Create general section and key entries |
fputs_("[General]\r\n", fp); |
sprintf(wpline, "Name=%s\r\n", listname); |
fputs_(wpline, fp); |
sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
fputs_(wpline, fp); |
sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
fputs_(wpline, fp); |
// dump all points if existent |
if(PointCount) |
{ |
u8 i, u8_1; |
s32 i32_1, i32_2; |
NewWPL_Name = 1; |
for (i = 0; i < PointCount; i++) |
{ |
sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
fputs_(wpline, fp); |
// write latitude in deg |
if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
else u8_1 = '+'; |
i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
fputs_(wpline, fp); |
// write longitude in deg |
if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
else u8_1 = '+'; |
i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
fputs_(wpline, fp); |
// write tolerace radius in m |
sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
fputs_(wpline, fp); |
// write altitude in m |
if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
else u8_1 = '+'; |
if(PointList[i].Type == POINT_TYPE_POI) |
{ |
i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
i32_2 = abs(PointList[i].Position.Altitude)%100L; |
} |
else |
{ |
i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
i32_2 = abs(PointList[i].Position.Altitude)%10L; |
} |
sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
fputs_(wpline, fp); |
// write climb rate in 0.1 m/s |
sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
fputs_(wpline, fp); |
// write hold time in s |
sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
fputs_(wpline, fp); |
// write event channel value |
sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
fputs_(wpline, fp); |
// write heading in deg (0= nothing, neg. values index to poi) |
sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
fputs_(wpline, fp); |
// write speed in 0.1 m/s |
sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
fputs_(wpline, fp); |
// write cam angle in degree (255 -> POI-Automatic) |
sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
fputs_(wpline, fp); |
// write point type |
sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
fputs_(wpline, fp); |
// write prefix |
sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
fputs_(wpline, fp); |
sprintf(wpline, "AutoTrigger=%d\r\n", PointList[i].AutoPhotoDistance); |
fputs_(wpline, fp); |
} // EOF loop over all points |
} // EOF if(PointCount) |
if(EOF == fclose_(fp)) |
{ |
UART1_PutString("failed!\r\n"); |
} |
else |
{ |
UART1_PutString("ok\r\n"); |
retval = WPL_OK; |
} |
} // EOF if(Fat16_IsValid()) |
else |
{ |
UART1_PutString("no file system found!\r\n"); |
retval = WPL_NO_SDCARD_FOUND; |
} |
return(retval); |
} |
|
u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
{ |
File_t *fp; |
s8 wpline[LINE_MAX]; |
u8 retval = WPL_ERROR; |
|
s8 *name, *value; |
u8 i; |
|
u8 IsGeneralSection = 0; |
u8 IsPointSection = 0; |
u8 WPNumber = 0; |
|
// clear point list first |
PointList_Clear(); |
HeadingOld = -1; // updates the direction if the new direction is the same like last time |
UART1_PutString("\n\r Read "); |
UART1_PutString(filename); |
UART1_PutString("..."); |
|
if(Fat16_IsValid()) |
{ // check if wpl file is existing |
fp = fopen_(filename, 'r'); // try to open the file |
if(fp == NULL) |
{ |
UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
return(retval); |
} |
// read all lines from file |
while(fgets_(wpline, LINE_MAX, fp) != 0) |
{ |
if ( // ignorelines starting with \r,\n,' ',';','#' |
(wpline[0] != '\n') && |
(wpline[0] != '\r') && |
(wpline[0] != ' ' ) && |
(wpline[0] != ';' ) && |
(wpline[0] != '#' ) |
) |
{ |
// check for section line found |
if(wpline[0] == '[') |
{ |
// next section found |
IsGeneralSection = 0; |
IsPointSection = 0; |
|
name = strtok(&wpline[1], "]"); |
if(name != NULL) // if section name |
{ |
// check section type |
for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
|
if(strncmp(name, "POINT", 5) == 0) |
{ |
IsPointSection = (u8)atoi(&name[5]); |
PointCount++; |
} |
else if(strcmp(name, "GENERAL") == 0) |
{ |
IsGeneralSection = 1; |
} |
else |
{ |
UART1_PutString("Unknown section: "); |
UART1_PutString(name); |
UART1_PutString("\r\n"); |
} |
} |
} // EOF section line |
else |
{ // look for key entrys of each sections |
name = strtok(wpline, "="); // get name |
value = strtok(NULL, "="); // get value |
if ((name != NULL) && (value != NULL)) |
{ |
for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
if(IsPointSection && (IsPointSection <= WPNumber)) |
{ |
if(strcmp(name, "LATITUDE") == 0) |
{ |
PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
} |
else if(strcmp(name, "LONGITUDE") == 0) |
{ |
PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
} |
else if(strcmp(name, "RADIUS") == 0) |
{ |
PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
} |
else if(strcmp(name, "ALTITUDE") == 0) |
{ |
PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
PointList[IsPointSection-1].Position.Status = NEWDATA; |
} |
else if(strcmp(name, "CLIMBRATE") == 0) |
{ |
PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
} |
else if(strcmp(name, "DELAYTIME") == 0) |
{ |
PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
} |
else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
{ |
PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
} |
else if(strcmp(name, "HEADING") == 0) |
{ |
PointList[IsPointSection-1].Heading = (s16)atoi(value); |
} |
else if(strcmp(name, "SPEED") == 0) |
{ |
if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
} |
else if(strcmp(name, "CAM-NICK") == 0) |
{ |
PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
} |
else if(strcmp(name, "TYPE") == 0) |
{ |
PointList[IsPointSection-1].Type = (u8)atoi(value); |
if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
|
switch(PointList[IsPointSection-1].Type) |
{ |
case POINT_TYPE_WP: |
// this works only if altitude key is set before point type key in WPL file !! |
PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
WPCount++; |
break; |
case POINT_TYPE_FS: |
FsPointCnt++; |
break; |
case POINT_TYPE_POI: |
POICount++; |
break; |
} |
} |
else if(strcmp(name, "PREFIX") == 0) |
{ |
strncpy(PointList[IsPointSection-1].Name, value, 4); |
PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
} |
else if(strcmp(name, "AUTOTRIGGER") == 0) |
{ |
PointList[IsPointSection-1].AutoPhotoDistance = (u8)atoi(value); |
} |
else |
{ |
UART1_PutString("Unknown key: "); |
UART1_PutString(name); |
UART1_PutString("\r\n"); |
} |
} // EOF point section |
else if(IsGeneralSection) |
{ |
if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
{ |
WPNumber = (u8)atoi(value); |
if(!WPNumber) // no waypoints in file |
{ |
return(WPL_NO_WAYPOINTS); // we are done here |
} |
else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
{ |
UART1_PutString("To many points!"); |
return(WPL_ERROR); |
} |
} |
else if (strcmp(name, "FILEVERSION") == 0) |
{ |
if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
{ |
PointList_Clear(); |
UART1_PutString("Bad file version!\r\n"); |
return(WPL_ERROR); |
} |
} |
else if (strcmp(name, "NAME") == 0) |
{ |
if(listname) |
{ |
u8 len = strlen(value); |
if(len) |
{ |
if(value[len-1] == '\r') |
{ |
value[len-1] = 0; |
// len--; |
} |
} |
if(len > listnamelen) len = listnamelen; |
if(len) |
{ |
value[len-1] = 0; // terminate string |
if(listname) memcpy(listname, value, len); |
} |
NewWPL_Name = 1; |
} |
} |
else |
{ |
UART1_PutString("Unknown key: "); |
UART1_PutString(name); |
UART1_PutString("\r\n"); |
} |
} // EOF general section |
} // EOF valid key entry |
} // EOF key entry line |
} // valid line |
} // EOF loop over all lines |
fclose_(fp); |
NaviData.WaypointNumber = WPCount; |
retval = WPL_OK; |
UART1_PutString("ok\r\n"); |
} // EOF if(Fat16_IsValid()) |
else |
{ |
UART1_PutString("no file system found!\r\n"); |
retval = WPL_NO_SDCARD_FOUND; |
} |
return(retval); |
} |
|
// load actual point list from SD card |
u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
{ |
u8 filename[30]; |
|
pWPL_Store->Name[0] = 0; // clear current list name |
|
// user absolute path, i.e. leading / |
if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
{ |
sprintf(filename, "/default.wpl"); |
} |
else |
{ |
sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
} |
return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
} |
|
// save actual point list to SD card |
u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
{ |
u8 filename[30]; |
|
|
if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
// user absolute path, i.e. leading / |
if(pWPL_Store->Index == 0) |
{ |
sprintf(filename, "/default.wpl"); |
} |
else |
{ |
sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
} |
return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
} |
|
|
// save actual gps positiin and heading to file |
u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
{ |
u8 retval = WPL_ERROR; |
u8 filename[30]; |
Point_t WP; |
|
UART1_PutString("\n\r write single point\n\r"); |
if(GPSData.Position.Status == INVALID) |
{ |
UART1_PutString("ERROR: No GPS - Fix\n\r"); |
return(retval); |
} |
|
// clear current point list |
PointList_Clear(); |
// prepare WP at current position |
|
if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance_dm > 7*10) |
{ // take actual position |
GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
} |
else |
{ // take last target position |
GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
} |
|
GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
// set heading |
WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
if(WP.Heading == 0) WP.Heading = 360; |
WP.ToleranceRadius = 120; // 12m |
WP.HoldTime = 2; |
WP.Index = 1; |
WP.Type = POINT_TYPE_WP; |
WP.WP_EventChannelValue = 100; |
if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
{ |
WP.AltitudeRate = 255; // Auto |
WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
} |
else |
{ |
WP.AltitudeRate = 0; |
WP.Position.Altitude = 0; |
} |
WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
WP.CamAngle = 0; |
WP.Name[0] = 'S'; |
WP.Name[1] = 'P'; |
WP.Name[2] = 'T'; |
WP.Name[3] = 0; |
// add this point to wp list |
PointList_SetAt(&WP); |
|
sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
UART1_PutString(filename); |
sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
retval = PointList_Save(filename, pWPL_Store->Name, 1); |
|
// clear current point list |
if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
else // es ist gearde ein Wegpunktflug aktiv -> updaten |
{ |
if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
} |
|
return(retval); |
} |
// load target gps posititon and heading from file |
u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
{ |
u8 filename[30], result = 0; |
|
sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
pWPL_Store->Name[0] = 0; // clear current list name |
result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
return(result); |
} |
|
|
|
void ClearWLP_Name(void) |
{ |
u8 i; |
for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
NewWPL_Name = 1; |
} |
|
// move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
{ |
u8 retval = 0; |
s32 altitude; |
GPS_Pos_t OldRefPos; |
GPS_Pos_Deviation_t RefDeviation; |
|
// check inputs for plausibility; |
if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
if(pRefPos == NULL) return(retval); |
if(pRefPos->Status == INVALID) return(retval); |
|
if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
{ |
u8 i; |
// iterate the position list |
for(i = 0; i < PointCount; i++) |
{ |
retval = 0; |
// backup altitude of this point |
altitude = PointList[i].Position.Altitude; |
// calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
// copy of the new reference position into this list place |
if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
// restore former altitude |
PointList[i].Position.Altitude = altitude; |
// move new reference according to the deviation of the old reference |
if(RotationAngle > 0) |
{ |
retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance_cm ); |
// Now rotate the heading positions if they are fixed angles |
if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
} |
else // no rotation |
{ |
// move new reference according to the deviation of the old reference |
retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
} |
if(!retval) break; |
} |
} // else ref pos old not copied! |
if(!retval) PointList_Clear(); |
return(retval); |
} |
|
|
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