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1 | /* |
1 | /* |
2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
4 | either version 3 of the License, or (at your option) any later version. |
4 | either version 3 of the License, or (at your option) any later version. |
5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
9 | 9 | ||
10 | 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 |
10 | 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 |
11 | */ |
11 | */ |
12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | Peter Muehlenbrock |
13 | Peter Muehlenbrock |
14 | Auswertung der Daten vom GPS im ublox Format |
14 | Auswertung der Daten vom GPS im ublox Format |
15 | Hold Modus mit PID Regler |
15 | Hold Modus mit PID Regler |
16 | Rückstuerz zur Basis Funktion |
16 | Rückstuerz zur Basis Funktion |
17 | Stand 6.10.2007 |
17 | Stand 6.10.2007 |
18 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | */ |
19 | */ |
20 | #include "main.h" |
20 | #include "main.h" |
21 | //#include "gps.h" |
21 | //#include "gps.h" |
22 | 22 | ||
23 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
23 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
24 | #define UBLOX_IDLE 0 |
24 | #define UBLOX_IDLE 0 |
25 | #define UBLOX_SYNC1 1 |
25 | #define UBLOX_SYNC1 1 |
26 | #define UBLOX_SYNC2 2 |
26 | #define UBLOX_SYNC2 2 |
27 | #define UBLOX_CLASS 3 |
27 | #define UBLOX_CLASS 3 |
28 | #define UBLOX_ID 4 |
28 | #define UBLOX_ID 4 |
29 | #define UBLOX_LEN1 5 |
29 | #define UBLOX_LEN1 5 |
30 | #define UBLOX_LEN2 6 |
30 | #define UBLOX_LEN2 6 |
31 | #define UBLOX_CKA 7 |
31 | #define UBLOX_CKA 7 |
32 | #define UBLOX_CKB 8 |
32 | #define UBLOX_CKB 8 |
33 | #define UBLOX_PAYLOAD 9 |
33 | #define UBLOX_PAYLOAD 9 |
34 | 34 | ||
35 | // ublox Protokoll Identifier |
35 | // ublox Protokoll Identifier |
36 | #define UBLOX_NAV_POSUTM 0x08 |
36 | #define UBLOX_NAV_POSUTM 0x08 |
37 | #define UBLOX_NAV_STATUS 0x03 |
37 | #define UBLOX_NAV_STATUS 0x03 |
38 | #define UBLOX_NAV_VELED 0x12 |
38 | #define UBLOX_NAV_VELED 0x12 |
39 | #define UBLOX_NAV_CLASS 0x01 |
39 | #define UBLOX_NAV_CLASS 0x01 |
40 | #define UBLOX_SYNCH1_CHAR 0xB5 |
40 | #define UBLOX_SYNCH1_CHAR 0xB5 |
41 | #define UBLOX_SYNCH2_CHAR 0x62 |
41 | #define UBLOX_SYNCH2_CHAR 0x62 |
42 | 42 | ||
43 | signed int GPS_Nick = 0; |
43 | signed int GPS_Nick = 0; |
44 | signed int GPS_Roll = 0; |
44 | signed int GPS_Roll = 0; |
45 | short int ublox_msg_state = UBLOX_IDLE; |
45 | short int ublox_msg_state = UBLOX_IDLE; |
46 | static uint8_t chk_a =0; //Checksum |
46 | static uint8_t chk_a =0; //Checksum |
47 | static uint8_t chk_b =0; |
47 | static uint8_t chk_b =0; |
48 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
48 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
49 | short int gps_updte_flag; |
49 | short int gps_updte_flag; |
50 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
50 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
51 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
51 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
52 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
52 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
53 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
53 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
54 | static unsigned int rx_len; |
54 | static unsigned int rx_len; |
55 | static unsigned int ptr_payload_data_end; |
55 | static unsigned int ptr_payload_data_end; |
56 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
56 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
57 | signed hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
57 | signed hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
58 | signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
58 | signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
59 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
59 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
60 | static uint8_t *ptr_payload_data; |
60 | static uint8_t *ptr_payload_data; |
61 | static uint8_t *ptr_pac_status; |
61 | static uint8_t *ptr_pac_status; |
62 | long int dist_flown; |
62 | long int dist_flown; |
63 | 63 | ||
64 | short int Get_GPS_data(void); |
64 | short int Get_GPS_data(void); |
65 | 65 | ||
66 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
66 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
67 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
67 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
68 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
68 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
69 | 69 | ||
70 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
70 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
71 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
71 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
72 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
72 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
73 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
73 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
74 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
74 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
75 | 75 | ||
76 | // Initialisierung |
76 | // Initialisierung |
77 | void GPS_Neutral(void) |
77 | void GPS_Neutral(void) |
78 | { |
78 | { |
79 | ublox_msg_state = UBLOX_IDLE; |
79 | ublox_msg_state = UBLOX_IDLE; |
80 | gps_state = GPS_CRTL_IDLE; |
80 | gps_state = GPS_CRTL_IDLE; |
81 | actual_pos.status = 0; |
81 | actual_pos.status = 0; |
82 | actual_speed.status = 0; |
82 | actual_speed.status = 0; |
83 | actual_status.status = 0; |
83 | actual_status.status = 0; |
84 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
84 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
85 | gps_act_position.status = 0; |
85 | gps_act_position.status = 0; |
86 | gps_rel_act_position.status = 0; |
86 | gps_rel_act_position.status = 0; |
87 | GPS_Nick = 0; |
87 | GPS_Nick = 0; |
88 | GPS_Roll = 0; |
88 | GPS_Roll = 0; |
89 | gps_updte_flag = 0; |
89 | gps_updte_flag = 0; |
90 | gps_int_x = 0; |
90 | gps_int_x = 0; |
91 | gps_int_y = 0; |
91 | gps_int_y = 0; |
92 | gps_alive_cnt = 0; |
92 | gps_alive_cnt = 0; |
93 | } |
93 | } |
94 | 94 | ||
95 | // Home Position sichern falls Daten verfuegbar sind. |
95 | // Home Position sichern falls Daten verfuegbar sind. |
96 | void GPS_Save_Home(void) |
96 | void GPS_Save_Home(void) |
97 | { |
97 | { |
98 | short int n; |
98 | short int n; |
99 | n = Get_GPS_data(); |
99 | n = Get_GPS_data(); |
100 | if (n == 0) // Gueltige und aktuelle Daten ? |
100 | if (n == 0) // Gueltige und aktuelle Daten ? |
101 | { |
101 | { |
102 | // Neue GPS Daten liegen vor |
102 | // Neue GPS Daten liegen vor |
103 | gps_home_position.utm_east = gps_act_position.utm_east; |
103 | gps_home_position.utm_east = gps_act_position.utm_east; |
104 | gps_home_position.utm_north = gps_act_position.utm_north; |
104 | gps_home_position.utm_north = gps_act_position.utm_north; |
105 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
105 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
106 | gps_home_position.status = 1; // Home Position gueltig |
106 | gps_home_position.status = 1; // Home Position gueltig |
107 | } |
107 | } |
108 | } |
108 | } |
109 | 109 | ||
110 | // Relative Position zur Home Position bestimmen |
110 | // Relative Position zur Home Position bestimmen |
111 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
111 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
112 | short int Get_Rel_Position(void) |
112 | short int Get_Rel_Position(void) |
113 | { |
113 | { |
114 | short int n = 0; |
114 | short int n = 0; |
115 | n = Get_GPS_data(); |
115 | n = Get_GPS_data(); |
116 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
116 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
117 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
117 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
118 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
118 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
119 | { |
119 | { |
120 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
120 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
121 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
121 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
122 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
122 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
123 | n = 0; |
123 | n = 0; |
124 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
124 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
125 | } |
125 | } |
126 | else |
126 | else |
127 | { |
127 | { |
128 | n = 2; //keine gueltigen Daten vorhanden |
128 | n = 2; //keine gueltigen Daten vorhanden |
129 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
129 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
130 | } |
130 | } |
131 | return (n); |
131 | return (n); |
132 | } |
132 | } |
133 | 133 | ||
134 | // Daten aus aktuellen ublox Messages extrahieren |
134 | // Daten aus aktuellen ublox Messages extrahieren |
135 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
135 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
136 | short int Get_GPS_data(void) |
136 | short int Get_GPS_data(void) |
137 | { |
137 | { |
138 | short int n = 1; |
138 | short int n = 1; |
139 | 139 | ||
140 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
140 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
141 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
141 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
142 | { |
142 | { |
143 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
143 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
144 | { |
144 | { |
145 | gps_act_position.utm_east = actual_pos.utm_east/10; |
145 | gps_act_position.utm_east = actual_pos.utm_east/10; |
146 | gps_act_position.utm_north = actual_pos.utm_north/10; |
146 | gps_act_position.utm_north = actual_pos.utm_north/10; |
147 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
147 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
148 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
148 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
149 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
149 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
150 | gps_act_position.heading = actual_speed.heading/100000; |
150 | gps_act_position.heading = actual_speed.heading/100000; |
151 | gps_act_position.status = 1; |
151 | gps_act_position.status = 1; |
152 | n = 0; //Daten gueltig |
152 | n = 0; //Daten gueltig |
153 | } |
153 | } |
154 | else |
154 | else |
155 | { |
155 | { |
156 | gps_act_position.status = 0; //Keine gueltigen Daten |
156 | gps_act_position.status = 0; //Keine gueltigen Daten |
157 | n = 2; |
157 | n = 2; |
158 | } |
158 | } |
159 | actual_pos.status = 0; //neue ublox Messages anfordern |
159 | actual_pos.status = 0; //neue ublox Messages anfordern |
160 | actual_status.status = 0; |
160 | actual_status.status = 0; |
161 | actual_speed.status = 0; |
161 | actual_speed.status = 0; |
162 | } |
162 | } |
163 | return (n); |
163 | return (n); |
164 | } |
164 | } |
165 | 165 | ||
166 | 166 | ||
167 | /* |
167 | /* |
168 | Daten vom GPS im ublox MSG Format auswerten |
168 | Daten vom GPS im ublox MSG Format auswerten |
169 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
169 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
170 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
170 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
171 | */ |
171 | */ |
172 | void Get_Ublox_Msg(uint8_t rx) |
172 | void Get_Ublox_Msg(uint8_t rx) |
173 | { |
173 | { |
174 | switch (ublox_msg_state) |
174 | switch (ublox_msg_state) |
175 | { |
175 | { |
176 | 176 | ||
177 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
177 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
178 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
178 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
179 | else ublox_msg_state = UBLOX_IDLE; |
179 | else ublox_msg_state = UBLOX_IDLE; |
180 | break; |
180 | break; |
181 | 181 | ||
182 | case UBLOX_SYNC1: |
182 | case UBLOX_SYNC1: |
183 | 183 | ||
184 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
184 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
185 | else ublox_msg_state = UBLOX_IDLE; |
185 | else ublox_msg_state = UBLOX_IDLE; |
186 | chk_a = 0,chk_b = 0; |
186 | chk_a = 0,chk_b = 0; |
187 | break; |
187 | break; |
188 | 188 | ||
189 | case UBLOX_SYNC2: |
189 | case UBLOX_SYNC2: |
190 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
190 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
191 | else ublox_msg_state = UBLOX_IDLE; |
191 | else ublox_msg_state = UBLOX_IDLE; |
192 | break; |
192 | break; |
193 | 193 | ||
194 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
194 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
195 | switch (rx) |
195 | switch (rx) |
196 | { |
196 | { |
197 | case UBLOX_NAV_POSUTM: |
197 | case UBLOX_NAV_POSUTM: |
198 | ptr_pac_status = &actual_pos.status; |
198 | ptr_pac_status = &actual_pos.status; |
199 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
199 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
200 | else |
200 | else |
201 | { |
201 | { |
202 | ptr_payload_data = &actual_pos; |
202 | ptr_payload_data = &actual_pos; |
203 | ptr_payload_data_end = &actual_pos.status; |
203 | ptr_payload_data_end = &actual_pos.status; |
204 | ublox_msg_state = UBLOX_LEN1; |
204 | ublox_msg_state = UBLOX_LEN1; |
205 | } |
205 | } |
206 | break; |
206 | break; |
207 | 207 | ||
208 | case UBLOX_NAV_STATUS: |
208 | case UBLOX_NAV_STATUS: |
209 | ptr_pac_status = &actual_status.status; |
209 | ptr_pac_status = &actual_status.status; |
210 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
210 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
211 | else |
211 | else |
212 | { |
212 | { |
213 | ptr_payload_data = &actual_status; |
213 | ptr_payload_data = &actual_status; |
214 | ptr_payload_data_end = &actual_status.status; |
214 | ptr_payload_data_end = &actual_status.status; |
215 | ublox_msg_state = UBLOX_LEN1; |
215 | ublox_msg_state = UBLOX_LEN1; |
216 | } |
216 | } |
217 | break; |
217 | break; |
218 | 218 | ||
219 | case UBLOX_NAV_VELED: |
219 | case UBLOX_NAV_VELED: |
220 | ptr_pac_status = &actual_speed.status; |
220 | ptr_pac_status = &actual_speed.status; |
221 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
221 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
222 | else |
222 | else |
223 | { |
223 | { |
224 | ptr_payload_data = &actual_speed; |
224 | ptr_payload_data = &actual_speed; |
225 | ptr_payload_data_end = &actual_speed.status; |
225 | ptr_payload_data_end = &actual_speed.status; |
226 | ublox_msg_state = UBLOX_LEN1; |
226 | ublox_msg_state = UBLOX_LEN1; |
227 | } |
227 | } |
228 | break; |
228 | break; |
229 | 229 | ||
230 | default: |
230 | default: |
231 | ublox_msg_state = UBLOX_IDLE; |
231 | ublox_msg_state = UBLOX_IDLE; |
232 | break; |
232 | break; |
233 | } |
233 | } |
234 | chk_a = UBLOX_NAV_CLASS + rx; |
234 | chk_a = UBLOX_NAV_CLASS + rx; |
235 | chk_b = UBLOX_NAV_CLASS + chk_a; |
235 | chk_b = UBLOX_NAV_CLASS + chk_a; |
236 | break; |
236 | break; |
237 | 237 | ||
238 | case UBLOX_LEN1: // Laenge auswerten |
238 | case UBLOX_LEN1: // Laenge auswerten |
239 | rx_len = rx; |
239 | rx_len = rx; |
240 | chk_a += rx; |
240 | chk_a += rx; |
241 | chk_b += chk_a; |
241 | chk_b += chk_a; |
242 | ublox_msg_state = UBLOX_LEN2; |
242 | ublox_msg_state = UBLOX_LEN2; |
243 | break; |
243 | break; |
244 | 244 | ||
245 | 245 | ||
246 | case UBLOX_LEN2: // Laenge auswerten |
246 | case UBLOX_LEN2: // Laenge auswerten |
247 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
247 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
248 | chk_a += rx; |
248 | chk_a += rx; |
249 | chk_b += chk_a; |
249 | chk_b += chk_a; |
250 | ublox_msg_state = UBLOX_PAYLOAD; |
250 | ublox_msg_state = UBLOX_PAYLOAD; |
251 | break; |
251 | break; |
252 | 252 | ||
253 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
253 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
254 | if (rx_len > 0) |
254 | if (rx_len > 0) |
255 | { |
255 | { |
256 | *ptr_payload_data = rx; |
256 | *ptr_payload_data = rx; |
257 | chk_a += rx; |
257 | chk_a += rx; |
258 | chk_b += chk_a; |
258 | chk_b += chk_a; |
259 | --rx_len; |
259 | --rx_len; |
260 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
260 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
261 | { |
261 | { |
262 | ptr_payload_data++; |
262 | ptr_payload_data++; |
263 | ublox_msg_state = UBLOX_PAYLOAD; |
263 | ublox_msg_state = UBLOX_PAYLOAD; |
264 | } |
264 | } |
265 | else ublox_msg_state = UBLOX_CKA; |
265 | else ublox_msg_state = UBLOX_CKA; |
266 | } |
266 | } |
267 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
267 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
268 | break; |
268 | break; |
269 | 269 | ||
270 | case UBLOX_CKA: // Checksum pruefen |
270 | case UBLOX_CKA: // Checksum pruefen |
271 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
271 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
272 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
272 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
273 | break; |
273 | break; |
274 | 274 | ||
275 | case UBLOX_CKB: // Checksum pruefen |
275 | case UBLOX_CKB: // Checksum pruefen |
276 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
276 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
277 | ublox_msg_state = UBLOX_IDLE; |
277 | ublox_msg_state = UBLOX_IDLE; |
278 | break; |
278 | break; |
279 | 279 | ||
280 | default: |
280 | default: |
281 | ublox_msg_state = UBLOX_IDLE; |
281 | ublox_msg_state = UBLOX_IDLE; |
282 | break; |
282 | break; |
283 | } |
283 | } |
284 | } |
284 | } |
285 | 285 | ||
286 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
286 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
287 | short int GPS_CRTL(short int cmd) |
287 | short int GPS_CRTL(short int cmd) |
288 | { |
288 | { |
289 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
289 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
290 | static signed int int_east,int_north; //Integrierer |
290 | static signed int int_east,int_north; //Integrierer |
291 | static signed int dist_north,dist_east; |
291 | static signed int dist_north,dist_east; |
292 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
292 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
293 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
293 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
294 | signed int n,diff_v; |
294 | signed int n,diff_v; |
295 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
295 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
296 | long signed int dev,n_l; |
296 | long signed int dev,n_l; |
297 | signed int dist_frm_start_east,dist_frm_start_north; |
297 | signed int dist_frm_start_east,dist_frm_start_north; |
298 | switch (cmd) |
298 | switch (cmd) |
299 | { |
299 | { |
300 | 300 | ||
301 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
301 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
302 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
302 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
303 | { |
303 | { |
304 | cnt++; |
304 | cnt++; |
305 | if (cnt > 500) // erst nach Verzoegerung |
305 | if (cnt > 500) // erst nach Verzoegerung |
306 | { |
306 | { |
307 | // Erst mal initialisieren |
307 | // Erst mal initialisieren |
308 | cnt = 0; |
308 | cnt = 0; |
309 | gps_tick = 0; |
309 | gps_tick = 0; |
310 | hold_fast = 0; |
310 | hold_fast = 0; |
311 | hold_reset_int = 0; // Integrator enablen |
311 | hold_reset_int = 0; // Integrator enablen |
312 | int_east = 0, int_north = 0; |
312 | int_east = 0, int_north = 0; |
313 | gps_reg_x = 0, gps_reg_y = 0; |
313 | gps_reg_x = 0, gps_reg_y = 0; |
314 | dist_east = 0, dist_north = 0; |
314 | dist_east = 0, dist_north = 0; |
315 | diff_east_f = 0, diff_north_f= 0; |
315 | diff_east_f = 0, diff_north_f= 0; |
316 | diff_east = 0, diff_north = 0; |
316 | diff_east = 0, diff_north = 0; |
317 | dist_flown = 0; |
317 | dist_flown = 0; |
318 | gps_g2t_act_v = 0; |
318 | gps_g2t_act_v = 0; |
319 | gps_sub_state = GPS_CRTL_IDLE; |
319 | gps_sub_state = GPS_CRTL_IDLE; |
320 | // aktuelle positionsdaten abspeichern |
320 | // aktuelle positionsdaten abspeichern |
321 | if (gps_rel_act_position.status > 0) |
321 | if (gps_rel_act_position.status > 0) |
322 | { |
322 | { |
323 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
323 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
324 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
324 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
325 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
325 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
326 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
326 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
327 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
327 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
328 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
328 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
329 | //Richtung zur Home Positionbezogen auf Nordpol bestimmen |
329 | //Richtung zur Home Positionbezogen auf Nordpol bestimmen |
330 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
330 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
331 | // in Winkel 0...360 Grad umrechnen |
331 | // in Winkel 0...360 Grad umrechnen |
332 | if ((-gps_rel_start_position.utm_east >= 0)) hdng_2home = ( 90-hdng_2home); |
332 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
333 | else hdng_2home = (270 - hdng_2home); |
333 | else hdng_2home = (270 - hdng_2home); |
334 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
334 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
335 | gps_state = GPS_CRTL_HOME_ACTIVE; |
335 | gps_state = GPS_CRTL_HOME_ACTIVE; |
336 | return (GPS_STST_OK); |
336 | return (GPS_STST_OK); |
337 | } |
337 | } |
338 | else |
338 | else |
339 | { |
339 | { |
340 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
340 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
341 | gps_state = GPS_CRTL_IDLE; |
341 | gps_state = GPS_CRTL_IDLE; |
342 | return(GPS_STST_ERR); // Keine Daten da |
342 | return(GPS_STST_ERR); // Keine Daten da |
343 | } |
343 | } |
344 | } |
344 | } |
345 | else return(GPS_STST_PEND); // noch warten |
345 | else return(GPS_STST_PEND); // noch warten |
346 | } |
346 | } |
347 | break; |
347 | break; |
348 | // ****************************** |
348 | // ****************************** |
349 | 349 | ||
350 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
350 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
351 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
351 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
352 | { |
352 | { |
353 | cnt++; |
353 | cnt++; |
354 | if (cnt > 500) // erst nach Verzoegerung |
354 | if (cnt > 500) // erst nach Verzoegerung |
355 | { |
355 | { |
356 | cnt = 0; |
356 | cnt = 0; |
357 | // aktuelle positionsdaten abspeichern |
357 | // aktuelle positionsdaten abspeichern |
358 | if (gps_rel_act_position.status > 0) |
358 | if (gps_rel_act_position.status > 0) |
359 | { |
359 | { |
360 | hold_fast = 0; |
360 | hold_fast = 0; |
361 | hold_reset_int = 0; // Integrator enablen |
361 | hold_reset_int = 0; // Integrator enablen |
362 | int_east = 0, int_north = 0; |
362 | int_east = 0, int_north = 0; |
363 | gps_reg_x = 0, gps_reg_y = 0; |
363 | gps_reg_x = 0, gps_reg_y = 0; |
364 | dist_east = 0, dist_north = 0; |
364 | dist_east = 0, dist_north = 0; |
365 | diff_east_f = 0, diff_north_f= 0; |
365 | diff_east_f = 0, diff_north_f= 0; |
366 | diff_east = 0, diff_north = 0; |
366 | diff_east = 0, diff_north = 0; |
367 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
367 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
368 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
368 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
369 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
369 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
370 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
370 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
371 | return (GPS_STST_OK); |
371 | return (GPS_STST_OK); |
372 | } |
372 | } |
373 | else |
373 | else |
374 | { |
374 | { |
375 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
375 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
376 | gps_state = GPS_CRTL_IDLE; |
376 | gps_state = GPS_CRTL_IDLE; |
377 | return(GPS_STST_ERR); // Keine Daten da |
377 | return(GPS_STST_ERR); // Keine Daten da |
378 | } |
378 | } |
379 | } |
379 | } |
380 | else return(GPS_STST_PEND); // noch warten |
380 | else return(GPS_STST_PEND); // noch warten |
381 | } |
381 | } |
382 | break; |
382 | break; |
383 | 383 | ||
384 | case GPS_CMD_STOP: // Lageregelung beenden |
384 | case GPS_CMD_STOP: // Lageregelung beenden |
385 | cnt = 0; |
385 | cnt = 0; |
386 | GPS_Nick = 0; |
386 | GPS_Nick = 0; |
387 | GPS_Roll = 0; |
387 | GPS_Roll = 0; |
388 | gps_int_x = 0; |
388 | gps_int_x = 0; |
389 | gps_int_y = 0; |
389 | gps_int_y = 0; |
390 | gps_state = GPS_CRTL_IDLE; |
390 | gps_state = GPS_CRTL_IDLE; |
391 | return (GPS_STST_OK); |
391 | return (GPS_STST_OK); |
392 | break; |
392 | break; |
393 | 393 | ||
394 | default: |
394 | default: |
395 | return (GPS_STST_ERR); |
395 | return (GPS_STST_ERR); |
396 | break; |
396 | break; |
397 | } |
397 | } |
398 | 398 | ||
399 | switch (gps_state) |
399 | switch (gps_state) |
400 | { |
400 | { |
401 | case GPS_CRTL_IDLE: |
401 | case GPS_CRTL_IDLE: |
402 | cnt = 0; |
402 | cnt = 0; |
403 | return (GPS_STST_OK); |
403 | return (GPS_STST_OK); |
404 | break; |
404 | break; |
405 | 405 | ||
406 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
406 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
407 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
407 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
408 | if (gps_rel_start_position.status >0) |
408 | if (gps_rel_start_position.status >0) |
409 | { |
409 | { |
410 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
410 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
411 | { |
411 | { |
412 | gps_tick++; |
412 | gps_tick++; |
413 | int d1,d2,d3; |
413 | int d1,d2,d3; |
414 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
414 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
415 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
415 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
416 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
416 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
417 | 417 | ||
418 | if (d3 > GPS_G2T_DIST_MAX_STOP) |
418 | if (d3 > GPS_G2T_DIST_MAX_STOP) |
419 | { |
419 | { |
- | 420 | hold_fast = 1; // Schnell Regeln |
|
- | 421 | hold_reset_int = 1; // Integrator ausschalten |
|
420 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
422 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
421 | { |
423 | { |
422 | hold_fast = 1; // Schnell Regeln |
- | |
423 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
424 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
424 | dist_flown += (long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
425 | dist_flown += (long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
425 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
426 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
426 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
427 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
427 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
428 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
428 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
429 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
- | 430 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
|
429 | } |
431 | } |
430 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
432 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
431 | { |
433 | { |
- | 434 | /* if (gps_sub_state == GPS_HOME_FAST_IN_TOL) hold_reset_int = 1; //Integrator einmal am Beginn des normalen Regelns resetten |
|
- | 435 | else hold_reset_int = 0; |
|
432 | if (gps_g2t_act_v > 0) gps_g2t_act_v--; |
436 | */ if (gps_g2t_act_v > 0) gps_g2t_act_v--; |
433 | if (gps_g2t_act_v <= (GPS_G2T_V_MAX/2)) hold_fast = 0; // Wieder normal regeln |
437 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
434 | } |
438 | } |
435 | } |
439 | } |
436 | else //Schon ziemlich nahe am Ziel, deswegen abbremsen |
440 | else //Schon ziemlich nahe am Ziel, deswegen abbremsen |
437 | { |
441 | { |
438 | hold_fast = 0; // Wieder normal regeln |
- | |
439 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
442 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
440 | { |
443 | { |
- | 444 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
|
441 | if (d3 > GPS_G2T_DIST_HOLD) |
445 | if (d3 > GPS_G2T_DIST_HOLD) |
442 | { |
446 | { |
443 | if (gps_g2t_act_v < GPS_G2T_V_RAMP_DWN) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
447 | if (gps_g2t_act_v < GPS_G2T_V_RAMP_DWN) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
444 | dist_flown += (long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
448 | dist_flown += (long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
445 | dist_frm_start_east = (dist_flown * (long)sin_i(hdng_2home))/1000; |
449 | dist_frm_start_east = (dist_flown * (long)sin_i(hdng_2home))/1000; |
446 | dist_frm_start_north = (dist_flown * (long)cos_i(hdng_2home))/1000; |
450 | dist_frm_start_north = (dist_flown * (long)cos_i(hdng_2home))/1000; |
447 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + (int)dist_frm_start_east; //naechster Zielpunkt |
451 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + (int)dist_frm_start_east; //naechster Zielpunkt |
448 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + (int)dist_frm_start_north; //naechster Zielpunkt |
452 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + (int)dist_frm_start_north; //naechster Zielpunkt |
449 | } |
453 | } |
450 | else //Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
454 | else //Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
451 | { |
455 | { |
- | 456 | hold_fast = 0; // Wieder normal regeln |
|
- | 457 | hold_reset_int = 0; // Integrator wieder aktivieren |
|
452 | if (gps_rel_hold_position.utm_east > 1) gps_rel_hold_position.utm_east--; |
458 | if (gps_rel_hold_position.utm_east > GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
453 | else if (gps_rel_hold_position.utm_east <-1 ) gps_rel_hold_position.utm_east++; |
459 | else if (gps_rel_hold_position.utm_east < -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
454 | if (gps_rel_hold_position.utm_north > 1) gps_rel_hold_position.utm_north--; |
460 | if (gps_rel_hold_position.utm_north > GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
455 | else if (gps_rel_hold_position.utm_north < -1 ) gps_rel_hold_position.utm_north++; |
461 | else if (gps_rel_hold_position.utm_north < - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
456 | if ((abs(gps_rel_hold_position.utm_east) <= 1) && (abs(gps_rel_hold_position.utm_north) <=1)) gps_sub_state = GPS_HOME_FINISHED; |
462 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
- | 463 | { |
|
- | 464 | gps_rel_hold_position.utm_east = 0; |
|
- | 465 | gps_rel_hold_position.utm_north = 0; |
|
- | 466 | gps_sub_state = GPS_HOME_FINISHED; |
|
- | 467 | } |
|
457 | } |
468 | } |
458 | } |
469 | } |
459 | else |
470 | else |
460 | { |
471 | { |
- | 472 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
|
461 | if (gps_g2t_act_v > 0) gps_g2t_act_v--; |
473 | if (gps_g2t_act_v > 0) gps_g2t_act_v--; |
462 | } |
474 | } |
463 | } |
475 | } |
464 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
476 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
465 | return (GPS_STST_OK); |
477 | return (GPS_STST_OK); |
466 | } |
478 | } |
467 | else return (GPS_STST_OK); |
479 | else return (GPS_STST_OK); |
468 | } |
480 | } |
469 | else |
481 | else |
470 | { |
482 | { |
471 | gps_state = GPS_CRTL_IDLE; //Abbruch |
483 | gps_state = GPS_CRTL_IDLE; //Abbruch |
472 | return (GPS_STST_ERR); |
484 | return (GPS_STST_ERR); |
473 | } |
485 | } |
474 | break; |
486 | break; |
475 | 487 | ||
476 | 488 | ||
477 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
489 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
478 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
490 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
479 | { |
491 | { |
480 | gps_updte_flag = 0; |
492 | gps_updte_flag = 0; |
481 | // ab hier wird geregelt |
493 | // ab hier wird geregelt |
482 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
494 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
483 | diff_north = -dist_north; |
495 | diff_north = -dist_north; |
484 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
496 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
485 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
497 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
486 | int_east += dist_east; |
498 | int_east += dist_east; |
487 | int_north += dist_north; |
499 | int_north += dist_north; |
488 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
500 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
489 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
501 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
490 | /* |
502 | /* |
491 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
503 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
492 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
504 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
493 | */ |
505 | */ |
494 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
506 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
495 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
507 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
496 | { |
508 | { |
497 | int_east -= dist_east; |
509 | int_east -= dist_east; |
498 | int_north -= dist_north; |
510 | int_north -= dist_north; |
499 | } |
511 | } |
500 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
512 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
501 | { |
513 | { |
502 | int_east = 0; |
514 | int_east = 0; |
503 | int_north = 0; |
515 | int_north = 0; |
504 | } |
516 | } |
505 | 517 | ||
506 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
518 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
507 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
519 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
508 | #define GPS_DIFF_MAX_V 20 //maximale Verstaerkung * 10 |
520 | #define GPS_DIFF_MAX_V 20 //maximale Verstaerkung * 10 |
509 | #define GPS_DIFF_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm |
521 | #define GPS_DIFF_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm |
510 | signed long dist,int_east1,int_north1; |
522 | signed long dist,int_east1,int_north1; |
511 | int phi; |
523 | int phi; |
512 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
524 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
513 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
525 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
514 | 526 | ||
515 | diff_v = (int)((dist * (GPS_DIFF_MAX_V - 10)) / GPS_DIFF_MAX_D) +10; //Verstaerkung * 10 |
527 | diff_v = (int)((dist * (GPS_DIFF_MAX_V - 10)) / GPS_DIFF_MAX_D) +10; //Verstaerkung * 10 |
516 | if (diff_v > GPS_DIFF_MAX_V) diff_v = GPS_DIFF_MAX_V; //begrenzen |
528 | if (diff_v > GPS_DIFF_MAX_V) diff_v = GPS_DIFF_MAX_V; //begrenzen |
517 | if (hold_fast > 0) diff_v = 10; //im schnellen Modus schwache Wirkung des Differenzierers |
529 | // if (hold_fast > 0) diff_v = 10; //im schnellen Modus schwache Wirkung des Differenzierers |
518 | 530 | ||
519 | //I Werte begrenzen |
531 | //I Werte begrenzen |
520 | #define INT1_MAX (20 * GPS_V) |
532 | #define INT1_MAX (20 * GPS_V) |
521 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
533 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
522 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
534 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
523 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
535 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
524 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
536 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
525 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
537 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
526 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
538 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
- | 539 | ||
- | 540 | int diff_p; |
|
- | 541 | if (hold_fast > 0) diff_p = 2; //im schnellen Modus Proportionalanteil staerken |
|
- | 542 | else diff_p = 1; |
|
527 | 543 | ||
528 | //PID Regler Werte aufsummieren |
544 | //PID Regler Werte aufsummieren |
529 | gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1)/8)+ ((diff_east * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
545 | gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/8)+ ((diff_east * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
530 | gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1)/8)+ ((diff_north * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
546 | gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/8)+ ((diff_north * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
531 | 547 | ||
532 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
548 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
533 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
549 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
534 | 550 | ||
535 | // in Winkel 0...360 Grad umrechnen |
551 | // in Winkel 0...360 Grad umrechnen |
536 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
552 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
537 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
553 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
538 | 554 | ||
539 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
555 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
540 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
556 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
541 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
557 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
542 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
558 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
543 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
559 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
544 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
560 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
545 | 561 | ||
546 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
562 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
547 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
563 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
548 | { |
564 | { |
549 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
565 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
550 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
566 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
551 | } |
567 | } |
552 | else |
568 | else |
553 | { |
569 | { |
554 | dev = (long)gps_reg_y; |
570 | dev = (long)gps_reg_y; |
555 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
571 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
556 | } |
572 | } |
557 | GPS_dist_2trgt = (int) dev; |
573 | GPS_dist_2trgt = (int) dev; |
558 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
574 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
559 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
575 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
560 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
576 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
561 | 577 | ||
562 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
578 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
563 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
579 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
564 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
580 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
565 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
581 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
566 | 582 | ||
567 | //Kleine Werte verstaerken, Grosse abschwaechen |
583 | //Kleine Werte verstaerken, Grosse abschwaechen |
568 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
584 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
569 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
585 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
570 | GPS_Roll = (int) n_l; |
586 | GPS_Roll = (int) n_l; |
571 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
587 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
572 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
588 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
573 | GPS_Nick = (int) n_l; |
589 | GPS_Nick = (int) n_l; |
574 | 590 | ||
575 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
591 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
576 | { |
592 | { |
577 | GPS_Roll = 0; |
593 | GPS_Roll = 0; |
578 | GPS_Nick = 0; |
594 | GPS_Nick = 0; |
579 | gps_state = GPS_CRTL_IDLE; |
595 | gps_state = GPS_CRTL_IDLE; |
580 | return (GPS_STST_ERR); |
596 | return (GPS_STST_ERR); |
581 | break; |
597 | break; |
582 | } |
598 | } |
583 | else |
599 | else |
584 | { |
600 | { |
585 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
601 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
586 | return (GPS_STST_OK); |
602 | return (GPS_STST_OK); |
587 | } |
603 | } |
588 | } |
604 | } |
589 | else |
605 | else |
590 | { |
606 | { |
591 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
607 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
592 | return (GPS_STST_OK); |
608 | return (GPS_STST_OK); |
593 | } |
609 | } |
594 | break; |
610 | break; |
595 | 611 | ||
596 | default: |
612 | default: |
597 | gps_state = GPS_CRTL_IDLE; |
613 | gps_state = GPS_CRTL_IDLE; |
598 | return (GPS_STST_ERR); |
614 | return (GPS_STST_ERR); |
599 | break; |
615 | break; |
600 | } |
616 | } |
601 | return (GPS_STST_ERR); |
617 | return (GPS_STST_ERR); |
602 | 618 | ||
603 | } |
619 | } |
604 | 620 | ||
605 | 621 |