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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 Lesser General Public License as published by the Free Software Foundation; |
3 | it under the terms of the GNU Lesser 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 and GNU Lesser General Public License for more details. |
7 | GNU General Public License and GNU Lesser General Public License for more details. |
8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
10 | If not, see <http://www.gnu.org/licenses/>. |
10 | If not, see <http://www.gnu.org/licenses/>. |
11 | 11 | ||
12 | 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 |
12 | 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 |
13 | */ |
13 | */ |
14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | Peter Muehlenbrock |
15 | Peter Muehlenbrock |
16 | Auswertung der Daten vom GPS im ublox Format |
16 | Auswertung der Daten vom GPS im ublox Format |
17 | Hold Modus mit PID Regler |
17 | Hold Modus mit PID Regler |
18 | Rückstuerz zur Basis Funktion |
18 | Rückstuerz zur Basis Funktion |
19 | Stand 24.10.2007 |
19 | Stand 24.10.2007 |
20 | Anederung: 24.10. Altitude in relativer Position jetzt auch drin |
20 | Anederung: 24.10. Altitude in relativer Position jetzt auch drin |
21 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | */ |
22 | */ |
23 | #include "main.h" |
23 | #include "main.h" |
- | 24 | #include "math.h" |
|
24 | //#include "gps.h" |
25 | //#include "gps.h" |
25 | 26 | ||
26 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
27 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
27 | #define UBLOX_IDLE 0 |
28 | #define UBLOX_IDLE 0 |
28 | #define UBLOX_SYNC1 1 |
29 | #define UBLOX_SYNC1 1 |
29 | #define UBLOX_SYNC2 2 |
30 | #define UBLOX_SYNC2 2 |
30 | #define UBLOX_CLASS 3 |
31 | #define UBLOX_CLASS 3 |
31 | #define UBLOX_ID 4 |
32 | #define UBLOX_ID 4 |
32 | #define UBLOX_LEN1 5 |
33 | #define UBLOX_LEN1 5 |
33 | #define UBLOX_LEN2 6 |
34 | #define UBLOX_LEN2 6 |
34 | #define UBLOX_CKA 7 |
35 | #define UBLOX_CKA 7 |
35 | #define UBLOX_CKB 8 |
36 | #define UBLOX_CKB 8 |
36 | #define UBLOX_PAYLOAD 9 |
37 | #define UBLOX_PAYLOAD 9 |
37 | 38 | ||
38 | // ublox Protokoll Identifier |
39 | // ublox Protokoll Identifier |
39 | #define UBLOX_NAV_POSUTM 0x08 |
40 | #define UBLOX_NAV_POSUTM 0x08 |
40 | #define UBLOX_NAV_STATUS 0x03 |
41 | #define UBLOX_NAV_STATUS 0x03 |
41 | #define UBLOX_NAV_VELED 0x12 |
42 | #define UBLOX_NAV_VELED 0x12 |
42 | #define UBLOX_NAV_CLASS 0x01 |
43 | #define UBLOX_NAV_CLASS 0x01 |
43 | #define UBLOX_SYNCH1_CHAR 0xB5 |
44 | #define UBLOX_SYNCH1_CHAR 0xB5 |
44 | #define UBLOX_SYNCH2_CHAR 0x62 |
45 | #define UBLOX_SYNCH2_CHAR 0x62 |
45 | 46 | ||
46 | signed int GPS_Nick = 0; |
47 | signed int GPS_Nick = 0; |
47 | signed int GPS_Roll = 0; |
48 | signed int GPS_Roll = 0; |
48 | short int ublox_msg_state = UBLOX_IDLE; |
49 | short int ublox_msg_state = UBLOX_IDLE; |
49 | static uint8_t chk_a =0; //Checksum |
50 | static uint8_t chk_a =0; //Checksum |
50 | static uint8_t chk_b =0; |
51 | static uint8_t chk_b =0; |
51 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
52 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
52 | short int gps_updte_flag; |
53 | short int gps_updte_flag; |
53 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
54 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
54 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
55 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
55 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
56 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
56 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
57 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
57 | static unsigned int rx_len; |
58 | static unsigned int rx_len; |
58 | static unsigned int ptr_payload_data_end; |
59 | static unsigned int ptr_payload_data_end; |
59 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
60 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
60 | signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
61 | signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
61 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
62 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
62 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
63 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
63 | static uint8_t *ptr_payload_data; |
64 | static uint8_t *ptr_payload_data; |
64 | static uint8_t *ptr_pac_status; |
65 | static uint8_t *ptr_pac_status; |
65 | long int dist_flown; |
66 | long int dist_flown; |
66 | 67 | ||
67 | short int Get_GPS_data(void); |
68 | short int Get_GPS_data(void); |
68 | 69 | ||
69 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
70 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
70 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
71 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
71 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
72 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
72 | 73 | ||
73 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
74 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
74 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
75 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
75 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
76 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
76 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
77 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
77 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
78 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
78 | 79 | ||
79 | // Initialisierung |
80 | // Initialisierung |
80 | void GPS_Neutral(void) |
81 | void GPS_Neutral(void) |
81 | { |
82 | { |
82 | ublox_msg_state = UBLOX_IDLE; |
83 | ublox_msg_state = UBLOX_IDLE; |
83 | gps_state = GPS_CRTL_IDLE; |
84 | gps_state = GPS_CRTL_IDLE; |
84 | gps_sub_state = GPS_CRTL_IDLE; |
85 | gps_sub_state = GPS_CRTL_IDLE; |
85 | actual_pos.status = 0; |
86 | actual_pos.status = 0; |
86 | actual_speed.status = 0; |
87 | actual_speed.status = 0; |
87 | actual_status.status = 0; |
88 | actual_status.status = 0; |
88 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
89 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
89 | gps_act_position.status = 0; |
90 | gps_act_position.status = 0; |
90 | gps_rel_act_position.status = 0; |
91 | gps_rel_act_position.status = 0; |
91 | GPS_Nick = 0; |
92 | GPS_Nick = 0; |
92 | GPS_Roll = 0; |
93 | GPS_Roll = 0; |
93 | gps_updte_flag = 0; |
94 | gps_updte_flag = 0; |
94 | gps_int_x = 0; |
95 | gps_int_x = 0; |
95 | gps_int_y = 0; |
96 | gps_int_y = 0; |
96 | gps_alive_cnt = 0; |
97 | gps_alive_cnt = 0; |
97 | } |
98 | } |
98 | 99 | ||
99 | // Home Position sichern falls Daten verfuegbar sind. |
100 | // Home Position sichern falls Daten verfuegbar sind. |
100 | void GPS_Save_Home(void) |
101 | void GPS_Save_Home(void) |
101 | { |
102 | { |
102 | short int n; |
103 | short int n; |
103 | n = Get_GPS_data(); |
104 | n = Get_GPS_data(); |
104 | if (n == 0) // Gueltige und aktuelle Daten ? |
105 | if (n == 0) // Gueltige und aktuelle Daten ? |
105 | { |
106 | { |
106 | // Neue GPS Daten liegen vor |
107 | // Neue GPS Daten liegen vor |
107 | gps_home_position.utm_east = gps_act_position.utm_east; |
108 | gps_home_position.utm_east = gps_act_position.utm_east; |
108 | gps_home_position.utm_north = gps_act_position.utm_north; |
109 | gps_home_position.utm_north = gps_act_position.utm_north; |
109 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
110 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
110 | gps_home_position.status = 1; // Home Position gueltig |
111 | gps_home_position.status = 1; // Home Position gueltig |
111 | } |
112 | } |
112 | } |
113 | } |
113 | 114 | ||
114 | // Relative Position zur Home Position bestimmen |
115 | // Relative Position zur Home Position bestimmen |
115 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
116 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
116 | short int Get_Rel_Position(void) |
117 | short int Get_Rel_Position(void) |
117 | { |
118 | { |
118 | short int n = 0; |
119 | short int n = 0; |
119 | n = Get_GPS_data(); |
120 | n = Get_GPS_data(); |
120 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
121 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
121 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
122 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
122 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
123 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
123 | { |
124 | { |
124 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
125 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
125 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
126 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
126 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
127 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
127 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
128 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
128 | n = 0; |
129 | n = 0; |
129 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
130 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
130 | } |
131 | } |
131 | else |
132 | else |
132 | { |
133 | { |
133 | n = 2; //keine gueltigen Daten vorhanden |
134 | n = 2; //keine gueltigen Daten vorhanden |
134 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
135 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
135 | } |
136 | } |
136 | return (n); |
137 | return (n); |
137 | } |
138 | } |
138 | 139 | ||
139 | // Daten aus aktuellen ublox Messages extrahieren |
140 | // Daten aus aktuellen ublox Messages extrahieren |
140 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
141 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
141 | short int Get_GPS_data(void) |
142 | short int Get_GPS_data(void) |
142 | { |
143 | { |
143 | short int n = 1; |
144 | short int n = 1; |
144 | 145 | ||
145 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
146 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
146 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
147 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
147 | { |
148 | { |
148 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
149 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
149 | { |
150 | { |
150 | gps_act_position.utm_east = actual_pos.utm_east/10; |
151 | gps_act_position.utm_east = actual_pos.utm_east/10; |
151 | gps_act_position.utm_north = actual_pos.utm_north/10; |
152 | gps_act_position.utm_north = actual_pos.utm_north/10; |
152 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
153 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
153 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
154 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
154 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
155 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
155 | gps_act_position.heading = actual_speed.heading/100000; |
156 | gps_act_position.heading = actual_speed.heading/100000; |
156 | gps_act_position.status = 1; |
157 | gps_act_position.status = 1; |
157 | n = 0; //Daten gueltig |
158 | n = 0; //Daten gueltig |
158 | } |
159 | } |
159 | else |
160 | else |
160 | { |
161 | { |
161 | gps_act_position.status = 0; //Keine gueltigen Daten |
162 | gps_act_position.status = 0; //Keine gueltigen Daten |
162 | n = 2; |
163 | n = 2; |
163 | } |
164 | } |
164 | actual_pos.status = 0; //neue ublox Messages anfordern |
165 | actual_pos.status = 0; //neue ublox Messages anfordern |
165 | actual_status.status = 0; |
166 | actual_status.status = 0; |
166 | actual_speed.status = 0; |
167 | actual_speed.status = 0; |
167 | } |
168 | } |
168 | return (n); |
169 | return (n); |
169 | } |
170 | } |
170 | 171 | ||
171 | /* |
172 | /* |
172 | Daten vom GPS im ublox MSG Format auswerten |
173 | Daten vom GPS im ublox MSG Format auswerten |
173 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
174 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
174 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
175 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
175 | */ |
176 | */ |
176 | void Get_Ublox_Msg(uint8_t rx) |
177 | void Get_Ublox_Msg(uint8_t rx) |
177 | { |
178 | { |
178 | switch (ublox_msg_state) |
179 | switch (ublox_msg_state) |
179 | { |
180 | { |
180 | 181 | ||
181 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
182 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
182 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
183 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
183 | else ublox_msg_state = UBLOX_IDLE; |
184 | else ublox_msg_state = UBLOX_IDLE; |
184 | break; |
185 | break; |
185 | 186 | ||
186 | case UBLOX_SYNC1: |
187 | case UBLOX_SYNC1: |
187 | 188 | ||
188 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
189 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
189 | else ublox_msg_state = UBLOX_IDLE; |
190 | else ublox_msg_state = UBLOX_IDLE; |
190 | chk_a = 0,chk_b = 0; |
191 | chk_a = 0,chk_b = 0; |
191 | break; |
192 | break; |
192 | 193 | ||
193 | case UBLOX_SYNC2: |
194 | case UBLOX_SYNC2: |
194 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
195 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
195 | else ublox_msg_state = UBLOX_IDLE; |
196 | else ublox_msg_state = UBLOX_IDLE; |
196 | break; |
197 | break; |
197 | 198 | ||
198 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
199 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
199 | switch (rx) |
200 | switch (rx) |
200 | { |
201 | { |
201 | case UBLOX_NAV_POSUTM: |
202 | case UBLOX_NAV_POSUTM: |
202 | ptr_pac_status = &actual_pos.status; |
203 | ptr_pac_status = &actual_pos.status; |
203 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
204 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
204 | else |
205 | else |
205 | { |
206 | { |
206 | ptr_payload_data = &actual_pos; |
207 | ptr_payload_data = &actual_pos; |
207 | ptr_payload_data_end = &actual_pos.status; |
208 | ptr_payload_data_end = &actual_pos.status; |
208 | ublox_msg_state = UBLOX_LEN1; |
209 | ublox_msg_state = UBLOX_LEN1; |
209 | } |
210 | } |
210 | break; |
211 | break; |
211 | 212 | ||
212 | case UBLOX_NAV_STATUS: |
213 | case UBLOX_NAV_STATUS: |
213 | ptr_pac_status = &actual_status.status; |
214 | ptr_pac_status = &actual_status.status; |
214 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
215 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
215 | else |
216 | else |
216 | { |
217 | { |
217 | ptr_payload_data = &actual_status; |
218 | ptr_payload_data = &actual_status; |
218 | ptr_payload_data_end = &actual_status.status; |
219 | ptr_payload_data_end = &actual_status.status; |
219 | ublox_msg_state = UBLOX_LEN1; |
220 | ublox_msg_state = UBLOX_LEN1; |
220 | } |
221 | } |
221 | break; |
222 | break; |
222 | 223 | ||
223 | case UBLOX_NAV_VELED: |
224 | case UBLOX_NAV_VELED: |
224 | ptr_pac_status = &actual_speed.status; |
225 | ptr_pac_status = &actual_speed.status; |
225 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
226 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
226 | else |
227 | else |
227 | { |
228 | { |
228 | ptr_payload_data = &actual_speed; |
229 | ptr_payload_data = &actual_speed; |
229 | ptr_payload_data_end = &actual_speed.status; |
230 | ptr_payload_data_end = &actual_speed.status; |
230 | ublox_msg_state = UBLOX_LEN1; |
231 | ublox_msg_state = UBLOX_LEN1; |
231 | } |
232 | } |
232 | break; |
233 | break; |
233 | 234 | ||
234 | default: |
235 | default: |
235 | ublox_msg_state = UBLOX_IDLE; |
236 | ublox_msg_state = UBLOX_IDLE; |
236 | break; |
237 | break; |
237 | } |
238 | } |
238 | chk_a = UBLOX_NAV_CLASS + rx; |
239 | chk_a = UBLOX_NAV_CLASS + rx; |
239 | chk_b = UBLOX_NAV_CLASS + chk_a; |
240 | chk_b = UBLOX_NAV_CLASS + chk_a; |
240 | break; |
241 | break; |
241 | 242 | ||
242 | case UBLOX_LEN1: // Laenge auswerten |
243 | case UBLOX_LEN1: // Laenge auswerten |
243 | rx_len = rx; |
244 | rx_len = rx; |
244 | chk_a += rx; |
245 | chk_a += rx; |
245 | chk_b += chk_a; |
246 | chk_b += chk_a; |
246 | ublox_msg_state = UBLOX_LEN2; |
247 | ublox_msg_state = UBLOX_LEN2; |
247 | break; |
248 | break; |
248 | 249 | ||
249 | 250 | ||
250 | case UBLOX_LEN2: // Laenge auswerten |
251 | case UBLOX_LEN2: // Laenge auswerten |
251 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
252 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
252 | chk_a += rx; |
253 | chk_a += rx; |
253 | chk_b += chk_a; |
254 | chk_b += chk_a; |
254 | ublox_msg_state = UBLOX_PAYLOAD; |
255 | ublox_msg_state = UBLOX_PAYLOAD; |
255 | break; |
256 | break; |
256 | 257 | ||
257 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
258 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
258 | if (rx_len > 0) |
259 | if (rx_len > 0) |
259 | { |
260 | { |
260 | *ptr_payload_data = rx; |
261 | *ptr_payload_data = rx; |
261 | chk_a += rx; |
262 | chk_a += rx; |
262 | chk_b += chk_a; |
263 | chk_b += chk_a; |
263 | --rx_len; |
264 | --rx_len; |
264 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
265 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
265 | { |
266 | { |
266 | ptr_payload_data++; |
267 | ptr_payload_data++; |
267 | ublox_msg_state = UBLOX_PAYLOAD; |
268 | ublox_msg_state = UBLOX_PAYLOAD; |
268 | } |
269 | } |
269 | else ublox_msg_state = UBLOX_CKA; |
270 | else ublox_msg_state = UBLOX_CKA; |
270 | } |
271 | } |
271 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
272 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
272 | break; |
273 | break; |
273 | 274 | ||
274 | case UBLOX_CKA: // Checksum pruefen |
275 | case UBLOX_CKA: // Checksum pruefen |
275 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
276 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
276 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
277 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
277 | break; |
278 | break; |
278 | 279 | ||
279 | case UBLOX_CKB: // Checksum pruefen |
280 | case UBLOX_CKB: // Checksum pruefen |
280 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
281 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
281 | ublox_msg_state = UBLOX_IDLE; |
282 | ublox_msg_state = UBLOX_IDLE; |
282 | break; |
283 | break; |
283 | 284 | ||
284 | default: |
285 | default: |
285 | ublox_msg_state = UBLOX_IDLE; |
286 | ublox_msg_state = UBLOX_IDLE; |
286 | break; |
287 | break; |
287 | } |
288 | } |
288 | } |
289 | } |
289 | 290 | ||
290 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
291 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
291 | short int GPS_CRTL(short int cmd) |
292 | short int GPS_CRTL(short int cmd) |
292 | { |
293 | { |
293 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
294 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
294 | static signed int int_east,int_north; //Integrierer |
295 | static signed int int_east,int_north; //Integrierer |
295 | static signed int dist_north,dist_east; |
296 | static signed int dist_north,dist_east; |
296 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
297 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
297 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
298 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
298 | signed int n,diff_v; |
299 | signed int n,diff_v; |
299 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
300 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
300 | long signed int dev,n_l; |
301 | long signed int dev,n_l; |
301 | signed int dist_frm_start_east,dist_frm_start_north; |
302 | signed int dist_frm_start_east,dist_frm_start_north; |
302 | switch (cmd) |
303 | switch (cmd) |
303 | { |
304 | { |
304 | 305 | ||
305 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
306 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
306 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
307 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
307 | { |
308 | { |
308 | cnt++; |
309 | cnt++; |
309 | if (cnt > 500) // erst nach Verzoegerung |
310 | if (cnt > 500) // erst nach Verzoegerung |
310 | { |
311 | { |
311 | // Erst mal initialisieren |
312 | // Erst mal initialisieren |
312 | cnt = 0; |
313 | cnt = 0; |
313 | gps_tick = 0; |
314 | gps_tick = 0; |
314 | hold_fast = 0; |
315 | hold_fast = 0; |
315 | hold_reset_int = 0; // Integrator enablen |
316 | hold_reset_int = 0; // Integrator enablen |
316 | int_east = 0, int_north = 0; |
317 | int_east = 0, int_north = 0; |
317 | gps_reg_x = 0, gps_reg_y = 0; |
318 | gps_reg_x = 0, gps_reg_y = 0; |
318 | dist_east = 0, dist_north = 0; |
319 | dist_east = 0, dist_north = 0; |
319 | diff_east_f = 0, diff_north_f= 0; |
320 | diff_east_f = 0, diff_north_f= 0; |
320 | diff_east = 0, diff_north = 0; |
321 | diff_east = 0, diff_north = 0; |
321 | dist_flown = 0; |
322 | dist_flown = 0; |
322 | gps_g2t_act_v = 0; |
323 | gps_g2t_act_v = 0; |
323 | gps_sub_state = GPS_CRTL_IDLE; |
324 | gps_sub_state = GPS_CRTL_IDLE; |
324 | // aktuelle positionsdaten abspeichern |
325 | // aktuelle positionsdaten abspeichern |
325 | if (gps_rel_act_position.status > 0) |
326 | if (gps_rel_act_position.status > 0) |
326 | { |
327 | { |
327 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
328 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
328 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
329 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
329 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
330 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
330 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
331 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
331 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
332 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
332 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
333 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
333 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
334 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
334 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
335 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
335 | // in Winkel 0...360 Grad umrechnen |
336 | // in Winkel 0...360 Grad umrechnen |
336 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
337 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
337 | else hdng_2home = (270 - hdng_2home); |
338 | else hdng_2home = (270 - hdng_2home); |
338 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
339 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
339 | gps_state = GPS_CRTL_HOME_ACTIVE; |
340 | gps_state = GPS_CRTL_HOME_ACTIVE; |
340 | return (GPS_STST_OK); |
341 | return (GPS_STST_OK); |
341 | } |
342 | } |
342 | else |
343 | else |
343 | { |
344 | { |
344 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
345 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
345 | gps_state = GPS_CRTL_IDLE; |
346 | gps_state = GPS_CRTL_IDLE; |
346 | return(GPS_STST_ERR); // Keine Daten da |
347 | return(GPS_STST_ERR); // Keine Daten da |
347 | } |
348 | } |
348 | } |
349 | } |
349 | else return(GPS_STST_PEND); // noch warten |
350 | else return(GPS_STST_PEND); // noch warten |
350 | } |
351 | } |
351 | break; |
352 | break; |
352 | // ****************************** |
353 | // ****************************** |
353 | 354 | ||
354 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
355 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
355 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
356 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
356 | { |
357 | { |
357 | cnt++; |
358 | cnt++; |
358 | if (cnt > 500) // erst nach Verzoegerung |
359 | if (cnt > 500) // erst nach Verzoegerung |
359 | { |
360 | { |
360 | cnt = 0; |
361 | cnt = 0; |
361 | // aktuelle positionsdaten abspeichern |
362 | // aktuelle positionsdaten abspeichern |
362 | if (gps_rel_act_position.status > 0) |
363 | if (gps_rel_act_position.status > 0) |
363 | { |
364 | { |
364 | hold_fast = 0; |
365 | hold_fast = 0; |
365 | hold_reset_int = 0; // Integrator enablen |
366 | hold_reset_int = 0; // Integrator enablen |
366 | int_east = 0, int_north = 0; |
367 | int_east = 0, int_north = 0; |
367 | gps_reg_x = 0, gps_reg_y = 0; |
368 | gps_reg_x = 0, gps_reg_y = 0; |
368 | dist_east = 0, dist_north = 0; |
369 | dist_east = 0, dist_north = 0; |
369 | diff_east_f = 0, diff_north_f= 0; |
370 | diff_east_f = 0, diff_north_f= 0; |
370 | diff_east = 0, diff_north = 0; |
371 | diff_east = 0, diff_north = 0; |
371 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
372 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
372 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
373 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
373 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
374 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
374 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
375 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
375 | return (GPS_STST_OK); |
376 | return (GPS_STST_OK); |
376 | } |
377 | } |
377 | else |
378 | else |
378 | { |
379 | { |
379 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
380 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
380 | gps_state = GPS_CRTL_IDLE; |
381 | gps_state = GPS_CRTL_IDLE; |
381 | return(GPS_STST_ERR); // Keine Daten da |
382 | return(GPS_STST_ERR); // Keine Daten da |
382 | } |
383 | } |
383 | } |
384 | } |
384 | else return(GPS_STST_PEND); // noch warten |
385 | else return(GPS_STST_PEND); // noch warten |
385 | } |
386 | } |
386 | break; |
387 | break; |
387 | 388 | ||
388 | case GPS_CMD_STOP: // Lageregelung beenden |
389 | case GPS_CMD_STOP: // Lageregelung beenden |
389 | cnt = 0; |
390 | cnt = 0; |
390 | GPS_Nick = 0; |
391 | GPS_Nick = 0; |
391 | GPS_Roll = 0; |
392 | GPS_Roll = 0; |
392 | gps_int_x = 0; |
393 | gps_int_x = 0; |
393 | gps_int_y = 0; |
394 | gps_int_y = 0; |
394 | gps_sub_state = GPS_CRTL_IDLE; |
395 | gps_sub_state = GPS_CRTL_IDLE; |
395 | gps_state = GPS_CRTL_IDLE; |
396 | gps_state = GPS_CRTL_IDLE; |
396 | return (GPS_STST_OK); |
397 | return (GPS_STST_OK); |
397 | break; |
398 | break; |
398 | 399 | ||
399 | default: |
400 | default: |
400 | return (GPS_STST_ERR); |
401 | return (GPS_STST_ERR); |
401 | break; |
402 | break; |
402 | } |
403 | } |
403 | 404 | ||
404 | switch (gps_state) |
405 | switch (gps_state) |
405 | { |
406 | { |
406 | case GPS_CRTL_IDLE: |
407 | case GPS_CRTL_IDLE: |
407 | cnt = 0; |
408 | cnt = 0; |
408 | return (GPS_STST_OK); |
409 | return (GPS_STST_OK); |
409 | break; |
410 | break; |
410 | 411 | ||
411 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
412 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
412 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
413 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
413 | if (gps_rel_start_position.status >0) |
414 | if (gps_rel_start_position.status >0) |
414 | { |
415 | { |
415 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
416 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
416 | { |
417 | { |
417 | gps_tick++; |
418 | gps_tick++; |
418 | int d1,d2,d3; |
419 | int d1,d2,d3; |
419 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
420 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
420 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
421 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
421 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
422 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
422 | 423 | ||
423 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
424 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
424 | { |
425 | { |
425 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
426 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
426 | { |
427 | { |
427 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
428 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
428 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
429 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
429 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
430 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
430 | } |
431 | } |
431 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
432 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
432 | { |
433 | { |
433 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
434 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
434 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
435 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
435 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
436 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
436 | } |
437 | } |
437 | hold_reset_int = 0; // Integrator einsschalten |
438 | hold_reset_int = 0; // Integrator einsschalten |
438 | hold_fast = 1; // Regler fuer schnellen Flug |
439 | hold_fast = 1; // Regler fuer schnellen Flug |
439 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
440 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
440 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
441 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
441 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
442 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
442 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
443 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
443 | } |
444 | } |
444 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
445 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
445 | { |
446 | { |
446 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
447 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
447 | { |
448 | { |
448 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
449 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
449 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
450 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
450 | } |
451 | } |
451 | else |
452 | else |
452 | { |
453 | { |
453 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
454 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
454 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
455 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
455 | } |
456 | } |
456 | hold_reset_int = 0; // Integrator ausschalten |
457 | hold_reset_int = 0; // Integrator ausschalten |
457 | hold_fast = 1; // Wieder normal regeln |
458 | hold_fast = 1; // Wieder normal regeln |
458 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
459 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
459 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
460 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
460 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
461 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
461 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
462 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
462 | } |
463 | } |
463 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
464 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
464 | { |
465 | { |
465 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
466 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
466 | { |
467 | { |
467 | gps_sub_state = GPS_HOME_IN_TOL; |
468 | gps_sub_state = GPS_HOME_IN_TOL; |
468 | hold_fast = 0; // Wieder normal regeln |
469 | hold_fast = 0; // Wieder normal regeln |
469 | hold_reset_int = 0; // Integrator wieder aktivieren |
470 | hold_reset_int = 0; // Integrator wieder aktivieren |
470 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
471 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
471 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
472 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
472 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
473 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
473 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
474 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
474 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
475 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
475 | { |
476 | { |
476 | gps_rel_hold_position.utm_east = 0; |
477 | gps_rel_hold_position.utm_east = 0; |
477 | gps_rel_hold_position.utm_north = 0; |
478 | gps_rel_hold_position.utm_north = 0; |
478 | gps_sub_state = GPS_HOME_FINISHED; |
479 | gps_sub_state = GPS_HOME_FINISHED; |
479 | } |
480 | } |
480 | } |
481 | } |
481 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
482 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
482 | } |
483 | } |
483 | } |
484 | } |
484 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
485 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
485 | return (GPS_STST_OK); |
486 | return (GPS_STST_OK); |
486 | } |
487 | } |
487 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
488 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
488 | { |
489 | { |
489 | gps_state = GPS_CRTL_IDLE; |
490 | gps_state = GPS_CRTL_IDLE; |
490 | return (GPS_STST_ERR); |
491 | return (GPS_STST_ERR); |
491 | } |
492 | } |
492 | break; |
493 | break; |
493 | 494 | ||
494 | 495 | ||
495 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
496 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
496 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
497 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
497 | { |
498 | { |
498 | gps_updte_flag = 0; |
499 | gps_updte_flag = 0; |
499 | // ab hier wird geregelt |
500 | // ab hier wird geregelt |
500 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
501 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
501 | diff_north = -dist_north; |
502 | diff_north = -dist_north; |
502 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
503 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
503 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
504 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
504 | int_east += dist_east; |
505 | int_east += dist_east; |
505 | int_north += dist_north; |
506 | int_north += dist_north; |
506 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
507 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
507 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
508 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
508 | 509 | ||
509 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
510 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
510 | { |
511 | { |
511 | diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
512 | diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
512 | diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
513 | diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
513 | } |
514 | } |
514 | else // schwache Filterung |
515 | else // schwache Filterung |
515 | { |
516 | { |
516 | diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
517 | diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
517 | diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
518 | diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
518 | } |
519 | } |
519 | 520 | ||
520 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
521 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
521 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
522 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
522 | { |
523 | { |
523 | int_east -= dist_east; |
524 | int_east -= dist_east; |
524 | int_north -= dist_north; |
525 | int_north -= dist_north; |
525 | } |
526 | } |
526 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
527 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
527 | { |
528 | { |
528 | int_east = 0; |
529 | int_east = 0; |
529 | int_north = 0; |
530 | int_north = 0; |
530 | } |
531 | } |
531 | 532 | ||
532 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
533 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
533 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
534 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
534 | signed long dist,int_east1,int_north1; |
535 | signed long dist,int_east1,int_north1; |
535 | int phi; |
536 | int phi; |
536 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
537 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
537 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
538 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
538 | 539 | ||
539 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
540 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
540 | { |
541 | { |
541 | diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
542 | diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
542 | if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
543 | if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
543 | } |
544 | } |
544 | else |
545 | else |
545 | { |
546 | { |
546 | diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
547 | diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
547 | if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
548 | if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
548 | } |
549 | } |
549 | 550 | ||
550 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
551 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
551 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
552 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
552 | else diff_p = GPS_PROP_NRML_V; |
553 | else diff_p = GPS_PROP_NRML_V; |
553 | 554 | ||
554 | //I Werte begrenzen |
555 | //I Werte begrenzen |
555 | #define INT1_MAX (20 * GPS_V) |
556 | #define INT1_MAX (20 * GPS_V) |
556 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
557 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
557 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
558 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
558 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
559 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
559 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
560 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
560 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
561 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
561 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
562 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
562 | 563 | ||
563 | //PID Regler Werte aufsummieren |
564 | //PID Regler Werte aufsummieren |
564 | 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 |
565 | 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 |
565 | 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 |
566 | 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 |
566 | 567 | ||
567 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
568 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
568 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
569 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
569 | 570 | ||
570 | // in Winkel 0...360 Grad umrechnen |
571 | // in Winkel 0...360 Grad umrechnen |
571 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
572 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
572 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
573 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
573 | 574 | ||
574 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
575 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
575 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
576 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
576 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
577 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
577 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
578 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
578 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
579 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
579 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
580 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
580 | 581 | ||
581 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
582 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
582 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
583 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
583 | { |
584 | { |
584 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
585 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
585 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
586 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
586 | } |
587 | } |
587 | else |
588 | else |
588 | { |
589 | { |
589 | dev = (long)gps_reg_y; |
590 | dev = (long)gps_reg_y; |
590 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
591 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
591 | } |
592 | } |
592 | GPS_dist_2trgt = (int) dev; |
593 | GPS_dist_2trgt = (int) dev; |
593 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
594 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
594 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
595 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
595 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
596 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
596 | 597 | ||
597 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
598 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
598 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
599 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
599 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
600 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
600 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
601 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
601 | 602 | ||
602 | //Kleine Werte verstaerken, Grosse abschwaechen |
603 | //Kleine Werte verstaerken, Grosse abschwaechen |
603 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
604 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
604 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
605 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
605 | GPS_Roll = (int) n_l; |
606 | GPS_Roll = (int) n_l; |
606 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
607 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
607 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
608 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
608 | GPS_Nick = (int) n_l; |
609 | GPS_Nick = (int) n_l; |
609 | 610 | ||
610 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
611 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
611 | { |
612 | { |
612 | GPS_Roll = 0; |
613 | GPS_Roll = 0; |
613 | GPS_Nick = 0; |
614 | GPS_Nick = 0; |
614 | gps_state = GPS_CRTL_IDLE; |
615 | gps_state = GPS_CRTL_IDLE; |
615 | return (GPS_STST_ERR); |
616 | return (GPS_STST_ERR); |
616 | break; |
617 | break; |
617 | } |
618 | } |
618 | else |
619 | else |
619 | { |
620 | { |
620 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
621 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
621 | return (GPS_STST_OK); |
622 | return (GPS_STST_OK); |
622 | } |
623 | } |
623 | } |
624 | } |
624 | else |
625 | else |
625 | { |
626 | { |
626 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
627 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
627 | return (GPS_STST_OK); |
628 | return (GPS_STST_OK); |
628 | } |
629 | } |
629 | break; |
630 | break; |
630 | 631 | ||
631 | default: |
632 | default: |
632 | gps_state = GPS_CRTL_IDLE; |
633 | gps_state = GPS_CRTL_IDLE; |
633 | return (GPS_STST_ERR); |
634 | return (GPS_STST_ERR); |
634 | break; |
635 | break; |
635 | } |
636 | } |
636 | return (GPS_STST_ERR); |
637 | return (GPS_STST_ERR); |
637 | 638 | ||
638 | } |
639 | } |
639 | 640 | ||
640 | 641 |