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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 "math.h" |
| 25 | //#include "gps.h" |
25 | //#include "gps.h" |
| 26 | 26 | ||
| 27 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
27 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
| 28 | #define UBLOX_IDLE 0 |
28 | #define UBLOX_IDLE 0 |
| 29 | #define UBLOX_SYNC1 1 |
29 | #define UBLOX_SYNC1 1 |
| 30 | #define UBLOX_SYNC2 2 |
30 | #define UBLOX_SYNC2 2 |
| 31 | #define UBLOX_CLASS 3 |
31 | #define UBLOX_CLASS 3 |
| 32 | #define UBLOX_ID 4 |
32 | #define UBLOX_ID 4 |
| 33 | #define UBLOX_LEN1 5 |
33 | #define UBLOX_LEN1 5 |
| 34 | #define UBLOX_LEN2 6 |
34 | #define UBLOX_LEN2 6 |
| 35 | #define UBLOX_CKA 7 |
35 | #define UBLOX_CKA 7 |
| 36 | #define UBLOX_CKB 8 |
36 | #define UBLOX_CKB 8 |
| 37 | #define UBLOX_PAYLOAD 9 |
37 | #define UBLOX_PAYLOAD 9 |
| 38 | 38 | ||
| 39 | // ublox Protokoll Identifier |
39 | // ublox Protokoll Identifier |
| 40 | #define UBLOX_NAV_POSUTM 0x08 |
40 | #define UBLOX_NAV_POSUTM 0x08 |
| 41 | #define UBLOX_NAV_STATUS 0x03 |
41 | #define UBLOX_NAV_STATUS 0x03 |
| 42 | #define UBLOX_NAV_VELED 0x12 |
42 | #define UBLOX_NAV_VELED 0x12 |
| 43 | #define UBLOX_NAV_CLASS 0x01 |
43 | #define UBLOX_NAV_CLASS 0x01 |
| 44 | #define UBLOX_SYNCH1_CHAR 0xB5 |
44 | #define UBLOX_SYNCH1_CHAR 0xB5 |
| 45 | #define UBLOX_SYNCH2_CHAR 0x62 |
45 | #define UBLOX_SYNCH2_CHAR 0x62 |
| 46 | 46 | ||
| 47 | signed int GPS_Nick = 0; |
47 | signed int GPS_Nick = 0; |
| 48 | signed int GPS_Roll = 0; |
48 | signed int GPS_Roll = 0; |
| 49 | short int ublox_msg_state = UBLOX_IDLE; |
49 | short int ublox_msg_state = UBLOX_IDLE; |
| 50 | static uint8_t chk_a =0; //Checksum |
50 | static uint8_t chk_a =0; //Checksum |
| 51 | static uint8_t chk_b =0; |
51 | static uint8_t chk_b =0; |
| 52 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
52 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
| 53 | short int gps_updte_flag; |
53 | short int gps_updte_flag; |
| 54 | static signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
54 | static signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
| 55 | static signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
55 | static signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
| 56 | static signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
56 | static signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
| 57 | static signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
57 | static signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
| 58 | static unsigned int rx_len; |
58 | static unsigned int rx_len; |
| 59 | static unsigned int ptr_payload_data_end; |
59 | static unsigned int ptr_payload_data_end; |
| 60 | 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 |
| 61 | static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
61 | static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
| 62 | 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 |
| 63 | 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 |
| 64 | static uint8_t *ptr_payload_data; |
64 | static uint8_t *ptr_payload_data; |
| 65 | static uint8_t *ptr_pac_status; |
65 | static uint8_t *ptr_pac_status; |
| 66 | static long int dist_flown; |
66 | static long int dist_flown; |
| 67 | static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
67 | static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
| 68 | 68 | ||
| 69 | 69 | ||
| 70 | short int Get_GPS_data(void); |
70 | short int Get_GPS_data(void); |
| 71 | 71 | ||
| 72 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
72 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
| 73 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
73 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
| 74 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
74 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
| 75 | 75 | ||
| 76 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
76 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
| 77 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
77 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
| 78 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
78 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
| 79 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
79 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
| 80 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
80 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
| 81 | 81 | ||
| 82 | // Initialisierung |
82 | // Initialisierung |
| 83 | void GPS_Neutral(void) |
83 | void GPS_Neutral(void) |
| 84 | { |
84 | { |
| 85 | ublox_msg_state = UBLOX_IDLE; |
85 | ublox_msg_state = UBLOX_IDLE; |
| 86 | gps_state = GPS_CRTL_IDLE; |
86 | gps_state = GPS_CRTL_IDLE; |
| 87 | gps_sub_state = GPS_CRTL_IDLE; |
87 | gps_sub_state = GPS_CRTL_IDLE; |
| 88 | actual_pos.status = 0; |
88 | actual_pos.status = 0; |
| 89 | actual_speed.status = 0; |
89 | actual_speed.status = 0; |
| 90 | actual_status.status = 0; |
90 | actual_status.status = 0; |
| 91 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
91 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
| 92 | gps_act_position.status = 0; |
92 | gps_act_position.status = 0; |
| 93 | gps_rel_act_position.status = 0; |
93 | gps_rel_act_position.status = 0; |
| 94 | GPS_Nick = 0; |
94 | GPS_Nick = 0; |
| 95 | GPS_Roll = 0; |
95 | GPS_Roll = 0; |
| 96 | gps_updte_flag = 0; |
96 | gps_updte_flag = 0; |
| 97 | gps_int_x = 0; |
97 | gps_int_x = 0; |
| 98 | gps_int_y = 0; |
98 | gps_int_y = 0; |
| 99 | gps_alive_cnt = 0; |
99 | gps_alive_cnt = 0; |
| 100 | } |
100 | } |
| 101 | 101 | ||
| 102 | // Home Position sichern falls Daten verfuegbar sind. |
102 | // Home Position sichern falls Daten verfuegbar sind. |
| 103 | void GPS_Save_Home(void) |
103 | void GPS_Save_Home(void) |
| 104 | { |
104 | { |
| 105 | short int n; |
105 | short int n; |
| 106 | n = Get_GPS_data(); |
106 | n = Get_GPS_data(); |
| 107 | if (n == 0) // Gueltige und aktuelle Daten ? |
107 | if (n == 0) // Gueltige und aktuelle Daten ? |
| 108 | { |
108 | { |
| 109 | // Neue GPS Daten liegen vor |
109 | // Neue GPS Daten liegen vor |
| 110 | gps_home_position.utm_east = gps_act_position.utm_east; |
110 | gps_home_position.utm_east = gps_act_position.utm_east; |
| 111 | gps_home_position.utm_north = gps_act_position.utm_north; |
111 | gps_home_position.utm_north = gps_act_position.utm_north; |
| 112 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
112 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
| 113 | gps_home_position.status = 1; // Home Position gueltig |
113 | gps_home_position.status = 1; // Home Position gueltig |
| 114 | } |
114 | } |
| 115 | } |
115 | } |
| 116 | 116 | ||
| 117 | // Relative Position zur Home Position bestimmen |
117 | // Relative Position zur Home Position bestimmen |
| 118 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
118 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| 119 | short int Get_Rel_Position(void) |
119 | short int Get_Rel_Position(void) |
| 120 | { |
120 | { |
| 121 | short int n = 0; |
121 | short int n = 0; |
| 122 | n = Get_GPS_data(); |
122 | n = Get_GPS_data(); |
| 123 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
123 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
| 124 | if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
124 | if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
| 125 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
125 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
| 126 | { |
126 | { |
| 127 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
127 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
| 128 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
128 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
| 129 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
129 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
| 130 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
130 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
| 131 | n = 0; |
131 | n = 0; |
| 132 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
132 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
| 133 | } |
133 | } |
| 134 | else |
134 | else |
| 135 | { |
135 | { |
| 136 | n = 2; //keine gueltigen Daten vorhanden |
136 | n = 2; //keine gueltigen Daten vorhanden |
| 137 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
137 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
| 138 | } |
138 | } |
| 139 | return (n); |
139 | return (n); |
| 140 | } |
140 | } |
| 141 | 141 | ||
| 142 | // Daten aus aktuellen ublox Messages extrahieren |
142 | // Daten aus aktuellen ublox Messages extrahieren |
| 143 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
143 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| 144 | short int Get_GPS_data(void) |
144 | short int Get_GPS_data(void) |
| 145 | { |
145 | { |
| 146 | short int n = 1; |
146 | short int n = 1; |
| 147 | 147 | ||
| 148 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
148 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
| 149 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
149 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
| 150 | { |
150 | { |
| 151 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
151 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
| 152 | { |
152 | { |
| 153 | actual_status.status = 0; |
153 | actual_status.status = 0; |
| 154 | gps_act_position.utm_east = actual_pos.utm_east/10; |
154 | gps_act_position.utm_east = actual_pos.utm_east/10; |
| 155 | gps_act_position.utm_north = actual_pos.utm_north/10; |
155 | gps_act_position.utm_north = actual_pos.utm_north/10; |
| 156 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
156 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
| 157 | actual_pos.status = 0; //neue ublox Messages anfordern |
157 | actual_pos.status = 0; //neue ublox Messages anfordern |
| 158 | // gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
158 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
| 159 | // gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
159 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
| 160 | // gps_act_position.heading = actual_speed.heading/100000; |
160 | gps_act_position.heading = actual_speed.heading/100000; |
| 161 | actual_speed.status = 0; |
161 | actual_speed.status = 0; |
| 162 | gps_act_position.status = 1; |
162 | gps_act_position.status = 1; |
| 163 | n = 0; //Daten gueltig |
163 | n = 0; //Daten gueltig |
| 164 | } |
164 | } |
| 165 | else |
165 | else |
| 166 | { |
166 | { |
| 167 | gps_act_position.status = 0; //Keine gueltigen Daten |
167 | gps_act_position.status = 0; //Keine gueltigen Daten |
| 168 | actual_speed.status = 0; |
168 | actual_speed.status = 0; |
| 169 | actual_status.status = 0; |
169 | actual_status.status = 0; |
| 170 | actual_pos.status = 0; //neue ublox Messages anfordern |
170 | actual_pos.status = 0; //neue ublox Messages anfordern |
| 171 | n = 2; |
171 | n = 2; |
| 172 | } |
172 | } |
| 173 | } |
173 | } |
| 174 | return (n); |
174 | return (n); |
| 175 | } |
175 | } |
| 176 | 176 | ||
| 177 | /* |
177 | /* |
| 178 | Daten vom GPS im ublox MSG Format auswerten |
178 | Daten vom GPS im ublox MSG Format auswerten |
| 179 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
179 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
| 180 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
180 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
| 181 | */ |
181 | */ |
| 182 | void Get_Ublox_Msg(uint8_t rx) |
182 | void Get_Ublox_Msg(uint8_t rx) |
| 183 | { |
183 | { |
| 184 | switch (ublox_msg_state) |
184 | switch (ublox_msg_state) |
| 185 | { |
185 | { |
| 186 | 186 | ||
| 187 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
187 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
| 188 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
188 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
| 189 | else ublox_msg_state = UBLOX_IDLE; |
189 | else ublox_msg_state = UBLOX_IDLE; |
| 190 | break; |
190 | break; |
| 191 | 191 | ||
| 192 | case UBLOX_SYNC1: |
192 | case UBLOX_SYNC1: |
| 193 | 193 | ||
| 194 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
194 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
| 195 | else ublox_msg_state = UBLOX_IDLE; |
195 | else ublox_msg_state = UBLOX_IDLE; |
| 196 | chk_a = 0,chk_b = 0; |
196 | chk_a = 0,chk_b = 0; |
| 197 | break; |
197 | break; |
| 198 | 198 | ||
| 199 | case UBLOX_SYNC2: |
199 | case UBLOX_SYNC2: |
| 200 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
200 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
| 201 | else ublox_msg_state = UBLOX_IDLE; |
201 | else ublox_msg_state = UBLOX_IDLE; |
| 202 | break; |
202 | break; |
| 203 | 203 | ||
| 204 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
204 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
| 205 | switch (rx) |
205 | switch (rx) |
| 206 | { |
206 | { |
| 207 | case UBLOX_NAV_POSUTM: |
207 | case UBLOX_NAV_POSUTM: |
| 208 | ptr_pac_status = &actual_pos.status; |
208 | ptr_pac_status = &actual_pos.status; |
| 209 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
209 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
| 210 | else |
210 | else |
| 211 | { |
211 | { |
| 212 | ptr_payload_data = &actual_pos; |
212 | ptr_payload_data = &actual_pos; |
| 213 | ptr_payload_data_end = &actual_pos.status; |
213 | ptr_payload_data_end = &actual_pos.status; |
| 214 | ublox_msg_state = UBLOX_LEN1; |
214 | ublox_msg_state = UBLOX_LEN1; |
| 215 | } |
215 | } |
| 216 | break; |
216 | break; |
| 217 | 217 | ||
| 218 | case UBLOX_NAV_STATUS: |
218 | case UBLOX_NAV_STATUS: |
| 219 | ptr_pac_status = &actual_status.status; |
219 | ptr_pac_status = &actual_status.status; |
| 220 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
220 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| 221 | else |
221 | else |
| 222 | { |
222 | { |
| 223 | ptr_payload_data = &actual_status; |
223 | ptr_payload_data = &actual_status; |
| 224 | ptr_payload_data_end = &actual_status.status; |
224 | ptr_payload_data_end = &actual_status.status; |
| 225 | ublox_msg_state = UBLOX_LEN1; |
225 | ublox_msg_state = UBLOX_LEN1; |
| 226 | } |
226 | } |
| 227 | break; |
227 | break; |
| 228 | 228 | ||
| 229 | case UBLOX_NAV_VELED: |
229 | case UBLOX_NAV_VELED: |
| 230 | ptr_pac_status = &actual_speed.status; |
230 | ptr_pac_status = &actual_speed.status; |
| 231 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
231 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| 232 | else |
232 | else |
| 233 | { |
233 | { |
| 234 | ptr_payload_data = &actual_speed; |
234 | ptr_payload_data = &actual_speed; |
| 235 | ptr_payload_data_end = &actual_speed.status; |
235 | ptr_payload_data_end = &actual_speed.status; |
| 236 | ublox_msg_state = UBLOX_LEN1; |
236 | ublox_msg_state = UBLOX_LEN1; |
| 237 | } |
237 | } |
| 238 | break; |
238 | break; |
| 239 | 239 | ||
| 240 | default: |
240 | default: |
| 241 | ublox_msg_state = UBLOX_IDLE; |
241 | ublox_msg_state = UBLOX_IDLE; |
| 242 | break; |
242 | break; |
| 243 | } |
243 | } |
| 244 | chk_a = UBLOX_NAV_CLASS + rx; |
244 | chk_a = UBLOX_NAV_CLASS + rx; |
| 245 | chk_b = UBLOX_NAV_CLASS + chk_a; |
245 | chk_b = UBLOX_NAV_CLASS + chk_a; |
| 246 | break; |
246 | break; |
| 247 | 247 | ||
| 248 | case UBLOX_LEN1: // Laenge auswerten |
248 | case UBLOX_LEN1: // Laenge auswerten |
| 249 | rx_len = rx; |
249 | rx_len = rx; |
| 250 | chk_a += rx; |
250 | chk_a += rx; |
| 251 | chk_b += chk_a; |
251 | chk_b += chk_a; |
| 252 | ublox_msg_state = UBLOX_LEN2; |
252 | ublox_msg_state = UBLOX_LEN2; |
| 253 | break; |
253 | break; |
| 254 | 254 | ||
| 255 | 255 | ||
| 256 | case UBLOX_LEN2: // Laenge auswerten |
256 | case UBLOX_LEN2: // Laenge auswerten |
| 257 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
257 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
| 258 | chk_a += rx; |
258 | chk_a += rx; |
| 259 | chk_b += chk_a; |
259 | chk_b += chk_a; |
| 260 | ublox_msg_state = UBLOX_PAYLOAD; |
260 | ublox_msg_state = UBLOX_PAYLOAD; |
| 261 | break; |
261 | break; |
| 262 | 262 | ||
| 263 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
263 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
| 264 | if (rx_len > 0) |
264 | if (rx_len > 0) |
| 265 | { |
265 | { |
| 266 | *ptr_payload_data = rx; |
266 | *ptr_payload_data = rx; |
| 267 | chk_a += rx; |
267 | chk_a += rx; |
| 268 | chk_b += chk_a; |
268 | chk_b += chk_a; |
| 269 | --rx_len; |
269 | --rx_len; |
| 270 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
270 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
| 271 | { |
271 | { |
| 272 | ptr_payload_data++; |
272 | ptr_payload_data++; |
| 273 | ublox_msg_state = UBLOX_PAYLOAD; |
273 | ublox_msg_state = UBLOX_PAYLOAD; |
| 274 | } |
274 | } |
| 275 | else ublox_msg_state = UBLOX_CKA; |
275 | else ublox_msg_state = UBLOX_CKA; |
| 276 | } |
276 | } |
| 277 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
277 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| 278 | break; |
278 | break; |
| 279 | 279 | ||
| 280 | case UBLOX_CKA: // Checksum pruefen |
280 | case UBLOX_CKA: // Checksum pruefen |
| 281 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
281 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
| 282 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
282 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| 283 | break; |
283 | break; |
| 284 | 284 | ||
| 285 | case UBLOX_CKB: // Checksum pruefen |
285 | case UBLOX_CKB: // Checksum pruefen |
| 286 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
286 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
| 287 | ublox_msg_state = UBLOX_IDLE; |
287 | ublox_msg_state = UBLOX_IDLE; |
| 288 | break; |
288 | break; |
| 289 | 289 | ||
| 290 | default: |
290 | default: |
| 291 | ublox_msg_state = UBLOX_IDLE; |
291 | ublox_msg_state = UBLOX_IDLE; |
| 292 | break; |
292 | break; |
| 293 | } |
293 | } |
| 294 | } |
294 | } |
| 295 | 295 | ||
| 296 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
296 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
| 297 | short int GPS_CRTL(short int cmd) |
297 | short int GPS_CRTL(short int cmd) |
| 298 | { |
298 | { |
| 299 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
299 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
| 300 | static signed int dist_north,dist_east; // Distanz zur Sollpoistion |
300 | static signed int dist_north,dist_east; // Distanz zur Sollpoistion |
| 301 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
301 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
| 302 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
302 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
| 303 | signed int n,n1; |
303 | signed int n,n1; |
| 304 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
304 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
| 305 | long signed int dev; |
305 | long signed int dev; |
| 306 | signed int dist_frm_start_east,dist_frm_start_north; |
306 | signed int dist_frm_start_east,dist_frm_start_north; |
| 307 | int diff_v_east,diff_v_north; //Verstaerkungsfaktoren fuer Differenzierer |
307 | int diff_v_east,diff_v_north; //Verstaerkungsfaktoren fuer Differenzierer |
| 308 | static signed int int_east,int_north; //Integrierer |
308 | static signed int int_east,int_north; //Integrierer |
| - | 309 | int speed_east,speed_north; //Aktuelle Geschwindigkeit |
|
| - | 310 | signed long int_east1,int_north1; |
|
| 309 | // signed long dist; |
311 | // signed long dist; |
| 310 | 312 | ||
| 311 | switch (cmd) |
313 | switch (cmd) |
| 312 | { |
314 | { |
| 313 | 315 | ||
| 314 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
316 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
| 315 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
317 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
| 316 | { |
318 | { |
| 317 | cnt++; |
319 | cnt++; |
| 318 | if (cnt > 200) // erst nach Verzoegerung |
320 | if (cnt > 200) // erst nach Verzoegerung |
| 319 | { |
321 | { |
| 320 | // Erst mal initialisieren |
322 | // Erst mal initialisieren |
| 321 | cnt = 0; |
323 | cnt = 0; |
| 322 | gps_tick = 0; |
324 | gps_tick = 0; |
| 323 | hold_fast = 0; |
325 | hold_fast = 0; |
| 324 | hold_reset_int = 0; // Integrator enablen |
326 | hold_reset_int = 0; // Integrator enablen |
| 325 | int_east = 0, int_north = 0; |
327 | int_east = 0, int_north = 0; |
| 326 | gps_reg_x = 0, gps_reg_y = 0; |
328 | gps_reg_x = 0, gps_reg_y = 0; |
| 327 | dist_east = 0, dist_north = 0; |
329 | dist_east = 0, dist_north = 0; |
| 328 | diff_east_f = 0, diff_north_f= 0; |
330 | diff_east_f = 0, diff_north_f= 0; |
| 329 | diff_east = 0, diff_north = 0; |
331 | diff_east = 0, diff_north = 0; |
| 330 | dist_flown = 0; |
332 | dist_flown = 0; |
| 331 | gps_g2t_act_v = 0; |
333 | gps_g2t_act_v = 0; |
| 332 | gps_sub_state = GPS_CRTL_IDLE; |
334 | gps_sub_state = GPS_CRTL_IDLE; |
| 333 | // aktuelle positionsdaten abspeichern |
335 | // aktuelle positionsdaten abspeichern |
| 334 | if (gps_rel_act_position.status > 0) |
336 | if (gps_rel_act_position.status > 0) |
| 335 | { |
337 | { |
| 336 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
338 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
| 337 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
339 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
| 338 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
340 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
| 339 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
341 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| 340 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
342 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| 341 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
343 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| 342 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
344 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
| 343 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
345 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
| 344 | // in Winkel 0...360 Grad umrechnen |
346 | // in Winkel 0...360 Grad umrechnen |
| 345 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
347 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
| 346 | else hdng_2home = (270 - hdng_2home); |
348 | else hdng_2home = (270 - hdng_2home); |
| 347 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
349 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
| 348 | gps_state = GPS_CRTL_HOME_ACTIVE; |
350 | gps_state = GPS_CRTL_HOME_ACTIVE; |
| 349 | return (GPS_STST_OK); |
351 | return (GPS_STST_OK); |
| 350 | } |
352 | } |
| 351 | else |
353 | else |
| 352 | { |
354 | { |
| 353 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
355 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
| 354 | gps_state = GPS_CRTL_IDLE; |
356 | gps_state = GPS_CRTL_IDLE; |
| 355 | return(GPS_STST_ERR); // Keine Daten da |
357 | return(GPS_STST_ERR); // Keine Daten da |
| 356 | } |
358 | } |
| 357 | } |
359 | } |
| 358 | else return(GPS_STST_PEND); // noch warten |
360 | else return(GPS_STST_PEND); // noch warten |
| 359 | } |
361 | } |
| 360 | break; |
362 | break; |
| 361 | // ****************************** |
363 | // ****************************** |
| 362 | 364 | ||
| 363 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
365 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
| 364 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
366 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
| 365 | { |
367 | { |
| 366 | cnt++; |
368 | cnt++; |
| 367 | if (cnt > 500) // erst nach Verzoegerung |
369 | if (cnt > 500) // erst nach Verzoegerung |
| 368 | { |
370 | { |
| 369 | cnt = 0; |
371 | cnt = 0; |
| 370 | // aktuelle positionsdaten abspeichern |
372 | // aktuelle positionsdaten abspeichern |
| 371 | if (gps_rel_act_position.status > 0) |
373 | if (gps_rel_act_position.status > 0) |
| 372 | { |
374 | { |
| 373 | hold_fast = 0; |
375 | hold_fast = 0; |
| 374 | hold_reset_int = 0; // Integrator enablen |
376 | hold_reset_int = 0; // Integrator enablen |
| 375 | int_east = 0, int_north = 0; |
377 | int_east = 0, int_north = 0; |
| 376 | gps_reg_x = 0, gps_reg_y = 0; |
378 | gps_reg_x = 0, gps_reg_y = 0; |
| 377 | dist_east = 0, dist_north = 0; |
379 | dist_east = 0, dist_north = 0; |
| 378 | diff_east_f = 0, diff_north_f= 0; |
380 | diff_east_f = 0, diff_north_f= 0; |
| 379 | diff_east = 0, diff_north = 0; |
381 | diff_east = 0, diff_north = 0; |
| - | 382 | speed_east = 0; speed_north= 0; |
|
| 380 | int_ovfl_cnt = 0; |
383 | int_ovfl_cnt = 0; |
| 381 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
384 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| 382 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
385 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| 383 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
386 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| 384 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
387 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
| 385 | return (GPS_STST_OK); |
388 | return (GPS_STST_OK); |
| 386 | } |
389 | } |
| 387 | else |
390 | else |
| 388 | { |
391 | { |
| 389 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
392 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
| 390 | gps_state = GPS_CRTL_IDLE; |
393 | gps_state = GPS_CRTL_IDLE; |
| 391 | return(GPS_STST_ERR); // Keine Daten da |
394 | return(GPS_STST_ERR); // Keine Daten da |
| 392 | } |
395 | } |
| 393 | } |
396 | } |
| 394 | else return(GPS_STST_PEND); // noch warten |
397 | else return(GPS_STST_PEND); // noch warten |
| 395 | } |
398 | } |
| 396 | break; |
399 | break; |
| 397 | 400 | ||
| 398 | case GPS_CMD_STOP: // Lageregelung beenden |
401 | case GPS_CMD_STOP: // Lageregelung beenden |
| 399 | cnt = 0; |
402 | cnt = 0; |
| 400 | GPS_Nick = 0; |
403 | GPS_Nick = 0; |
| 401 | GPS_Roll = 0; |
404 | GPS_Roll = 0; |
| 402 | gps_int_x = 0; |
405 | gps_int_x = 0; |
| 403 | gps_int_y = 0; |
406 | gps_int_y = 0; |
| 404 | gps_sub_state = GPS_CRTL_IDLE; |
407 | gps_sub_state = GPS_CRTL_IDLE; |
| 405 | gps_state = GPS_CRTL_IDLE; |
408 | gps_state = GPS_CRTL_IDLE; |
| 406 | return (GPS_STST_OK); |
409 | return (GPS_STST_OK); |
| 407 | break; |
410 | break; |
| 408 | 411 | ||
| 409 | default: |
412 | default: |
| 410 | return (GPS_STST_ERR); |
413 | return (GPS_STST_ERR); |
| 411 | break; |
414 | break; |
| 412 | } |
415 | } |
| 413 | 416 | ||
| 414 | switch (gps_state) |
417 | switch (gps_state) |
| 415 | { |
418 | { |
| 416 | case GPS_CRTL_IDLE: |
419 | case GPS_CRTL_IDLE: |
| 417 | cnt = 0; |
420 | cnt = 0; |
| 418 | return (GPS_STST_OK); |
421 | return (GPS_STST_OK); |
| 419 | break; |
422 | break; |
| 420 | 423 | ||
| 421 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
424 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
| 422 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
425 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
| 423 | if (gps_rel_start_position.status >0) |
426 | if (gps_rel_start_position.status >0) |
| 424 | { |
427 | { |
| 425 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
428 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
| 426 | { |
429 | { |
| 427 | gps_tick++; |
430 | gps_tick++; |
| 428 | int d1,d2,d3; |
431 | int d1,d2,d3; |
| 429 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
432 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
| 430 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
433 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
| 431 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
434 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
| 432 | 435 | ||
| 433 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
436 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
| 434 | { |
437 | { |
| 435 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
438 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
| 436 | { |
439 | { |
| 437 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
440 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
| 438 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
441 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
| 439 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
442 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
| 440 | } |
443 | } |
| 441 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
444 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
| 442 | { |
445 | { |
| 443 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
446 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
| 444 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
447 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
| 445 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
448 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
| 446 | } |
449 | } |
| 447 | hold_reset_int = 0; // Integrator einsschalten |
450 | hold_reset_int = 0; // Integrator einsschalten |
| 448 | hold_fast = 1; // Regler fuer schnellen Flug |
451 | hold_fast = 1; // Regler fuer schnellen Flug |
| 449 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
452 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
| 450 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
453 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
| 451 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
454 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
| 452 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
455 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
| 453 | } |
456 | } |
| 454 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
457 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
| 455 | { |
458 | { |
| 456 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
459 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
| 457 | { |
460 | { |
| 458 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
461 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
| 459 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
462 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
| 460 | } |
463 | } |
| 461 | else |
464 | else |
| 462 | { |
465 | { |
| 463 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
466 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
| 464 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
467 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
| 465 | } |
468 | } |
| 466 | hold_reset_int = 0; // Integrator ausschalten |
469 | hold_reset_int = 0; // Integrator ausschalten |
| 467 | hold_fast = 1; // Wieder normal regeln |
470 | hold_fast = 1; // Wieder normal regeln |
| 468 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
471 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
| 469 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
472 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
| 470 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
473 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
| 471 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
474 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
| 472 | } |
475 | } |
| 473 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
476 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
| 474 | { |
477 | { |
| 475 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
478 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
| 476 | { |
479 | { |
| 477 | gps_sub_state = GPS_HOME_IN_TOL; |
480 | gps_sub_state = GPS_HOME_IN_TOL; |
| 478 | hold_fast = 0; // Wieder normal regeln |
481 | hold_fast = 0; // Wieder normal regeln |
| 479 | hold_reset_int = 0; // Integrator wieder aktivieren |
482 | hold_reset_int = 0; // Integrator wieder aktivieren |
| 480 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
483 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
| 481 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
484 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
| 482 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
485 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
| 483 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
486 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
| 484 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
487 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
| 485 | { |
488 | { |
| 486 | gps_rel_hold_position.utm_east = 0; |
489 | gps_rel_hold_position.utm_east = 0; |
| 487 | gps_rel_hold_position.utm_north = 0; |
490 | gps_rel_hold_position.utm_north = 0; |
| 488 | gps_sub_state = GPS_HOME_FINISHED; |
491 | gps_sub_state = GPS_HOME_FINISHED; |
| 489 | } |
492 | } |
| 490 | } |
493 | } |
| 491 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
494 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
| 492 | } |
495 | } |
| 493 | } |
496 | } |
| 494 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
497 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
| 495 | return (GPS_STST_OK); |
498 | return (GPS_STST_OK); |
| 496 | } |
499 | } |
| 497 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
500 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
| 498 | { |
501 | { |
| 499 | gps_state = GPS_CRTL_IDLE; |
502 | gps_state = GPS_CRTL_IDLE; |
| 500 | return (GPS_STST_ERR); |
503 | return (GPS_STST_ERR); |
| 501 | } |
504 | } |
| 502 | break; |
505 | break; |
| 503 | 506 | ||
| 504 | 507 | ||
| 505 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
508 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
| 506 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
509 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
| 507 | { |
510 | { |
| 508 | gps_updte_flag = 0; |
- | |
| 509 | // ab hier wird geregelt |
511 | // ab hier wird geregelt |
| 510 | diff_east = dist_east; //Alten Wert fuer Differenzierer schon mal addieren |
512 | diff_east = dist_east; //Alten Wert fuer Differenzierer schon mal addieren |
| 511 | diff_north = dist_north; |
513 | diff_north = dist_north; |
| 512 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
514 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
| 513 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
515 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
| 514 | int_east += dist_east; |
516 | int_east += dist_east; |
| 515 | int_north += dist_north; |
517 | int_north += dist_north; |
| 516 | diff_east -= dist_east; // Differenz zur vorhergehenden East Position |
518 | diff_east -= dist_east; // Differenz zur vorhergehenden East Position |
| 517 | diff_north -= dist_north; // Differenz zur vorhergehenden North Position |
519 | diff_north -= dist_north; // Differenz zur vorhergehenden North Position |
| - | 520 | speed_east = (int) actual_speed.speed_e; |
|
| - | 521 | speed_north = (int) actual_speed.speed_n; |
|
| - | 522 | gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden |
|
| 518 | 523 | ||
| - | 524 | debug_gp_2 = speed_east; // zum Debuggen |
|
| - | 525 | debug_gp_3 = speed_north; // zum Debuggen |
|
| - | 526 | ||
| 519 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
527 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
| 520 | { |
528 | { |
| 521 | diff_east_f = (((diff_east_f *2)/3) + ((diff_east *1*10)/3)); //Differenzierer filtern |
529 | diff_east_f = (((diff_east_f *2)/3) + ((diff_east *1*10)/3)); //Differenzierer filtern |
| 522 | diff_north_f = (((diff_north_f *2)/3) + ((diff_north*1*10)/3)); //Differenzierer filtern |
530 | diff_north_f = (((diff_north_f *2)/3) + ((diff_north*1*10)/3)); //Differenzierer filtern |
| 523 | } |
531 | } |
| 524 | else // schwache Filterung |
532 | else // schwache Filterung |
| 525 | { |
533 | { |
| 526 | diff_east_f = (((diff_east_f * 1)/4) + ((diff_east *3*10)/4)); //Differenzierer filtern |
534 | diff_east_f = (((diff_east_f * 2)/4) + ((diff_east *2*10)/4)); //Differenzierer filtern |
| 527 | diff_north_f = (((diff_north_f * 1)/4) + ((diff_north*3*10)/4)); //Differenzierer filtern |
535 | diff_north_f = (((diff_north_f * 2)/4) + ((diff_north*2*10)/4)); //Differenzierer filtern |
| 528 | } |
536 | } |
| - | 537 | ||
| - | 538 | // Differenz aus Distanz durch eche geschwindigkeit aus VELNED Msg ersetzten |
|
| - | 539 | diff_east_f = -speed_east; |
|
| - | 540 | diff_north_f = speed_north; |
|
| 529 | 541 | ||
| 530 | #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
542 | #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
| 531 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) |
543 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) |
| 532 | { |
544 | { |
| 533 | if (int_ovfl_cnt < 40) int_ovfl_cnt += 1; // Zahl der Overflows zaehlen |
545 | if (int_ovfl_cnt < 40) int_ovfl_cnt += 1; // Zahl der Overflows zaehlen |
| 534 | // int_east -= dist_east; auf alten Wert halten |
546 | // int_east -= dist_east; auf alten Wert halten |
| 535 | // int_north -= dist_north; |
547 | // int_north -= dist_north; |
| 536 | } |
548 | } |
| 537 | if (int_ovfl_cnt > 0) //bei Overflow Wert Integratorwert reduzieren |
549 | if (int_ovfl_cnt > 0) //bei Overflow Wert Integratorwert reduzieren |
| 538 | { |
550 | { |
| 539 | int_ovfl_cnt -= 1; |
551 | int_ovfl_cnt -= 1; |
| 540 | int_east = (int_east*7)/8; // Wert reduzieren |
552 | int_east = (int_east*7)/8; // Wert reduzieren |
| 541 | int_north = (int_north*7)/8; |
553 | int_north = (int_north*7)/8; |
| 542 | } |
554 | } |
| 543 | 555 | ||
| 544 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
556 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
| 545 | { |
557 | { |
| 546 | int_east = 0; |
558 | int_east = 0; |
| 547 | int_north = 0; |
559 | int_north = 0; |
| 548 | } |
560 | } |
| 549 | - | ||
| 550 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
- | |
| 551 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
- | |
| 552 | signed long int_east1,int_north1; |
- | |
| 553 | 561 | ||
| 554 | // int phi; |
562 | // int phi; |
| 555 | // phi = arctan_i(abs(dist_north),abs(dist_east)); |
563 | // phi = arctan_i(abs(dist_north),abs(dist_east)); |
| 556 | // dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
564 | // dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
| 557 | 565 | ||
| 558 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
566 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
| 559 | { |
567 | { |
| 560 | // diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
568 | // diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
| 561 | // if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
569 | // if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
| 562 | // diff_v = GPS_DIFF_NRML_MAX_V ; //variable Versterkung raus 31.12.2007 |
570 | // diff_v = GPS_DIFF_NRML_MAX_V ; //variable Versterkung raus 31.12.2007 |
| 563 | } |
571 | } |
| 564 | else |
572 | else |
| 565 | { |
573 | { |
| 566 | // diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
574 | // diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
| 567 | // if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
575 | // if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
| 568 | // diff_v = GPS_DIFF_FAST_MAX_V ; //variable Versterkung raus 31.12.2007 |
576 | // diff_v = GPS_DIFF_FAST_MAX_V ; //variable Versterkung raus 31.12.2007 |
| 569 | } |
577 | } |
| 570 | diff_v_east = (((abs(diff_east_f)) *(DIFF_Y_MAX-1))/DIFF_X_MAX) +10; |
578 | diff_v_east = (((abs(diff_east_f)) *(DIFF_Y_MAX-1))/DIFF_X_MAX) +10; |
| 571 | diff_v_north = (((abs(diff_north_f))*(DIFF_Y_MAX-1))/DIFF_X_MAX) +10; |
579 | diff_v_north = (((abs(diff_north_f))*(DIFF_Y_MAX-1))/DIFF_X_MAX) +10; |
| 572 | if (diff_v_east > (DIFF_Y_MAX *10)) diff_v_east = DIFF_Y_MAX *10; // Begrenzung |
580 | if (diff_v_east > (DIFF_Y_MAX *10)) diff_v_east = DIFF_Y_MAX *10; // Begrenzung |
| 573 | if (diff_v_north > (DIFF_Y_MAX *10)) diff_v_north = DIFF_Y_MAX *10; // Begrenzung |
581 | if (diff_v_north > (DIFF_Y_MAX *10)) diff_v_north = DIFF_Y_MAX *10; // Begrenzung |
| 574 | diff_v_east *= 2; |
582 | // diff_v_east *= 2; |
| 575 | diff_v_north *= 2; |
583 | // diff_v_north *= 2; |
| 576 | 584 | ||
| 577 | // debug_gp_2 = diff_v_east; // zum Debuggen |
585 | // debug_gp_2 = diff_v_east; // zum Debuggen |
| 578 | // debug_gp_3 = diff_v_north; // zum Debuggen |
586 | // debug_gp_3 = diff_v_north; // zum Debuggen |
| 579 | // debug_gp_4 = diff_east_f; // zum Debuggen |
587 | // debug_gp_4 = diff_east_f; // zum Debuggen |
| 580 | // debug_gp_5 = diff_north_f; // zum Debuggen |
588 | // debug_gp_5 = diff_north_f; // zum Debuggen |
| 581 | 589 | ||
| 582 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
590 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
| 583 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
591 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
| 584 | else diff_p = GPS_PROP_NRML_V; |
592 | else diff_p = GPS_PROP_NRML_V; |
| 585 | 593 | ||
| 586 | //I Werte begrenzen |
594 | //I Werte begrenzen |
| 587 | #define INT1_MAX (GPS_NICKROLL_MAX * GPS_V)/2 //ab 30.12.2007 auf Halben Maximalen Nick/Rollwert begrenzen |
595 | #define INT1_MAX (GPS_NICKROLL_MAX * GPS_V)/2 //ab 30.12.2007 auf Halben Maximalen Nick/Rollwert begrenzen |
| 588 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
596 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
| 589 | int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; //Fehler behoben am 17.12.2007 vorher int_north= |
597 | int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; //Fehler behoben am 17.12.2007 vorher int_north= |
| 590 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
598 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
| 591 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
599 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
| 592 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
600 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
| 593 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
601 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
| 594 | 602 | ||
| 595 | //PID Regler Werte aufsummieren |
603 | //PID Regler Werte aufsummieren |
| 596 | gps_reg_x = ((int)int_east1 + ((dist_east * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_east_f * diff_v_east * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil X Achse |
604 | gps_reg_x = ((int)int_east1 + ((dist_east * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_east_f * diff_v_east * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil X Achse |
| 597 | gps_reg_y = ((int)int_north1 + ((dist_north * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_north_f * diff_v_north * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil Y Achse |
605 | gps_reg_y = ((int)int_north1 + ((dist_north * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_north_f * diff_v_north * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil Y Achse |
| 598 | debug_gp_0 = gps_reg_x; // zum Debuggen |
606 | debug_gp_0 = gps_reg_x; // zum Debuggen |
| 599 | debug_gp_1 = gps_reg_y; // zum Debuggen |
607 | debug_gp_1 = gps_reg_y; // zum Debuggen |
| 600 | 608 | ||
| 601 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
609 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
| 602 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
610 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
| 603 | 611 | ||
| 604 | // in Winkel 0...360 Grad umrechnen |
612 | // in Winkel 0...360 Grad umrechnen |
| 605 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
613 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
| 606 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
614 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
| 607 | 615 | ||
| 608 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
616 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
| 609 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
617 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
| 610 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
618 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
| 611 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
619 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
| 612 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
620 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
| 613 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
621 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
| 614 | 622 | ||
| 615 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
623 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
| 616 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
624 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
| 617 | { |
625 | { |
| 618 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
626 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
| 619 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
627 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
| 620 | } |
628 | } |
| 621 | else |
629 | else |
| 622 | { |
630 | { |
| 623 | dev = (long)gps_reg_y; |
631 | dev = (long)gps_reg_y; |
| 624 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
632 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
| 625 | } |
633 | } |
| 626 | GPS_dist_2trgt = (int) dev; |
634 | GPS_dist_2trgt = (int) dev; |
| 627 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
635 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
| 628 | n = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); //Rollwert bestimmen |
636 | n = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); //Rollwert bestimmen |
| 629 | n1 = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); //Nickwert bestimmen |
637 | n1 = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); //Nickwert bestimmen |
| 630 | 638 | ||
| 631 | // GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
639 | // GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
| 632 | // GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
640 | // GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
| 633 | 641 | ||
| 634 | if (n > (GPS_NICKROLL_MAX * GPS_V)) n = (GPS_NICKROLL_MAX * GPS_V); |
642 | if (n > (GPS_NICKROLL_MAX * GPS_V)) n = (GPS_NICKROLL_MAX * GPS_V); |
| 635 | else if (n < -(GPS_NICKROLL_MAX * GPS_V)) n = -(GPS_NICKROLL_MAX * GPS_V); |
643 | else if (n < -(GPS_NICKROLL_MAX * GPS_V)) n = -(GPS_NICKROLL_MAX * GPS_V); |
| 636 | if (n1 > (GPS_NICKROLL_MAX * GPS_V)) n1 = (GPS_NICKROLL_MAX * GPS_V); |
644 | if (n1 > (GPS_NICKROLL_MAX * GPS_V)) n1 = (GPS_NICKROLL_MAX * GPS_V); |
| 637 | else if (n1 < -(GPS_NICKROLL_MAX * GPS_V)) n1 = -(GPS_NICKROLL_MAX * GPS_V); |
645 | else if (n1 < -(GPS_NICKROLL_MAX * GPS_V)) n1 = -(GPS_NICKROLL_MAX * GPS_V); |
| 638 | n = n/GPS_V; |
646 | n = n/GPS_V; |
| 639 | n1 = n1/GPS_V; |
647 | n1 = n1/GPS_V; |
| 640 | //Kleine Werte verstaerken, Grosse abschwaechen |
648 | //Kleine Werte verstaerken, Grosse abschwaechen |
| 641 | /* n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
649 | /* n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| 642 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
650 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| 643 | GPS_Roll = (int) n_l; |
651 | GPS_Roll = (int) n_l; |
| 644 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
652 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| 645 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
653 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| 646 | GPS_Nick = (int) n_l; |
654 | GPS_Nick = (int) n_l; |
| 647 | */ |
655 | */ |
| 648 | 656 | ||
| 649 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
657 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
| 650 | { |
658 | { |
| 651 | GPS_Roll = 0; |
659 | GPS_Roll = 0; |
| 652 | GPS_Nick = 0; |
660 | GPS_Nick = 0; |
| 653 | gps_state = GPS_CRTL_IDLE; |
661 | gps_state = GPS_CRTL_IDLE; |
| 654 | return (GPS_STST_ERR); |
662 | return (GPS_STST_ERR); |
| 655 | break; |
663 | break; |
| 656 | } |
664 | } |
| 657 | else |
665 | else |
| 658 | { |
666 | { |
| 659 | GPS_Roll = n; |
667 | GPS_Roll = n; |
| 660 | GPS_Nick = n1; |
668 | GPS_Nick = n1; |
| 661 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
669 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| 662 | return (GPS_STST_OK); |
670 | return (GPS_STST_OK); |
| 663 | } |
671 | } |
| 664 | } |
672 | } |
| 665 | else |
673 | else |
| 666 | { |
674 | { |
| 667 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
675 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| 668 | return (GPS_STST_OK); |
676 | return (GPS_STST_OK); |
| 669 | } |
677 | } |
| 670 | break; |
678 | break; |
| 671 | 679 | ||
| 672 | default: |
680 | default: |
| 673 | gps_state = GPS_CRTL_IDLE; |
681 | gps_state = GPS_CRTL_IDLE; |
| 674 | return (GPS_STST_ERR); |
682 | return (GPS_STST_ERR); |
| 675 | break; |
683 | break; |
| 676 | } |
684 | } |
| 677 | return (GPS_STST_ERR); |
685 | return (GPS_STST_ERR); |
| 678 | 686 | ||
| 679 | } |
687 | } |
| 680 | 688 | ||
| 681 | 689 | ||