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- | 1 | /* |
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- | 2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
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- | 3 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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- | 4 | either version 3 of the License, or (at your option) any later version. |
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- | 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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- | 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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- | 7 | GNU General Public License and GNU Lesser General Public License for more details. |
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- | 8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
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- | 9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
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- | 10 | If not, see <http://www.gnu.org/licenses/>. |
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- | 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 |
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- | 13 | */ |
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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
15 | von Peter Muehlenbrock alias Salvo |
3 | // + only for non-profit use |
16 | Auswertung der Daten vom GPS im ublox Format |
4 | // + www.MikroKopter.com |
17 | Hold Modus mit PID Regler |
- | 18 | Rückstuerz zur Basis Funktion |
|
5 | // + see the File "License.txt" for further Informations |
19 | Umstellung auf NaviParameter an Flight Version 00.70d |
- | 20 | GPS_V durch gps_gain ersetzt, damit Einstellung durch MK Tool möglich wird |
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- | 21 | Stand 10.10.2008 |
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- | 22 | ||
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 24 | */ |
|
7 | #include "main.h" |
25 | #include "main.h" |
- | 26 | #include "math.h" |
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- | 27 | //#include "gps.h" |
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- | 28 | ||
- | 29 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
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- | 30 | #define UBLOX_IDLE 0 |
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- | 31 | #define UBLOX_SYNC1 1 |
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- | 32 | #define UBLOX_SYNC2 2 |
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- | 33 | #define UBLOX_CLASS 3 |
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- | 34 | #define UBLOX_ID 4 |
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- | 35 | #define UBLOX_LEN1 5 |
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- | 36 | #define UBLOX_LEN2 6 |
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- | 37 | #define UBLOX_CKA 7 |
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- | 38 | #define UBLOX_CKB 8 |
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- | 39 | #define UBLOX_PAYLOAD 9 |
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- | 40 | ||
- | 41 | // ublox Protokoll Identifier |
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- | 42 | #define UBLOX_NAV_POSUTM 0x08 |
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- | 43 | #define UBLOX_NAV_STATUS 0x03 |
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- | 44 | #define UBLOX_NAV_VELED 0x12 |
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- | 45 | #define UBLOX_NAV_CLASS 0x01 |
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- | 46 | #define UBLOX_SYNCH1_CHAR 0xB5 |
|
- | 47 | #define UBLOX_SYNCH2_CHAR 0x62 |
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- | 48 | ||
- | 49 | signed int GPS_Nick = 0; |
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- | 50 | signed int GPS_Roll = 0; |
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- | 51 | signed int GPS_Nick2 = 0; |
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- | 52 | signed int GPS_Roll2 = 0; |
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- | 53 | short int ublox_msg_state = UBLOX_IDLE; |
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- | 54 | static uint8_t chk_a =0; //Checksum |
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- | 55 | static uint8_t chk_b =0; |
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- | 56 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
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- | 57 | short int gps_updte_flag; |
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- | 58 | static long signed gps_reg_x,gps_reg_y; |
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- | 59 | static unsigned int rx_len; |
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- | 60 | static unsigned int ptr_payload_data_end; |
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- | 61 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
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- | 62 | static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
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- | 63 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
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- | 64 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
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- | 65 | static uint8_t *ptr_payload_data; |
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- | 66 | static uint8_t *ptr_pac_status; |
|
- | 67 | static int dist_flown; |
|
- | 68 | //static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
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- | 69 | static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen |
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- | 70 | static int gps_gain; // // Teilerfaktor Regelabweichung zu Ausgabewert |
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- | 71 | ||
- | 72 | ||
- | 73 | short int Get_GPS_data(void); |
|
- | 74 | ||
- | 75 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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- | 76 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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- | 77 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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8 | 78 | ||
9 | signed int GPS_Nick = 0; |
79 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
10 | signed int GPS_Roll = 0; |
80 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
11 | signed int GPS_Nick2 = 0; |
81 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
12 | signed int GPS_Roll2 = 0; |
- | |
13 | long GpsAktuell_X = 0; |
82 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
14 | long GpsAktuell_Y = 0; |
- | |
15 | long GpsZiel_X = 0; |
- | |
16 | long GpsZiel_Y = 0; |
83 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
- | 84 | ||
17 | 85 | // Initialisierung |
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18 | void GPS_Neutral(void) |
86 | void GPS_Neutral(void) |
- | 87 | { |
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- | 88 | ublox_msg_state = UBLOX_IDLE; |
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- | 89 | gps_state = GPS_CRTL_IDLE; |
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- | 90 | gps_sub_state = GPS_CRTL_IDLE; |
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19 | { |
91 | actual_pos.status = 0; |
- | 92 | actual_speed.status = 0; |
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- | 93 | actual_status.status = 0; |
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- | 94 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
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20 | GpsZiel_X = GpsAktuell_X; |
95 | gps_act_position.status = 0; |
- | 96 | gps_rel_act_position.status = 0; |
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- | 97 | GPS_Nick = 0; |
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- | 98 | GPS_Roll = 0; |
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- | 99 | gps_updte_flag = 0; |
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- | 100 | gps_alive_cnt = 0; |
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- | 101 | ||
- | 102 | } |
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- | 103 | ||
- | 104 | // Home Position sichern falls Daten verfuegbar sind. |
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- | 105 | void GPS_Save_Home(void) |
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- | 106 | { |
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- | 107 | short int n; |
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- | 108 | n = Get_GPS_data(); |
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- | 109 | if (n == 0) // Gueltige und aktuelle Daten ? |
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- | 110 | { |
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- | 111 | // Neue GPS Daten liegen vor |
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- | 112 | gps_home_position.utm_east = gps_act_position.utm_east; |
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- | 113 | gps_home_position.utm_north = gps_act_position.utm_north; |
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- | 114 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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- | 115 | gps_home_position.status = 1; // Home Position gueltig |
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21 | GpsZiel_Y = GpsAktuell_Y; |
116 | } |
- | 117 | } |
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- | 118 | ||
22 | } |
119 | // Relative Position zur Home Position bestimmen |
23 | 120 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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24 | void GPS_BerechneZielrichtung(void) |
121 | short int Get_Rel_Position(void) |
- | 122 | { |
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- | 123 | short int n = 0; |
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- | 124 | n = Get_GPS_data(); |
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- | 125 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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- | 126 | if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
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- | 127 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
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- | 128 | { |
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- | 129 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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- | 130 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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25 | { |
131 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
- | 132 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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- | 133 | n = 0; |
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- | 134 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
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- | 135 | } |
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- | 136 | else |
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- | 137 | { |
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- | 138 | n = 2; //keine gueltigen Daten vorhanden |
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- | 139 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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26 | GPS_Nick = 0; |
140 | } |
- | 141 | return (n); |
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- | 142 | } |
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- | 143 | ||
- | 144 | // Daten aus aktuellen ublox Messages extrahieren |
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- | 145 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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- | 146 | short int Get_GPS_data(void) |
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- | 147 | { |
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- | 148 | short int n = 1; |
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- | 149 | ||
- | 150 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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- | 151 | gps_gain = Parameter_NaviGpsGain*8/100; //maximal Wert ist 20 |
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- | 152 | // debug_gp_0 = (int)gps_gain; // zum Debuggen |
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- | 153 | ||
- | 154 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
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- | 155 | { |
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- | 156 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
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- | 157 | { |
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- | 158 | actual_status.status = 0; |
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- | 159 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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- | 160 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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- | 161 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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- | 162 | actual_pos.status = 0; //neue ublox Messages anfordern |
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- | 163 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
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- | 164 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
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- | 165 | gps_act_position.heading = actual_speed.heading/100000; |
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- | 166 | actual_speed.status = 0; |
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- | 167 | gps_act_position.status = 1; |
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- | 168 | n = 0; //Daten gueltig |
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- | 169 | } |
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- | 170 | else |
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- | 171 | { |
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- | 172 | gps_act_position.status = 0; //Keine gueltigen Daten |
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- | 173 | actual_speed.status = 0; |
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- | 174 | actual_status.status = 0; |
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- | 175 | actual_pos.status = 0; //neue ublox Messages anfordern |
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- | 176 | n = 2; |
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- | 177 | } |
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- | 178 | } |
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- | 179 | return (n); |
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- | 180 | } |
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- | 181 | ||
- | 182 | /* |
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- | 183 | Daten vom GPS im ublox MSG Format auswerten |
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- | 184 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
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- | 185 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
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- | 186 | */ |
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- | 187 | void Get_Ublox_Msg(uint8_t rx) |
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- | 188 | { |
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- | 189 | switch (ublox_msg_state) |
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- | 190 | { |
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- | 191 | ||
- | 192 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
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- | 193 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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- | 194 | else ublox_msg_state = UBLOX_IDLE; |
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- | 195 | break; |
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- | 196 | ||
- | 197 | case UBLOX_SYNC1: |
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- | 198 | ||
- | 199 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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- | 200 | else ublox_msg_state = UBLOX_IDLE; |
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- | 201 | chk_a = 0,chk_b = 0; |
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- | 202 | break; |
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- | 203 | ||
- | 204 | case UBLOX_SYNC2: |
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- | 205 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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- | 206 | else ublox_msg_state = UBLOX_IDLE; |
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- | 207 | break; |
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- | 208 | ||
- | 209 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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- | 210 | switch (rx) |
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- | 211 | { |
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- | 212 | case UBLOX_NAV_POSUTM: |
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- | 213 | ptr_pac_status = &actual_pos.status; |
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- | 214 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
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- | 215 | else |
|
- | 216 | { |
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- | 217 | ptr_payload_data = &actual_pos; |
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- | 218 | ptr_payload_data_end = &actual_pos.status; |
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- | 219 | ublox_msg_state = UBLOX_LEN1; |
|
- | 220 | } |
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- | 221 | break; |
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- | 222 | ||
- | 223 | case UBLOX_NAV_STATUS: |
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- | 224 | ptr_pac_status = &actual_status.status; |
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- | 225 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
|
- | 226 | else |
|
- | 227 | { |
|
- | 228 | ptr_payload_data = &actual_status; |
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- | 229 | ptr_payload_data_end = &actual_status.status; |
|
- | 230 | ublox_msg_state = UBLOX_LEN1; |
|
- | 231 | } |
|
- | 232 | break; |
|
- | 233 | ||
- | 234 | case UBLOX_NAV_VELED: |
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- | 235 | ptr_pac_status = &actual_speed.status; |
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- | 236 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
|
- | 237 | else |
|
- | 238 | { |
|
- | 239 | ptr_payload_data = &actual_speed; |
|
- | 240 | ptr_payload_data_end = &actual_speed.status; |
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- | 241 | ublox_msg_state = UBLOX_LEN1; |
|
- | 242 | } |
|
- | 243 | break; |
|
- | 244 | ||
- | 245 | default: |
|
- | 246 | ublox_msg_state = UBLOX_IDLE; |
|
- | 247 | break; |
|
- | 248 | } |
|
- | 249 | chk_a = UBLOX_NAV_CLASS + rx; |
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- | 250 | chk_b = UBLOX_NAV_CLASS + chk_a; |
|
- | 251 | break; |
|
- | 252 | ||
- | 253 | case UBLOX_LEN1: // Laenge auswerten |
|
- | 254 | rx_len = rx; |
|
- | 255 | chk_a += rx; |
|
- | 256 | chk_b += chk_a; |
|
- | 257 | ublox_msg_state = UBLOX_LEN2; |
|
- | 258 | break; |
|
- | 259 | ||
- | 260 | ||
- | 261 | case UBLOX_LEN2: // Laenge auswerten |
|
- | 262 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
|
- | 263 | chk_a += rx; |
|
- | 264 | chk_b += chk_a; |
|
- | 265 | ublox_msg_state = UBLOX_PAYLOAD; |
|
- | 266 | break; |
|
- | 267 | ||
- | 268 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
|
- | 269 | if (rx_len > 0) |
|
- | 270 | { |
|
- | 271 | *ptr_payload_data = rx; |
|
- | 272 | chk_a += rx; |
|
- | 273 | chk_b += chk_a; |
|
- | 274 | --rx_len; |
|
- | 275 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
|
- | 276 | { |
|
- | 277 | ptr_payload_data++; |
|
- | 278 | ublox_msg_state = UBLOX_PAYLOAD; |
|
- | 279 | } |
|
- | 280 | else ublox_msg_state = UBLOX_CKA; |
|
- | 281 | } |
|
- | 282 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
|
- | 283 | break; |
|
- | 284 | ||
- | 285 | case UBLOX_CKA: // Checksum pruefen |
|
- | 286 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
|
- | 287 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
|
- | 288 | break; |
|
- | 289 | ||
- | 290 | case UBLOX_CKB: // Checksum pruefen |
|
- | 291 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
|
- | 292 | ublox_msg_state = UBLOX_IDLE; |
|
- | 293 | break; |
|
- | 294 | ||
- | 295 | default: |
|
- | 296 | ublox_msg_state = UBLOX_IDLE; |
|
- | 297 | break; |
|
- | 298 | } |
|
- | 299 | } |
|
- | 300 | ||
- | 301 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
|
- | 302 | short int GPS_CRTL(short int cmd) |
|
- | 303 | { |
|
- | 304 | static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen |
|
- | 305 | static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition |
|
- | 306 | signed int n; |
|
- | 307 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
|
- | 308 | signed int dist_frm_start_east,dist_frm_start_north; |
|
- | 309 | int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil |
|
- | 310 | static signed int int_east,int_north; //Integrierer |
|
- | 311 | long int speed_east,speed_north; //Aktuelle Geschwindigkeit |
|
- | 312 | signed long int_east1,int_north1; |
|
- | 313 | int dist_east,dist_north; |
|
- | 314 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
|
- | 315 | long ni,ro; // Nick und Roll Zwischenwerte |
|
- | 316 | ||
- | 317 | ||
- | 318 | switch (cmd) |
|
- | 319 | { |
|
- | 320 | ||
- | 321 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
|
- | 322 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
|
- | 323 | { |
|
- | 324 | cnt++; |
|
- | 325 | if (cnt > 100) // erst nach Verzoegerung |
|
- | 326 | { |
|
- | 327 | // Erst mal initialisieren |
|
- | 328 | cnt = 0; |
|
- | 329 | gps_tick = 0; |
|
- | 330 | hold_fast = 0; |
|
- | 331 | hold_reset_int = 0; // Integrator enablen |
|
- | 332 | int_east = 0, int_north = 0; |
|
- | 333 | gps_reg_x = 0, gps_reg_y = 0; |
|
- | 334 | delta_east = 0, delta_north = 0; |
|
- | 335 | dist_flown = 0; |
|
- | 336 | gps_g2t_act_v = 0; |
|
- | 337 | gps_sub_state = GPS_CRTL_IDLE; |
|
- | 338 | // aktuelle positionsdaten abspeichern |
|
- | 339 | if (gps_rel_act_position.status > 0) |
|
- | 340 | { |
|
- | 341 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
|
- | 342 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
|
- | 343 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
|
- | 344 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
|
- | 345 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
|
- | 346 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
|
- | 347 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
|
- | 348 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
|
- | 349 | // in Winkel 0...360 Grad umrechnen |
|
- | 350 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
|
- | 351 | else hdng_2home = (270 - hdng_2home); |
|
- | 352 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
|
- | 353 | gps_state = GPS_CRTL_HOME_ACTIVE; |
|
- | 354 | return (GPS_STST_OK); |
|
- | 355 | } |
|
- | 356 | else |
|
- | 357 | { |
|
- | 358 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
|
- | 359 | gps_state = GPS_CRTL_IDLE; |
|
- | 360 | return(GPS_STST_ERR); // Keine Daten da |
|
- | 361 | } |
|
- | 362 | } |
|
- | 363 | else return(GPS_STST_PEND); // noch warten |
|
- | 364 | } |
|
- | 365 | break; |
|
- | 366 | // ****************************** |
|
- | 367 | ||
- | 368 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
|
- | 369 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
|
- | 370 | { |
|
- | 371 | cnt++; |
|
- | 372 | if (cnt > 600) // erst nach Verzoegerung |
|
- | 373 | { |
|
- | 374 | cnt = 0; |
|
- | 375 | // aktuelle positionsdaten abspeichern |
|
- | 376 | if (gps_rel_act_position.status > 0) |
|
- | 377 | { |
|
- | 378 | hold_fast = 0; |
|
- | 379 | hold_reset_int = 0; // Integrator enablen |
|
- | 380 | int_east = 0, int_north = 0; |
|
- | 381 | gps_reg_x = 0, gps_reg_y = 0; |
|
- | 382 | delta_east = 0, delta_north = 0; |
|
- | 383 | speed_east = 0; speed_north= 0; |
|
- | 384 | // int_ovfl_cnt = 0; |
|
- | 385 | gps_quiet_cnt = 0; |
|
- | 386 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
|
- | 387 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
|
- | 388 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
|
- | 389 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
|
- | 390 | return (GPS_STST_OK); |
|
- | 391 | } |
|
- | 392 | else |
|
- | 393 | { |
|
- | 394 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
|
- | 395 | gps_state = GPS_CRTL_IDLE; |
|
- | 396 | return(GPS_STST_ERR); // Keine Daten da |
|
- | 397 | } |
|
- | 398 | } |
|
- | 399 | else return(GPS_STST_PEND); // noch warten |
|
- | 400 | } |
|
- | 401 | break; |
|
- | 402 | ||
- | 403 | case GPS_CMD_STOP: // Lageregelung beenden |
|
- | 404 | cnt = 0; |
|
- | 405 | GPS_Nick = 0; |
|
- | 406 | GPS_Roll = 0; |
|
- | 407 | gps_sub_state = GPS_CRTL_IDLE; |
|
- | 408 | gps_state = GPS_CRTL_IDLE; |
|
- | 409 | return (GPS_STST_OK); |
|
- | 410 | break; |
|
- | 411 | ||
- | 412 | default: |
|
- | 413 | return (GPS_STST_ERR); |
|
- | 414 | break; |
|
- | 415 | } |
|
- | 416 | ||
- | 417 | switch (gps_state) |
|
- | 418 | { |
|
- | 419 | case GPS_CRTL_IDLE: |
|
- | 420 | cnt = 0; |
|
- | 421 | return (GPS_STST_OK); |
|
- | 422 | break; |
|
- | 423 | ||
- | 424 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
|
- | 425 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
|
- | 426 | if (gps_rel_start_position.status >0) |
|
- | 427 | { |
|
- | 428 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
|
- | 429 | { |
|
- | 430 | gps_tick++; |
|
- | 431 | int d1,d2,d3; |
|
- | 432 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
|
- | 433 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
|
- | 434 | d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel |
|
- | 435 | ||
- | 436 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
|
- | 437 | { |
|
- | 438 | if ((d1 < (GPS_G2T_FAST_TOL/2)) && (d2 < (GPS_G2T_FAST_TOL/2))) //voll Stoff weiter wenn Lage gut innerhalb der Toleranz |
|
- | 439 | { |
|
- | 440 | if (gps_g2t_act_v < GPS_G2T_V_MAX-3) gps_g2t_act_v += 4; //Geschwindigkeit erhoehen |
|
- | 441 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
- | 442 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
|
- | 443 | } |
|
- | 444 | else if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
|
- | 445 | { |
|
- | 446 | if (gps_g2t_act_v > (GPS_G2T_V_MAX/2)) gps_g2t_act_v -= 1; //Geschwindigkeit auf Haelfte runter oder rauffahren |
|
- | 447 | else if (gps_g2t_act_v < (GPS_G2T_V_MAX/2)) gps_g2t_act_v += 1; |
|
- | 448 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
- | 449 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
|
- | 450 | } |
|
- | 451 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
|
- | 452 | { |
|
- | 453 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
|
- | 454 | // dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
|
- | 455 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
|
- | 456 | } |
|
- | 457 | hold_reset_int = 0; // Integrator einsschalten |
|
- | 458 | hold_fast = 1; // Regler fuer schnellen Flug |
|
- | 459 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
|
- | 460 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
|
- | 461 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
|
- | 462 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
|
- | 463 | } |
|
- | 464 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
|
- | 465 | { |
|
- | 466 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
|
- | 467 | { |
|
- | 468 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
- | 469 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
|
- | 470 | } |
|
- | 471 | else |
|
- | 472 | { |
|
- | 473 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
|
- | 474 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
|
- | 475 | } |
|
- | 476 | hold_reset_int = 0; // Integrator einsschalten |
|
- | 477 | hold_fast = 1; // Regler fuer schnellen Flug |
|
- | 478 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
|
- | 479 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
|
- | 480 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
|
- | 481 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
|
- | 482 | } |
|
- | 483 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
|
- | 484 | { |
|
- | 485 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
|
- | 486 | { |
|
- | 487 | gps_sub_state = GPS_HOME_IN_TOL; |
|
- | 488 | hold_fast = 0; // Wieder normal regeln |
|
- | 489 | hold_reset_int = 0; // Integrator einsschalten |
|
- | 490 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
|
- | 491 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
|
- | 492 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
|
- | 493 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
|
- | 494 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
|
- | 495 | { |
|
- | 496 | gps_rel_hold_position.utm_east = 0; |
|
- | 497 | gps_rel_hold_position.utm_north = 0; |
|
- | 498 | gps_sub_state = GPS_HOME_FINISHED; |
|
- | 499 | } |
|
- | 500 | } |
|
- | 501 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
|
- | 502 | } |
|
- | 503 | } |
|
- | 504 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
|
- | 505 | return (GPS_STST_OK); |
|
- | 506 | } |
|
- | 507 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
|
- | 508 | { |
|
- | 509 | gps_state = GPS_CRTL_IDLE; |
|
- | 510 | return (GPS_STST_ERR); |
|
- | 511 | } |
|
- | 512 | break; |
|
- | 513 | ||
- | 514 | ||
- | 515 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
|
- | 516 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
|
- | 517 | { |
|
- | 518 | gps_quiet_cnt++; |
|
- | 519 | // ab hier wird geregelt |
|
- | 520 | delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east); |
|
- | 521 | delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north); |
|
- | 522 | int_east += (int)delta_east; |
|
- | 523 | int_north += (int)delta_north; |
|
- | 524 | speed_east = actual_speed.speed_e; |
|
- | 525 | speed_north = actual_speed.speed_n; |
|
- | 526 | gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden |
|
- | 527 | dist_east = (int)delta_east; //merken |
|
- | 528 | dist_north = (int)delta_north; |
|
- | 529 | ||
- | 530 | ||
- | 531 | // #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
|
- | 532 | long int gpsintmax; |
|
- | 533 | if (Parameter_NaviGpsI > 0) |
|
- | 534 | { |
|
- | 535 | gpsintmax = (GPS_NICKROLL_MAX * gps_gain * GPS_USR_PAR_FKT * ((32*3)/10))/(long)Parameter_NaviGpsI; //auf ungefeahren Maximalwert begrenzen |
|
- | 536 | if ((abs(int_east) > (int)gpsintmax) || (abs(int_north)> (int)gpsintmax)) |
|
- | 537 | { |
|
- | 538 | // // = 1; // Zahl der Overflows zaehlen |
|
- | 539 | // int_ovfl_cnt -= 1; |
|
- | 540 | int_east = (int_east * 6)/8; // Wert reduzieren |
|
- | 541 | int_north = (int_north* 6)/8; |
|
- | 542 | } |
|
- | 543 | ||
- | 544 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
|
- | 545 | { |
|
- | 546 | int_east = 0; |
|
- | 547 | int_north = 0; |
|
- | 548 | } |
|
- | 549 | } |
|
- | 550 | else // Integrator deaktiviert |
|
- | 551 | { |
|
- | 552 | int_east = 0; |
|
- | 553 | int_north = 0; |
|
- | 554 | } |
|
- | 555 | ||
- | 556 | debug_gp_4 = (int)int_east; // zum Debuggen |
|
- | 557 | debug_gp_5 = (int)int_north; // zum Debuggen |
|
- | 558 | ||
- | 559 | //I Werte begrenzen |
|
- | 560 | #define INT1_MAX (GPS_NICKROLL_MAX * gps_gain*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen |
|
- | 561 | int_east1 = ((((long)int_east) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
|
- | 562 | int_north1 = ((((long)int_north) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
|
- | 563 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
|
- | 564 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
|
- | 565 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
|
- | 566 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
|
- | 567 | ||
- | 568 | if (hold_fast > 0) //schneller Coming Home Modus |
|
- | 569 | { |
|
- | 570 | amplfy_speed_east = DIFF_Y_F_MAX; |
|
- | 571 | amplfy_speed_north = DIFF_Y_F_MAX; |
|
- | 572 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
|
- | 573 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
|
- | 574 | speed_east = (speed_east * (long)amplfy_speed_east) /50; |
|
- | 575 | speed_north = (speed_north * (long)amplfy_speed_north)/50; |
|
- | 576 | // D Werte begrenzen |
|
- | 577 | #define D_F_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
|
- | 578 | if (speed_east > D_F_MAX) speed_east = D_F_MAX; |
|
- | 579 | else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX; |
|
- | 580 | if (speed_north > D_F_MAX) speed_north = D_F_MAX; |
|
- | 581 | else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX; |
|
- | 582 | ||
- | 583 | diff_p = (Parameter_NaviGpsP * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
|
- | 584 | } |
|
- | 585 | else //langsamer Holdmodus |
|
- | 586 | { |
|
- | 587 | amplfy_speed_east = DIFF_Y_N_MAX; |
|
- | 588 | amplfy_speed_north = DIFF_Y_N_MAX; |
|
- | 589 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
|
- | 590 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
|
- | 591 | speed_east = (speed_east * (long)amplfy_speed_east) /25; |
|
- | 592 | speed_north = (speed_north * (long)amplfy_speed_north)/25; |
|
- | 593 | // D Werte begrenzen |
|
- | 594 | #define D_N_MAX (GPS_NICKROLL_MAX * gps_gain*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
|
- | 595 | if (speed_east > D_N_MAX) speed_east = D_N_MAX; |
|
- | 596 | else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX; |
|
- | 597 | if (speed_north > D_N_MAX) speed_north = D_N_MAX; |
|
- | 598 | else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX; |
|
- | 599 | ||
- | 600 | diff_p = (Parameter_NaviGpsP * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
|
- | 601 | } |
|
- | 602 | ||
- | 603 | // debug_gp_4 = (int)speed_east; // zum Debuggen |
|
- | 604 | // debug_gp_5 = (int)speed_north; // zum Debuggen |
|
- | 605 | ||
- | 606 | //P-Werte verstaerken |
|
- | 607 | delta_east = (delta_east * (long)diff_p)/(40); |
|
- | 608 | delta_north = (delta_north * (long)diff_p)/(40); |
|
- | 609 | ||
- | 610 | if (hold_fast > 0) //schneller Coming Home Modus |
|
- | 611 | { |
|
- | 612 | // P Werte begrenzen |
|
- | 613 | #define P1_F_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
|
- | 614 | if (delta_east > P1_F_MAX) delta_east = P1_F_MAX; |
|
- | 615 | else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX; |
|
- | 616 | if (delta_north > P1_F_MAX) delta_north = P1_F_MAX; |
|
- | 617 | else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX; |
|
- | 618 | } |
|
- | 619 | else // Hold modus |
|
- | 620 | { |
|
- | 621 | // P Werte begrenzen |
|
- | 622 | #define P1_N_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
|
- | 623 | if (delta_east > P1_N_MAX) delta_east = P1_N_MAX; |
|
- | 624 | else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX; |
|
- | 625 | if (delta_north > P1_N_MAX) delta_north = P1_N_MAX; |
|
- | 626 | else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX; |
|
- | 627 | } |
|
- | 628 | ||
- | 629 | debug_gp_2 = (int)delta_east; // zum Debuggen |
|
- | 630 | debug_gp_3 = (int)delta_north; // zum Debuggen |
|
- | 631 | ||
- | 632 | ||
- | 633 | //PID Regler Werte aufsummieren |
|
- | 634 | gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse |
|
- | 635 | gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse |
|
- | 636 | debug_gp_0 = (int)gps_reg_x; // zum Debuggen |
|
- | 637 | debug_gp_1 = (int)gps_reg_y; // zum Debuggen |
|
- | 638 | ||
- | 639 | // Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen |
|
- | 640 | n = GyroKomp_Int/GIER_GRAD_FAKTOR; //Ausrichtung Kopter |
|
- | 641 | ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000*gps_gain); |
|
- | 642 | ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000*gps_gain); |
|
- | 643 | ||
- | 644 | if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX); |
|
- | 645 | else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX ); |
|
- | 646 | if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX ); |
|
- | 647 | else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX ); |
|
- | 648 | ||
- | 649 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
|
- | 650 | { |
|
- | 651 | GPS_Roll = 0; |
|
- | 652 | GPS_Nick = 0; |
|
- | 653 | gps_state = GPS_CRTL_IDLE; |
|
- | 654 | return (GPS_STST_ERR); |
|
- | 655 | break; |
|
- | 656 | } |
|
- | 657 | else if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen |
|
- | 658 | { |
|
- | 659 | gps_quiet_cnt++; |
|
- | 660 | GPS_Roll = 0; |
|
- | 661 | GPS_Nick = 0; |
|
- | 662 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
- | 663 | return (GPS_STST_OK); |
|
- | 664 | } |
|
- | 665 | else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4)) |
|
- | 666 | { |
|
- | 667 | gps_quiet_cnt = 0; |
|
- | 668 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
- | 669 | return (GPS_STST_OK); |
|
- | 670 | } |
|
- | 671 | else |
|
- | 672 | { |
|
- | 673 | GPS_Roll = (int)ro; |
|
- | 674 | GPS_Nick = (int)ni; |
|
- | 675 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
- | 676 | return (GPS_STST_OK); |
|
- | 677 | } |
|
- | 678 | } |
|
- | 679 | else |
|
- | 680 | { |
|
- | 681 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
- | 682 | return (GPS_STST_OK); |
|
- | 683 | } |
|
- | 684 | break; |
|
- | 685 | ||
- | 686 | default: |
|
- | 687 | gps_state = GPS_CRTL_IDLE; |
|
- | 688 | return (GPS_STST_ERR); |
|
27 | GPS_Roll = 0; |
689 | break; |
28 | } |
690 | } |
29 | 691 | return (GPS_STST_ERR); |
|
30 | 692 | ||
31 | 693 | } |
|
32 | 694 | ||
33 | 695 |