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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 | von Peter Muehlenbrock alias Salvo |
15 | von Peter Muehlenbrock alias Salvo |
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 | Umstellung auf NaviParameter an Flight Version 00.70d |
19 | Umstellung auf NaviParameter an Flight Version 00.70d |
20 | GPS_V durch gps_gain ersetzt, damit Einstellung durch MK Tool möglich wird |
20 | GPS_V durch gps_gain ersetzt, damit Einstellung durch MK Tool möglich wird |
21 | 21 | ||
22 | Stand 20.11.2008 |
22 | Stand 20.11.2008 |
23 | 23 | ||
24 | Aenderung 20.11.2008: gps_gain erhoeht |
24 | Aenderung 20.11.2008: gps_gain erhoeht |
25 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | */ |
26 | */ |
27 | #include "main.h" |
27 | #include "main.h" |
28 | #include "math.h" |
28 | #include "math.h" |
29 | //#include "gps.h" |
29 | //#include "gps.h" |
30 | 30 | ||
31 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
31 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
32 | #define UBLOX_IDLE 0 |
32 | #define UBLOX_IDLE 0 |
33 | #define UBLOX_SYNC1 1 |
33 | #define UBLOX_SYNC1 1 |
34 | #define UBLOX_SYNC2 2 |
34 | #define UBLOX_SYNC2 2 |
35 | #define UBLOX_CLASS 3 |
35 | #define UBLOX_CLASS 3 |
36 | #define UBLOX_ID 4 |
36 | #define UBLOX_ID 4 |
37 | #define UBLOX_LEN1 5 |
37 | #define UBLOX_LEN1 5 |
38 | #define UBLOX_LEN2 6 |
38 | #define UBLOX_LEN2 6 |
39 | #define UBLOX_CKA 7 |
39 | #define UBLOX_CKA 7 |
40 | #define UBLOX_CKB 8 |
40 | #define UBLOX_CKB 8 |
41 | #define UBLOX_PAYLOAD 9 |
41 | #define UBLOX_PAYLOAD 9 |
42 | 42 | ||
43 | // ublox Protokoll Identifier |
43 | // ublox Protokoll Identifier |
44 | #define UBLOX_NAV_POSUTM 0x08 |
44 | #define UBLOX_NAV_POSUTM 0x08 |
45 | #define UBLOX_NAV_STATUS 0x03 |
45 | #define UBLOX_NAV_STATUS 0x03 |
46 | #define UBLOX_NAV_VELED 0x12 |
46 | #define UBLOX_NAV_VELED 0x12 |
47 | #define UBLOX_NAV_CLASS 0x01 |
47 | #define UBLOX_NAV_CLASS 0x01 |
48 | #define UBLOX_SYNCH1_CHAR 0xB5 |
48 | #define UBLOX_SYNCH1_CHAR 0xB5 |
49 | #define UBLOX_SYNCH2_CHAR 0x62 |
49 | #define UBLOX_SYNCH2_CHAR 0x62 |
50 | 50 | ||
51 | signed int GPS_Nick = 0; |
51 | signed int GPS_Nick = 0; |
52 | signed int GPS_Roll = 0; |
52 | signed int GPS_Roll = 0; |
53 | signed int GPS_Nick2 = 0; |
53 | signed int GPS_Nick2 = 0; |
54 | signed int GPS_Roll2 = 0; |
54 | signed int GPS_Roll2 = 0; |
55 | short int ublox_msg_state = UBLOX_IDLE; |
55 | short int ublox_msg_state = UBLOX_IDLE; |
56 | static uint8_t chk_a =0; //Checksum |
56 | static uint8_t chk_a =0; //Checksum |
57 | static uint8_t chk_b =0; |
57 | static uint8_t chk_b =0; |
58 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
58 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
59 | short int gps_updte_flag; |
59 | short int gps_updte_flag; |
60 | static long signed gps_reg_x,gps_reg_y; |
60 | static long signed gps_reg_x,gps_reg_y; |
61 | static unsigned int rx_len; |
61 | static unsigned int rx_len; |
62 | static unsigned int ptr_payload_data_end; |
62 | static unsigned int ptr_payload_data_end; |
63 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
63 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
64 | static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
64 | static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
65 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
65 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
66 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
66 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
67 | static uint8_t *ptr_payload_data; |
67 | static uint8_t *ptr_payload_data; |
68 | static uint8_t *ptr_pac_status; |
68 | static uint8_t *ptr_pac_status; |
69 | static int dist_flown; |
69 | static int dist_flown; |
70 | //static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
70 | //static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
71 | static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen |
71 | static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen |
72 | static int gps_gain; // // Teilerfaktor Regelabweichung zu Ausgabewert |
72 | static int gps_gain; // // Teilerfaktor Regelabweichung zu Ausgabewert |
73 | 73 | ||
74 | 74 | ||
75 | short int Get_GPS_data(void); |
75 | short int Get_GPS_data(void); |
76 | 76 | ||
77 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
77 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
78 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
78 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
79 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
79 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
80 | 80 | ||
81 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
81 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
82 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
82 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
83 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
83 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
84 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
84 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
85 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
85 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
86 | 86 | ||
87 | // Initialisierung |
87 | // Initialisierung |
88 | void GPS_Neutral(void) |
88 | void GPS_Neutral(void) |
89 | { |
89 | { |
90 | ublox_msg_state = UBLOX_IDLE; |
90 | ublox_msg_state = UBLOX_IDLE; |
91 | gps_state = GPS_CRTL_IDLE; |
91 | gps_state = GPS_CRTL_IDLE; |
92 | gps_sub_state = GPS_CRTL_IDLE; |
92 | gps_sub_state = GPS_CRTL_IDLE; |
93 | actual_pos.status = 0; |
93 | actual_pos.status = 0; |
94 | actual_speed.status = 0; |
94 | actual_speed.status = 0; |
95 | actual_status.status = 0; |
95 | actual_status.status = 0; |
96 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
96 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
97 | gps_act_position.status = 0; |
97 | gps_act_position.status = 0; |
98 | gps_rel_act_position.status = 0; |
98 | gps_rel_act_position.status = 0; |
99 | GPS_Nick = 0; |
99 | GPS_Nick = 0; |
100 | GPS_Roll = 0; |
100 | GPS_Roll = 0; |
101 | gps_updte_flag = 0; |
101 | gps_updte_flag = 0; |
102 | gps_alive_cnt = 0; |
102 | gps_alive_cnt = 0; |
103 | 103 | ||
104 | } |
104 | } |
105 | 105 | ||
106 | // Home Position sichern falls Daten verfuegbar sind. |
106 | // Home Position sichern falls Daten verfuegbar sind. |
107 | void GPS_Save_Home(void) |
107 | void GPS_Save_Home(void) |
108 | { |
108 | { |
109 | short int n; |
109 | short int n; |
110 | n = Get_GPS_data(); |
110 | n = Get_GPS_data(); |
111 | if (n == 0) // Gueltige und aktuelle Daten ? |
111 | if (n == 0) // Gueltige und aktuelle Daten ? |
112 | { |
112 | { |
113 | // Neue GPS Daten liegen vor |
113 | // Neue GPS Daten liegen vor |
114 | gps_home_position.utm_east = gps_act_position.utm_east; |
114 | gps_home_position.utm_east = gps_act_position.utm_east; |
115 | gps_home_position.utm_north = gps_act_position.utm_north; |
115 | gps_home_position.utm_north = gps_act_position.utm_north; |
116 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
116 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
117 | gps_home_position.status = 1; // Home Position gueltig |
117 | gps_home_position.status = 1; // Home Position gueltig |
118 | } |
118 | } |
119 | } |
119 | } |
120 | 120 | ||
121 | // Relative Position zur Home Position bestimmen |
121 | // Relative Position zur Home Position bestimmen |
122 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
122 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
123 | short int Get_Rel_Position(void) |
123 | short int Get_Rel_Position(void) |
124 | { |
124 | { |
125 | short int n = 0; |
125 | short int n = 0; |
126 | n = Get_GPS_data(); |
126 | n = Get_GPS_data(); |
127 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
127 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
128 | if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
128 | if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
129 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
129 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
130 | { |
130 | { |
131 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
131 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
132 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
132 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
133 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
133 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
134 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
134 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
135 | n = 0; |
135 | n = 0; |
136 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
136 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
137 | } |
137 | } |
138 | else |
138 | else |
139 | { |
139 | { |
140 | n = 2; //keine gueltigen Daten vorhanden |
140 | n = 2; //keine gueltigen Daten vorhanden |
141 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
141 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
142 | } |
142 | } |
143 | return (n); |
143 | return (n); |
144 | } |
144 | } |
145 | 145 | ||
146 | // Daten aus aktuellen ublox Messages extrahieren |
146 | // Daten aus aktuellen ublox Messages extrahieren |
147 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
147 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
148 | short int Get_GPS_data(void) |
148 | short int Get_GPS_data(void) |
149 | { |
149 | { |
150 | short int n = 1; |
150 | short int n = 1; |
151 | 151 | ||
152 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
152 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
153 | gps_gain = (Parameter_NaviGpsGain*8)/75; //maximal Wert ist 255*8/75 |
153 | gps_gain = (Parameter_NaviGpsGain*8)/50; //maximal Wert ist 255*8/75 |
154 | // debug_gp_0 = (int)gps_gain; // zum Debuggen |
154 | // debug_gp_0 = (int)gps_gain; // zum Debuggen |
155 | 155 | ||
156 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
156 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
157 | { |
157 | { |
158 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
158 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
159 | { |
159 | { |
160 | actual_status.status = 0; |
160 | actual_status.status = 0; |
161 | gps_act_position.utm_east = actual_pos.utm_east/10; |
161 | gps_act_position.utm_east = actual_pos.utm_east/10; |
162 | gps_act_position.utm_north = actual_pos.utm_north/10; |
162 | gps_act_position.utm_north = actual_pos.utm_north/10; |
163 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
163 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
164 | actual_pos.status = 0; //neue ublox Messages anfordern |
164 | actual_pos.status = 0; //neue ublox Messages anfordern |
165 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
165 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
166 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
166 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
167 | gps_act_position.heading = actual_speed.heading/100000; |
167 | gps_act_position.heading = actual_speed.heading/100000; |
168 | actual_speed.status = 0; |
168 | actual_speed.status = 0; |
169 | gps_act_position.status = 1; |
169 | gps_act_position.status = 1; |
170 | n = 0; //Daten gueltig |
170 | n = 0; //Daten gueltig |
171 | } |
171 | } |
172 | else |
172 | else |
173 | { |
173 | { |
174 | gps_act_position.status = 0; //Keine gueltigen Daten |
174 | gps_act_position.status = 0; //Keine gueltigen Daten |
175 | actual_speed.status = 0; |
175 | actual_speed.status = 0; |
176 | actual_status.status = 0; |
176 | actual_status.status = 0; |
177 | actual_pos.status = 0; //neue ublox Messages anfordern |
177 | actual_pos.status = 0; //neue ublox Messages anfordern |
178 | n = 2; |
178 | n = 2; |
179 | } |
179 | } |
180 | } |
180 | } |
181 | return (n); |
181 | return (n); |
182 | } |
182 | } |
183 | 183 | ||
184 | /* |
184 | /* |
185 | Daten vom GPS im ublox MSG Format auswerten |
185 | Daten vom GPS im ublox MSG Format auswerten |
186 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
186 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
187 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
187 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
188 | */ |
188 | */ |
189 | void Get_Ublox_Msg(uint8_t rx) |
189 | void Get_Ublox_Msg(uint8_t rx) |
190 | { |
190 | { |
191 | switch (ublox_msg_state) |
191 | switch (ublox_msg_state) |
192 | { |
192 | { |
193 | 193 | ||
194 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
194 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
195 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
195 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
196 | else ublox_msg_state = UBLOX_IDLE; |
196 | else ublox_msg_state = UBLOX_IDLE; |
197 | break; |
197 | break; |
198 | 198 | ||
199 | case UBLOX_SYNC1: |
199 | case UBLOX_SYNC1: |
200 | 200 | ||
201 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
201 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
202 | else ublox_msg_state = UBLOX_IDLE; |
202 | else ublox_msg_state = UBLOX_IDLE; |
203 | chk_a = 0,chk_b = 0; |
203 | chk_a = 0,chk_b = 0; |
204 | break; |
204 | break; |
205 | 205 | ||
206 | case UBLOX_SYNC2: |
206 | case UBLOX_SYNC2: |
207 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
207 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
208 | else ublox_msg_state = UBLOX_IDLE; |
208 | else ublox_msg_state = UBLOX_IDLE; |
209 | break; |
209 | break; |
210 | 210 | ||
211 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
211 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
212 | switch (rx) |
212 | switch (rx) |
213 | { |
213 | { |
214 | case UBLOX_NAV_POSUTM: |
214 | case UBLOX_NAV_POSUTM: |
215 | ptr_pac_status = &actual_pos.status; |
215 | ptr_pac_status = &actual_pos.status; |
216 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
216 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
217 | else |
217 | else |
218 | { |
218 | { |
219 | ptr_payload_data = &actual_pos; |
219 | ptr_payload_data = &actual_pos; |
220 | ptr_payload_data_end = &actual_pos.status; |
220 | ptr_payload_data_end = &actual_pos.status; |
221 | ublox_msg_state = UBLOX_LEN1; |
221 | ublox_msg_state = UBLOX_LEN1; |
222 | } |
222 | } |
223 | break; |
223 | break; |
224 | 224 | ||
225 | case UBLOX_NAV_STATUS: |
225 | case UBLOX_NAV_STATUS: |
226 | ptr_pac_status = &actual_status.status; |
226 | ptr_pac_status = &actual_status.status; |
227 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
227 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
228 | else |
228 | else |
229 | { |
229 | { |
230 | ptr_payload_data = &actual_status; |
230 | ptr_payload_data = &actual_status; |
231 | ptr_payload_data_end = &actual_status.status; |
231 | ptr_payload_data_end = &actual_status.status; |
232 | ublox_msg_state = UBLOX_LEN1; |
232 | ublox_msg_state = UBLOX_LEN1; |
233 | } |
233 | } |
234 | break; |
234 | break; |
235 | 235 | ||
236 | case UBLOX_NAV_VELED: |
236 | case UBLOX_NAV_VELED: |
237 | ptr_pac_status = &actual_speed.status; |
237 | ptr_pac_status = &actual_speed.status; |
238 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
238 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
239 | else |
239 | else |
240 | { |
240 | { |
241 | ptr_payload_data = &actual_speed; |
241 | ptr_payload_data = &actual_speed; |
242 | ptr_payload_data_end = &actual_speed.status; |
242 | ptr_payload_data_end = &actual_speed.status; |
243 | ublox_msg_state = UBLOX_LEN1; |
243 | ublox_msg_state = UBLOX_LEN1; |
244 | } |
244 | } |
245 | break; |
245 | break; |
246 | 246 | ||
247 | default: |
247 | default: |
248 | ublox_msg_state = UBLOX_IDLE; |
248 | ublox_msg_state = UBLOX_IDLE; |
249 | break; |
249 | break; |
250 | } |
250 | } |
251 | chk_a = UBLOX_NAV_CLASS + rx; |
251 | chk_a = UBLOX_NAV_CLASS + rx; |
252 | chk_b = UBLOX_NAV_CLASS + chk_a; |
252 | chk_b = UBLOX_NAV_CLASS + chk_a; |
253 | break; |
253 | break; |
254 | 254 | ||
255 | case UBLOX_LEN1: // Laenge auswerten |
255 | case UBLOX_LEN1: // Laenge auswerten |
256 | rx_len = rx; |
256 | rx_len = rx; |
257 | chk_a += rx; |
257 | chk_a += rx; |
258 | chk_b += chk_a; |
258 | chk_b += chk_a; |
259 | ublox_msg_state = UBLOX_LEN2; |
259 | ublox_msg_state = UBLOX_LEN2; |
260 | break; |
260 | break; |
261 | 261 | ||
262 | 262 | ||
263 | case UBLOX_LEN2: // Laenge auswerten |
263 | case UBLOX_LEN2: // Laenge auswerten |
264 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
264 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
265 | chk_a += rx; |
265 | chk_a += rx; |
266 | chk_b += chk_a; |
266 | chk_b += chk_a; |
267 | ublox_msg_state = UBLOX_PAYLOAD; |
267 | ublox_msg_state = UBLOX_PAYLOAD; |
268 | break; |
268 | break; |
269 | 269 | ||
270 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
270 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
271 | if (rx_len > 0) |
271 | if (rx_len > 0) |
272 | { |
272 | { |
273 | *ptr_payload_data = rx; |
273 | *ptr_payload_data = rx; |
274 | chk_a += rx; |
274 | chk_a += rx; |
275 | chk_b += chk_a; |
275 | chk_b += chk_a; |
276 | --rx_len; |
276 | --rx_len; |
277 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
277 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
278 | { |
278 | { |
279 | ptr_payload_data++; |
279 | ptr_payload_data++; |
280 | ublox_msg_state = UBLOX_PAYLOAD; |
280 | ublox_msg_state = UBLOX_PAYLOAD; |
281 | } |
281 | } |
282 | else ublox_msg_state = UBLOX_CKA; |
282 | else ublox_msg_state = UBLOX_CKA; |
283 | } |
283 | } |
284 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
284 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
285 | break; |
285 | break; |
286 | 286 | ||
287 | case UBLOX_CKA: // Checksum pruefen |
287 | case UBLOX_CKA: // Checksum pruefen |
288 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
288 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
289 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
289 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
290 | break; |
290 | break; |
291 | 291 | ||
292 | case UBLOX_CKB: // Checksum pruefen |
292 | case UBLOX_CKB: // Checksum pruefen |
293 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
293 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
294 | ublox_msg_state = UBLOX_IDLE; |
294 | ublox_msg_state = UBLOX_IDLE; |
295 | break; |
295 | break; |
296 | 296 | ||
297 | default: |
297 | default: |
298 | ublox_msg_state = UBLOX_IDLE; |
298 | ublox_msg_state = UBLOX_IDLE; |
299 | break; |
299 | break; |
300 | } |
300 | } |
301 | } |
301 | } |
302 | 302 | ||
303 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
303 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
304 | short int GPS_CRTL(short int cmd) |
304 | short int GPS_CRTL(short int cmd) |
305 | { |
305 | { |
306 | static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen |
306 | static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen |
307 | static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition |
307 | static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition |
308 | signed int n; |
308 | signed int n; |
309 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
309 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
310 | signed int dist_frm_start_east,dist_frm_start_north; |
310 | signed int dist_frm_start_east,dist_frm_start_north; |
311 | int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil |
311 | int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil |
312 | static signed int int_east,int_north; //Integrierer |
312 | static signed int int_east,int_north; //Integrierer |
313 | long int speed_east,speed_north; //Aktuelle Geschwindigkeit |
313 | long int speed_east,speed_north; //Aktuelle Geschwindigkeit |
314 | signed long int_east1,int_north1; |
314 | signed long int_east1,int_north1; |
315 | int dist_east,dist_north; |
315 | int dist_east,dist_north; |
316 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
316 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
317 | long ni,ro; // Nick und Roll Zwischenwerte |
317 | long ni,ro; // Nick und Roll Zwischenwerte |
318 | 318 | ||
319 | 319 | ||
320 | switch (cmd) |
320 | switch (cmd) |
321 | { |
321 | { |
322 | 322 | ||
323 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
323 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
324 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
324 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
325 | { |
325 | { |
326 | cnt++; |
326 | cnt++; |
327 | if (cnt > 100) // erst nach Verzoegerung |
327 | if (cnt > 100) // erst nach Verzoegerung |
328 | { |
328 | { |
329 | // Erst mal initialisieren |
329 | // Erst mal initialisieren |
330 | cnt = 0; |
330 | cnt = 0; |
331 | gps_tick = 0; |
331 | gps_tick = 0; |
332 | hold_fast = 0; |
332 | hold_fast = 0; |
333 | hold_reset_int = 0; // Integrator enablen |
333 | hold_reset_int = 0; // Integrator enablen |
334 | int_east = 0, int_north = 0; |
334 | int_east = 0, int_north = 0; |
335 | gps_reg_x = 0, gps_reg_y = 0; |
335 | gps_reg_x = 0, gps_reg_y = 0; |
336 | delta_east = 0, delta_north = 0; |
336 | delta_east = 0, delta_north = 0; |
337 | dist_flown = 0; |
337 | dist_flown = 0; |
338 | gps_g2t_act_v = 0; |
338 | gps_g2t_act_v = 0; |
339 | gps_sub_state = GPS_CRTL_IDLE; |
339 | gps_sub_state = GPS_CRTL_IDLE; |
340 | // aktuelle positionsdaten abspeichern |
340 | // aktuelle positionsdaten abspeichern |
341 | if (gps_rel_act_position.status > 0) |
341 | if (gps_rel_act_position.status > 0) |
342 | { |
342 | { |
343 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
343 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
344 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
344 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
345 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
345 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
346 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
346 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
347 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
347 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
348 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
348 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
349 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
349 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
350 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
350 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
351 | // in Winkel 0...360 Grad umrechnen |
351 | // in Winkel 0...360 Grad umrechnen |
352 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
352 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
353 | else hdng_2home = (270 - hdng_2home); |
353 | else hdng_2home = (270 - hdng_2home); |
354 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
354 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
355 | gps_state = GPS_CRTL_HOME_ACTIVE; |
355 | gps_state = GPS_CRTL_HOME_ACTIVE; |
356 | return (GPS_STST_OK); |
356 | return (GPS_STST_OK); |
357 | } |
357 | } |
358 | else |
358 | else |
359 | { |
359 | { |
360 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
360 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
361 | gps_state = GPS_CRTL_IDLE; |
361 | gps_state = GPS_CRTL_IDLE; |
362 | return(GPS_STST_ERR); // Keine Daten da |
362 | return(GPS_STST_ERR); // Keine Daten da |
363 | } |
363 | } |
364 | } |
364 | } |
365 | else return(GPS_STST_PEND); // noch warten |
365 | else return(GPS_STST_PEND); // noch warten |
366 | } |
366 | } |
367 | break; |
367 | break; |
368 | // ****************************** |
368 | // ****************************** |
369 | 369 | ||
370 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
370 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
371 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
371 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
372 | { |
372 | { |
373 | cnt++; |
373 | cnt++; |
374 | if (cnt > 600) // erst nach Verzoegerung |
374 | if (cnt > 600) // erst nach Verzoegerung |
375 | { |
375 | { |
376 | cnt = 0; |
376 | cnt = 0; |
377 | // aktuelle positionsdaten abspeichern |
377 | // aktuelle positionsdaten abspeichern |
378 | if (gps_rel_act_position.status > 0) |
378 | if (gps_rel_act_position.status > 0) |
379 | { |
379 | { |
380 | hold_fast = 0; |
380 | hold_fast = 0; |
381 | hold_reset_int = 0; // Integrator enablen |
381 | hold_reset_int = 0; // Integrator enablen |
382 | int_east = 0, int_north = 0; |
382 | int_east = 0, int_north = 0; |
383 | gps_reg_x = 0, gps_reg_y = 0; |
383 | gps_reg_x = 0, gps_reg_y = 0; |
384 | delta_east = 0, delta_north = 0; |
384 | delta_east = 0, delta_north = 0; |
385 | speed_east = 0; speed_north= 0; |
385 | speed_east = 0; speed_north= 0; |
386 | // int_ovfl_cnt = 0; |
386 | // int_ovfl_cnt = 0; |
387 | gps_quiet_cnt = 0; |
387 | gps_quiet_cnt = 0; |
388 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
388 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
389 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
389 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
390 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
390 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
391 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
391 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
392 | return (GPS_STST_OK); |
392 | return (GPS_STST_OK); |
393 | } |
393 | } |
394 | else |
394 | else |
395 | { |
395 | { |
396 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
396 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
397 | gps_state = GPS_CRTL_IDLE; |
397 | gps_state = GPS_CRTL_IDLE; |
398 | return(GPS_STST_ERR); // Keine Daten da |
398 | return(GPS_STST_ERR); // Keine Daten da |
399 | } |
399 | } |
400 | } |
400 | } |
401 | else return(GPS_STST_PEND); // noch warten |
401 | else return(GPS_STST_PEND); // noch warten |
402 | } |
402 | } |
403 | break; |
403 | break; |
404 | 404 | ||
405 | case GPS_CMD_STOP: // Lageregelung beenden |
405 | case GPS_CMD_STOP: // Lageregelung beenden |
406 | cnt = 0; |
406 | cnt = 0; |
407 | GPS_Nick = 0; |
407 | GPS_Nick = 0; |
408 | GPS_Roll = 0; |
408 | GPS_Roll = 0; |
409 | gps_sub_state = GPS_CRTL_IDLE; |
409 | gps_sub_state = GPS_CRTL_IDLE; |
410 | gps_state = GPS_CRTL_IDLE; |
410 | gps_state = GPS_CRTL_IDLE; |
411 | return (GPS_STST_OK); |
411 | return (GPS_STST_OK); |
412 | break; |
412 | break; |
413 | 413 | ||
414 | default: |
414 | default: |
415 | return (GPS_STST_ERR); |
415 | return (GPS_STST_ERR); |
416 | break; |
416 | break; |
417 | } |
417 | } |
418 | 418 | ||
419 | switch (gps_state) |
419 | switch (gps_state) |
420 | { |
420 | { |
421 | case GPS_CRTL_IDLE: |
421 | case GPS_CRTL_IDLE: |
422 | cnt = 0; |
422 | cnt = 0; |
423 | return (GPS_STST_OK); |
423 | return (GPS_STST_OK); |
424 | break; |
424 | break; |
425 | 425 | ||
426 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
426 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
427 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
427 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
428 | if (gps_rel_start_position.status >0) |
428 | if (gps_rel_start_position.status >0) |
429 | { |
429 | { |
430 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
430 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
431 | { |
431 | { |
432 | gps_tick++; |
432 | gps_tick++; |
433 | int d1,d2,d3; |
433 | int d1,d2,d3; |
434 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
434 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
435 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
435 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
436 | d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel |
436 | d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel |
437 | 437 | ||
438 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
438 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
439 | { |
439 | { |
440 | if ((d1 < (GPS_G2T_FAST_TOL/2)) && (d2 < (GPS_G2T_FAST_TOL/2))) //voll Stoff weiter wenn Lage gut innerhalb der Toleranz |
440 | if ((d1 < (GPS_G2T_FAST_TOL/2)) && (d2 < (GPS_G2T_FAST_TOL/2))) //voll Stoff weiter wenn Lage gut innerhalb der Toleranz |
441 | { |
441 | { |
442 | if (gps_g2t_act_v < GPS_G2T_V_MAX-3) gps_g2t_act_v += 4; //Geschwindigkeit erhoehen |
442 | if (gps_g2t_act_v < GPS_G2T_V_MAX-3) gps_g2t_act_v += 4; //Geschwindigkeit erhoehen |
443 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
443 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
444 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
444 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
445 | } |
445 | } |
446 | else if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
446 | else if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
447 | { |
447 | { |
448 | if (gps_g2t_act_v > (GPS_G2T_V_MAX/2)) gps_g2t_act_v -= 1; //Geschwindigkeit auf Haelfte runter oder rauffahren |
448 | if (gps_g2t_act_v > (GPS_G2T_V_MAX/2)) gps_g2t_act_v -= 1; //Geschwindigkeit auf Haelfte runter oder rauffahren |
449 | else if (gps_g2t_act_v < (GPS_G2T_V_MAX/2)) gps_g2t_act_v += 1; |
449 | else if (gps_g2t_act_v < (GPS_G2T_V_MAX/2)) gps_g2t_act_v += 1; |
450 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
450 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
451 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
451 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
452 | } |
452 | } |
453 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
453 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
454 | { |
454 | { |
455 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
455 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
456 | // dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
456 | // dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
457 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
457 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
458 | } |
458 | } |
459 | hold_reset_int = 0; // Integrator einsschalten |
459 | hold_reset_int = 0; // Integrator einsschalten |
460 | hold_fast = 1; // Regler fuer schnellen Flug |
460 | hold_fast = 1; // Regler fuer schnellen Flug |
461 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
461 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
462 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
462 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
463 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
463 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
464 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
464 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
465 | } |
465 | } |
466 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
466 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
467 | { |
467 | { |
468 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
468 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
469 | { |
469 | { |
470 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
470 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
471 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
471 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
472 | } |
472 | } |
473 | else |
473 | else |
474 | { |
474 | { |
475 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
475 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
476 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
476 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
477 | } |
477 | } |
478 | hold_reset_int = 0; // Integrator einsschalten |
478 | hold_reset_int = 0; // Integrator einsschalten |
479 | hold_fast = 1; // Regler fuer schnellen Flug |
479 | hold_fast = 1; // Regler fuer schnellen Flug |
480 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
480 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
481 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
481 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
482 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
482 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
483 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
483 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
484 | } |
484 | } |
485 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
485 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
486 | { |
486 | { |
487 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
487 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
488 | { |
488 | { |
489 | gps_sub_state = GPS_HOME_IN_TOL; |
489 | gps_sub_state = GPS_HOME_IN_TOL; |
490 | hold_fast = 0; // Wieder normal regeln |
490 | hold_fast = 0; // Wieder normal regeln |
491 | hold_reset_int = 0; // Integrator einsschalten |
491 | hold_reset_int = 0; // Integrator einsschalten |
492 | 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_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
493 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
493 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
494 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
494 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
495 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
495 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
496 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
496 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
497 | { |
497 | { |
498 | gps_rel_hold_position.utm_east = 0; |
498 | gps_rel_hold_position.utm_east = 0; |
499 | gps_rel_hold_position.utm_north = 0; |
499 | gps_rel_hold_position.utm_north = 0; |
500 | gps_sub_state = GPS_HOME_FINISHED; |
500 | gps_sub_state = GPS_HOME_FINISHED; |
501 | } |
501 | } |
502 | } |
502 | } |
503 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
503 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
504 | } |
504 | } |
505 | } |
505 | } |
506 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
506 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
507 | return (GPS_STST_OK); |
507 | return (GPS_STST_OK); |
508 | } |
508 | } |
509 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
509 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
510 | { |
510 | { |
511 | gps_state = GPS_CRTL_IDLE; |
511 | gps_state = GPS_CRTL_IDLE; |
512 | return (GPS_STST_ERR); |
512 | return (GPS_STST_ERR); |
513 | } |
513 | } |
514 | break; |
514 | break; |
515 | 515 | ||
516 | 516 | ||
517 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
517 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
518 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
518 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
519 | { |
519 | { |
520 | gps_quiet_cnt++; |
520 | gps_quiet_cnt++; |
521 | // ab hier wird geregelt |
521 | // ab hier wird geregelt |
522 | delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east); |
522 | delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east); |
523 | delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north); |
523 | delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north); |
524 | int_east += (int)delta_east; |
524 | int_east += (int)delta_east; |
525 | int_north += (int)delta_north; |
525 | int_north += (int)delta_north; |
526 | speed_east = actual_speed.speed_e; |
526 | speed_east = actual_speed.speed_e; |
527 | speed_north = actual_speed.speed_n; |
527 | speed_north = actual_speed.speed_n; |
528 | gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden |
528 | gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden |
529 | dist_east = (int)delta_east; //merken |
529 | dist_east = (int)delta_east; //merken |
530 | dist_north = (int)delta_north; |
530 | dist_north = (int)delta_north; |
531 | 531 | ||
532 | 532 | ||
533 | // #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
533 | // #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
534 | long int gpsintmax; |
534 | long int gpsintmax; |
535 | if (Parameter_NaviGpsI > 0) |
535 | if (Parameter_NaviGpsI > 0) |
536 | { |
536 | { |
537 | gpsintmax = (GPS_NICKROLL_MAX * gps_gain * GPS_USR_PAR_FKT * ((32*3)/10))/(long)Parameter_NaviGpsI; //auf ungefeahren Maximalwert begrenzen |
537 | gpsintmax = (GPS_NICKROLL_MAX * gps_gain * GPS_USR_PAR_FKT * ((32*3)/10))/(long)Parameter_NaviGpsI; //auf ungefeahren Maximalwert begrenzen |
538 | if ((abs(int_east) > (int)gpsintmax) || (abs(int_north)> (int)gpsintmax)) |
538 | if ((abs(int_east) > (int)gpsintmax) || (abs(int_north)> (int)gpsintmax)) |
539 | { |
539 | { |
540 | // // = 1; // Zahl der Overflows zaehlen |
540 | // // = 1; // Zahl der Overflows zaehlen |
541 | // int_ovfl_cnt -= 1; |
541 | // int_ovfl_cnt -= 1; |
542 | int_east = (int_east * 6)/8; // Wert reduzieren |
542 | int_east = (int_east * 6)/8; // Wert reduzieren |
543 | int_north = (int_north* 6)/8; |
543 | int_north = (int_north* 6)/8; |
544 | } |
544 | } |
545 | 545 | ||
546 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
546 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
547 | { |
547 | { |
548 | int_east = 0; |
548 | int_east = 0; |
549 | int_north = 0; |
549 | int_north = 0; |
550 | } |
550 | } |
551 | } |
551 | } |
552 | else // Integrator deaktiviert |
552 | else // Integrator deaktiviert |
553 | { |
553 | { |
554 | int_east = 0; |
554 | int_east = 0; |
555 | int_north = 0; |
555 | int_north = 0; |
556 | } |
556 | } |
557 | 557 | ||
558 | debug_gp_4 = (int)int_east; // zum Debuggen |
558 | debug_gp_4 = (int)int_east; // zum Debuggen |
559 | debug_gp_5 = (int)int_north; // zum Debuggen |
559 | debug_gp_5 = (int)int_north; // zum Debuggen |
560 | 560 | ||
561 | //I Werte begrenzen |
561 | //I Werte begrenzen |
562 | #define INT1_MAX (GPS_NICKROLL_MAX * gps_gain*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen |
562 | #define INT1_MAX (GPS_NICKROLL_MAX * gps_gain*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen |
563 | int_east1 = ((((long)int_east) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
563 | int_east1 = ((((long)int_east) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
564 | int_north1 = ((((long)int_north) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
564 | int_north1 = ((((long)int_north) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
565 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
565 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
566 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
566 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
567 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
567 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
568 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
568 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
569 | 569 | ||
570 | if (hold_fast > 0) //schneller Coming Home Modus |
570 | if (hold_fast > 0) //schneller Coming Home Modus |
571 | { |
571 | { |
572 | amplfy_speed_east = DIFF_Y_F_MAX; |
572 | amplfy_speed_east = DIFF_Y_F_MAX; |
573 | amplfy_speed_north = DIFF_Y_F_MAX; |
573 | amplfy_speed_north = DIFF_Y_F_MAX; |
574 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
574 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
575 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
575 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
576 | speed_east = (speed_east * (long)amplfy_speed_east) /50; |
576 | speed_east = (speed_east * (long)amplfy_speed_east) /50; |
577 | speed_north = (speed_north * (long)amplfy_speed_north)/50; |
577 | speed_north = (speed_north * (long)amplfy_speed_north)/50; |
578 | // D Werte begrenzen |
578 | // D Werte begrenzen |
579 | #define D_F_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
579 | #define D_F_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
580 | if (speed_east > D_F_MAX) speed_east = D_F_MAX; |
580 | if (speed_east > D_F_MAX) speed_east = D_F_MAX; |
581 | else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX; |
581 | else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX; |
582 | if (speed_north > D_F_MAX) speed_north = D_F_MAX; |
582 | if (speed_north > D_F_MAX) speed_north = D_F_MAX; |
583 | else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX; |
583 | else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX; |
584 | 584 | ||
585 | diff_p = (Parameter_NaviGpsP * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
585 | diff_p = (Parameter_NaviGpsP * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
586 | } |
586 | } |
587 | else //langsamer Holdmodus |
587 | else //langsamer Holdmodus |
588 | { |
588 | { |
589 | amplfy_speed_east = DIFF_Y_N_MAX; |
589 | amplfy_speed_east = DIFF_Y_N_MAX; |
590 | amplfy_speed_north = DIFF_Y_N_MAX; |
590 | amplfy_speed_north = DIFF_Y_N_MAX; |
591 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
591 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
592 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
592 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
593 | speed_east = (speed_east * (long)amplfy_speed_east) /25; |
593 | speed_east = (speed_east * (long)amplfy_speed_east) /25; |
594 | speed_north = (speed_north * (long)amplfy_speed_north)/25; |
594 | speed_north = (speed_north * (long)amplfy_speed_north)/25; |
595 | // D Werte begrenzen |
595 | // D Werte begrenzen |
596 | #define D_N_MAX (GPS_NICKROLL_MAX * gps_gain*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
596 | #define D_N_MAX (GPS_NICKROLL_MAX * gps_gain*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
597 | if (speed_east > D_N_MAX) speed_east = D_N_MAX; |
597 | if (speed_east > D_N_MAX) speed_east = D_N_MAX; |
598 | else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX; |
598 | else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX; |
599 | if (speed_north > D_N_MAX) speed_north = D_N_MAX; |
599 | if (speed_north > D_N_MAX) speed_north = D_N_MAX; |
600 | else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX; |
600 | else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX; |
601 | 601 | ||
602 | diff_p = (Parameter_NaviGpsP * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
602 | diff_p = (Parameter_NaviGpsP * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
603 | } |
603 | } |
604 | 604 | ||
605 | // debug_gp_4 = (int)speed_east; // zum Debuggen |
605 | // debug_gp_4 = (int)speed_east; // zum Debuggen |
606 | // debug_gp_5 = (int)speed_north; // zum Debuggen |
606 | // debug_gp_5 = (int)speed_north; // zum Debuggen |
607 | 607 | ||
608 | //P-Werte verstaerken |
608 | //P-Werte verstaerken |
609 | delta_east = (delta_east * (long)diff_p)/(40); |
609 | delta_east = (delta_east * (long)diff_p)/(40); |
610 | delta_north = (delta_north * (long)diff_p)/(40); |
610 | delta_north = (delta_north * (long)diff_p)/(40); |
611 | 611 | ||
612 | if (hold_fast > 0) //schneller Coming Home Modus |
612 | if (hold_fast > 0) //schneller Coming Home Modus |
613 | { |
613 | { |
614 | // P Werte begrenzen |
614 | // P Werte begrenzen |
615 | #define P1_F_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
615 | #define P1_F_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
616 | if (delta_east > P1_F_MAX) delta_east = P1_F_MAX; |
616 | if (delta_east > P1_F_MAX) delta_east = P1_F_MAX; |
617 | else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX; |
617 | else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX; |
618 | if (delta_north > P1_F_MAX) delta_north = P1_F_MAX; |
618 | if (delta_north > P1_F_MAX) delta_north = P1_F_MAX; |
619 | else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX; |
619 | else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX; |
620 | } |
620 | } |
621 | else // Hold modus |
621 | else // Hold modus |
622 | { |
622 | { |
623 | // P Werte begrenzen |
623 | // P Werte begrenzen |
624 | #define P1_N_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
624 | #define P1_N_MAX (GPS_NICKROLL_MAX * gps_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
625 | if (delta_east > P1_N_MAX) delta_east = P1_N_MAX; |
625 | if (delta_east > P1_N_MAX) delta_east = P1_N_MAX; |
626 | else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX; |
626 | else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX; |
627 | if (delta_north > P1_N_MAX) delta_north = P1_N_MAX; |
627 | if (delta_north > P1_N_MAX) delta_north = P1_N_MAX; |
628 | else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX; |
628 | else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX; |
629 | } |
629 | } |
630 | 630 | ||
631 | debug_gp_2 = (int)delta_east; // zum Debuggen |
631 | debug_gp_2 = (int)delta_east; // zum Debuggen |
632 | debug_gp_3 = (int)delta_north; // zum Debuggen |
632 | debug_gp_3 = (int)delta_north; // zum Debuggen |
633 | 633 | ||
634 | 634 | ||
635 | //PID Regler Werte aufsummieren |
635 | //PID Regler Werte aufsummieren |
636 | gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse |
636 | gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse |
637 | gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse |
637 | gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse |
638 | debug_gp_0 = (int)gps_reg_x; // zum Debuggen |
638 | debug_gp_0 = (int)gps_reg_x; // zum Debuggen |
639 | debug_gp_1 = (int)gps_reg_y; // zum Debuggen |
639 | debug_gp_1 = (int)gps_reg_y; // zum Debuggen |
640 | 640 | ||
641 | // Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen |
641 | // Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen |
642 | n = GyroKomp_Int/GIER_GRAD_FAKTOR; //Ausrichtung Kopter |
642 | n = GyroKomp_Int/GIER_GRAD_FAKTOR; //Ausrichtung Kopter |
643 | ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000*gps_gain); |
643 | ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000*gps_gain); |
644 | ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000*gps_gain); |
644 | ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000*gps_gain); |
645 | 645 | ||
646 | if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX); |
646 | if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX); |
647 | else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX ); |
647 | else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX ); |
648 | if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX ); |
648 | if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX ); |
649 | else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX ); |
649 | else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX ); |
650 | 650 | ||
651 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
651 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
652 | { |
652 | { |
653 | GPS_Roll = 0; |
653 | GPS_Roll = 0; |
654 | GPS_Nick = 0; |
654 | GPS_Nick = 0; |
655 | gps_state = GPS_CRTL_IDLE; |
655 | gps_state = GPS_CRTL_IDLE; |
656 | return (GPS_STST_ERR); |
656 | return (GPS_STST_ERR); |
657 | break; |
657 | break; |
658 | } |
658 | } |
659 | else if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen |
659 | else if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen |
660 | { |
660 | { |
661 | gps_quiet_cnt++; |
661 | gps_quiet_cnt++; |
662 | GPS_Roll = 0; |
662 | GPS_Roll = 0; |
663 | GPS_Nick = 0; |
663 | GPS_Nick = 0; |
664 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
664 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
665 | return (GPS_STST_OK); |
665 | return (GPS_STST_OK); |
666 | } |
666 | } |
667 | else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4)) |
667 | else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4)) |
668 | { |
668 | { |
669 | gps_quiet_cnt = 0; |
669 | gps_quiet_cnt = 0; |
670 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
670 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
671 | return (GPS_STST_OK); |
671 | return (GPS_STST_OK); |
672 | } |
672 | } |
673 | else |
673 | else |
674 | { |
674 | { |
675 | GPS_Roll = (int)ro; |
675 | GPS_Roll = (int)ro; |
676 | GPS_Nick = (int)ni; |
676 | GPS_Nick = (int)ni; |
677 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
677 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
678 | return (GPS_STST_OK); |
678 | return (GPS_STST_OK); |
679 | } |
679 | } |
680 | } |
680 | } |
681 | else |
681 | else |
682 | { |
682 | { |
683 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
683 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
684 | return (GPS_STST_OK); |
684 | return (GPS_STST_OK); |
685 | } |
685 | } |
686 | break; |
686 | break; |
687 | 687 | ||
688 | default: |
688 | default: |
689 | gps_state = GPS_CRTL_IDLE; |
689 | gps_state = GPS_CRTL_IDLE; |
690 | return (GPS_STST_ERR); |
690 | return (GPS_STST_ERR); |
691 | break; |
691 | break; |
692 | } |
692 | } |
693 | return (GPS_STST_ERR); |
693 | return (GPS_STST_ERR); |
694 | 694 | ||
695 | } |
695 | } |
696 | 696 | ||
697 | 697 |