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| 1 | /* |
1 | /* |
| 2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
| 3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
| 4 | either version 3 of the License, or (at your option) any later version. |
4 | either version 3 of the License, or (at your option) any later version. |
| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
| 8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 9 | 9 | ||
| 10 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
10 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| 11 | */ |
11 | */ |
| 12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 13 | Peter Muehlenbrock |
13 | Peter Muehlenbrock |
| 14 | Auswertung der Daten vom GPS im ublox Format |
14 | Auswertung der Daten vom GPS im ublox Format |
| 15 | Hold Modus mit PID Regler |
15 | Hold Modus mit PID Regler |
| 16 | Stand 29.9.2007 |
16 | Stand 2.10.2007 |
| 17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 18 | */ |
18 | */ |
| 19 | #include "main.h" |
19 | #include "main.h" |
| 20 | //#include "gps.h" |
20 | //#include "gps.h" |
| 21 | 21 | ||
| 22 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
22 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
| 23 | #define UBLOX_IDLE 0 |
23 | #define UBLOX_IDLE 0 |
| 24 | #define UBLOX_SYNC1 1 |
24 | #define UBLOX_SYNC1 1 |
| 25 | #define UBLOX_SYNC2 2 |
25 | #define UBLOX_SYNC2 2 |
| 26 | #define UBLOX_CLASS 3 |
26 | #define UBLOX_CLASS 3 |
| 27 | #define UBLOX_ID 4 |
27 | #define UBLOX_ID 4 |
| 28 | #define UBLOX_LEN1 5 |
28 | #define UBLOX_LEN1 5 |
| 29 | #define UBLOX_LEN2 6 |
29 | #define UBLOX_LEN2 6 |
| 30 | #define UBLOX_CKA 7 |
30 | #define UBLOX_CKA 7 |
| 31 | #define UBLOX_CKB 8 |
31 | #define UBLOX_CKB 8 |
| 32 | #define UBLOX_PAYLOAD 9 |
32 | #define UBLOX_PAYLOAD 9 |
| 33 | 33 | ||
| 34 | // ublox Protokoll Identifier |
34 | // ublox Protokoll Identifier |
| 35 | #define UBLOX_NAV_POSUTM 0x08 |
35 | #define UBLOX_NAV_POSUTM 0x08 |
| 36 | #define UBLOX_NAV_STATUS 0x03 |
36 | #define UBLOX_NAV_STATUS 0x03 |
| 37 | #define UBLOX_NAV_VELED 0x12 |
37 | #define UBLOX_NAV_VELED 0x12 |
| 38 | #define UBLOX_NAV_CLASS 0x01 |
38 | #define UBLOX_NAV_CLASS 0x01 |
| 39 | #define UBLOX_SYNCH1_CHAR 0xB5 |
39 | #define UBLOX_SYNCH1_CHAR 0xB5 |
| 40 | #define UBLOX_SYNCH2_CHAR 0x62 |
40 | #define UBLOX_SYNCH2_CHAR 0x62 |
| 41 | 41 | ||
| 42 | signed int GPS_Nick = 0; |
42 | signed int GPS_Nick = 0; |
| 43 | signed int GPS_Roll = 0; |
43 | signed int GPS_Roll = 0; |
| 44 | short int ublox_msg_state = UBLOX_IDLE; |
44 | short int ublox_msg_state = UBLOX_IDLE; |
| 45 | static uint8_t chk_a =0; //Checksum |
45 | static uint8_t chk_a =0; //Checksum |
| 46 | static uint8_t chk_b =0; |
46 | static uint8_t chk_b =0; |
| 47 | short int gps_state; |
47 | short int gps_state; |
| 48 | short int gps_updte_flag; |
48 | short int gps_updte_flag; |
| 49 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
49 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
| 50 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
50 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
| 51 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
51 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
| 52 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
52 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
| 53 | signed int ; |
53 | signed int ; |
| 54 | static unsigned int rx_len; |
54 | static unsigned int rx_len; |
| 55 | unsigned int cnt0,cnt1,cnt2; //******Provisorisch |
55 | unsigned int cnt0,cnt1,cnt2; //******Provisorisch |
| 56 | static unsigned int ptr_payload_data_end; |
56 | static unsigned int ptr_payload_data_end; |
| 57 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
57 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
| 58 | 58 | ||
| 59 | static uint8_t *ptr_payload_data; |
59 | static uint8_t *ptr_payload_data; |
| 60 | static uint8_t *ptr_pac_status; |
60 | static uint8_t *ptr_pac_status; |
| 61 | 61 | ||
| 62 | short int Get_GPS_data(void); |
62 | short int Get_GPS_data(void); |
| 63 | 63 | ||
| 64 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
64 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
| 65 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
65 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
| 66 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
66 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
| 67 | 67 | ||
| 68 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
68 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
| 69 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
69 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
| 70 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
70 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
| 71 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
71 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
| 72 | 72 | ||
| 73 | // Initialisierung |
73 | // Initialisierung |
| 74 | void GPS_Neutral(void) |
74 | void GPS_Neutral(void) |
| 75 | { |
75 | { |
| 76 | ublox_msg_state = UBLOX_IDLE; |
76 | ublox_msg_state = UBLOX_IDLE; |
| 77 | gps_state = GPS_CRTL_IDLE; |
77 | gps_state = GPS_CRTL_IDLE; |
| 78 | actual_pos.status = 0; |
78 | actual_pos.status = 0; |
| 79 | actual_speed.status = 0; |
79 | actual_speed.status = 0; |
| 80 | actual_status.status = 0; |
80 | actual_status.status = 0; |
| 81 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
81 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
| 82 | gps_act_position.status = 0; |
82 | gps_act_position.status = 0; |
| 83 | gps_rel_act_position.status = 0; |
83 | gps_rel_act_position.status = 0; |
| 84 | GPS_Nick = 0; |
84 | GPS_Nick = 0; |
| 85 | GPS_Roll = 0; |
85 | GPS_Roll = 0; |
| 86 | gps_updte_flag = 0; |
86 | gps_updte_flag = 0; |
| 87 | gps_int_x = 0; |
87 | gps_int_x = 0; |
| 88 | gps_int_y = 0; |
88 | gps_int_y = 0; |
| 89 | gps_alive_cnt = 0; |
89 | gps_alive_cnt = 0; |
| 90 | 90 | ||
| 91 | } |
91 | } |
| 92 | 92 | ||
| 93 | // Home Position sichern falls Daten verfuegbar sind. |
93 | // Home Position sichern falls Daten verfuegbar sind. |
| 94 | void GPS_Save_Home(void) |
94 | void GPS_Save_Home(void) |
| 95 | { |
95 | { |
| 96 | short int n; |
96 | short int n; |
| 97 | n = Get_GPS_data(); |
97 | n = Get_GPS_data(); |
| 98 | if (n == 0) // Gueltige und aktuelle Daten ? |
98 | if (n == 0) // Gueltige und aktuelle Daten ? |
| 99 | { |
99 | { |
| 100 | // Neue GPS Daten liegen vor |
100 | // Neue GPS Daten liegen vor |
| 101 | gps_home_position.utm_east = gps_act_position.utm_east; |
101 | gps_home_position.utm_east = gps_act_position.utm_east; |
| 102 | gps_home_position.utm_north = gps_act_position.utm_north; |
102 | gps_home_position.utm_north = gps_act_position.utm_north; |
| 103 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
103 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
| 104 | gps_home_position.status = 1; // Home Position gueltig |
104 | gps_home_position.status = 1; // Home Position gueltig |
| 105 | } |
105 | } |
| 106 | } |
106 | } |
| 107 | 107 | ||
| 108 | // Relative Position zur Home Position bestimmen |
108 | // Relative Position zur Home Position bestimmen |
| 109 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
109 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| 110 | short int Get_Rel_Position(void) |
110 | short int Get_Rel_Position(void) |
| 111 | { |
111 | { |
| 112 | short int n = 0; |
112 | short int n = 0; |
| 113 | n = Get_GPS_data(); |
113 | n = Get_GPS_data(); |
| 114 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
114 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
| 115 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in MotorreglerRoutine ueberwacht und dekrementiert |
115 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in MotorreglerRoutine ueberwacht und dekrementiert |
| 116 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
116 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
| 117 | { |
117 | { |
| 118 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
118 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
| 119 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
119 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
| 120 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
120 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
| 121 | n = 0; |
121 | n = 0; |
| 122 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
122 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
| 123 | } |
123 | } |
| 124 | else |
124 | else |
| 125 | { |
125 | { |
| 126 | n = 2; //keine gueltigen Daten vorhanden |
126 | n = 2; //keine gueltigen Daten vorhanden |
| 127 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
127 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
| 128 | } |
128 | } |
| 129 | return (n); |
129 | return (n); |
| 130 | } |
130 | } |
| 131 | 131 | ||
| 132 | // Daten aus aktuellen ublox Messages extrahieren |
132 | // Daten aus aktuellen ublox Messages extrahieren |
| 133 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
133 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| 134 | short int Get_GPS_data(void) |
134 | short int Get_GPS_data(void) |
| 135 | { |
135 | { |
| 136 | short int n = 1; |
136 | short int n = 1; |
| 137 | 137 | ||
| 138 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
138 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
| 139 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
139 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
| 140 | { |
140 | { |
| 141 | cnt1++; //**** noch Rausschmeissen |
141 | cnt1++; //**** noch Rausschmeissen |
| 142 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
142 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
| 143 | { |
143 | { |
| 144 | gps_act_position.utm_east = actual_pos.utm_east/10; |
144 | gps_act_position.utm_east = actual_pos.utm_east/10; |
| 145 | gps_act_position.utm_north = actual_pos.utm_north/10; |
145 | gps_act_position.utm_north = actual_pos.utm_north/10; |
| 146 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
146 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
| 147 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
147 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| 148 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
148 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| 149 | gps_act_position.heading = actual_speed.heading/100000; |
149 | gps_act_position.heading = actual_speed.heading/100000; |
| 150 | gps_act_position.status = 1; |
150 | gps_act_position.status = 1; |
| 151 | n = 0; //Daten gueltig |
151 | n = 0; //Daten gueltig |
| 152 | } |
152 | } |
| 153 | else |
153 | else |
| 154 | { |
154 | { |
| 155 | gps_act_position.status = 0; //Keine gueltigen Daten |
155 | gps_act_position.status = 0; //Keine gueltigen Daten |
| 156 | n = 2; |
156 | n = 2; |
| 157 | } |
157 | } |
| 158 | actual_pos.status = 0; //neue ublox Messages anfordern |
158 | actual_pos.status = 0; //neue ublox Messages anfordern |
| 159 | actual_status.status = 0; |
159 | actual_status.status = 0; |
| 160 | actual_speed.status = 0; |
160 | actual_speed.status = 0; |
| 161 | } |
161 | } |
| 162 | return (n); |
162 | return (n); |
| 163 | } |
163 | } |
| 164 | 164 | ||
| 165 | 165 | ||
| 166 | /* |
166 | /* |
| 167 | Daten vom GPS im ublox MSG Format auswerten |
167 | Daten vom GPS im ublox MSG Format auswerten |
| 168 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
168 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
| 169 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
169 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
| 170 | */ |
170 | */ |
| 171 | void Get_Ublox_Msg(uint8_t rx) |
171 | void Get_Ublox_Msg(uint8_t rx) |
| 172 | { |
172 | { |
| 173 | 173 | ||
| 174 | switch (ublox_msg_state) |
174 | switch (ublox_msg_state) |
| 175 | { |
175 | { |
| 176 | 176 | ||
| 177 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
177 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
| 178 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
178 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
| 179 | else ublox_msg_state = UBLOX_IDLE; |
179 | else ublox_msg_state = UBLOX_IDLE; |
| 180 | break; |
180 | break; |
| 181 | 181 | ||
| 182 | case UBLOX_SYNC1: |
182 | case UBLOX_SYNC1: |
| 183 | 183 | ||
| 184 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
184 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
| 185 | else ublox_msg_state = UBLOX_IDLE; |
185 | else ublox_msg_state = UBLOX_IDLE; |
| 186 | chk_a = 0,chk_b = 0; |
186 | chk_a = 0,chk_b = 0; |
| 187 | break; |
187 | break; |
| 188 | 188 | ||
| 189 | case UBLOX_SYNC2: |
189 | case UBLOX_SYNC2: |
| 190 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
190 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
| 191 | else ublox_msg_state = UBLOX_IDLE; |
191 | else ublox_msg_state = UBLOX_IDLE; |
| 192 | break; |
192 | break; |
| 193 | 193 | ||
| 194 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
194 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
| 195 | switch (rx) |
195 | switch (rx) |
| 196 | { |
196 | { |
| 197 | case UBLOX_NAV_POSUTM: |
197 | case UBLOX_NAV_POSUTM: |
| 198 | ptr_pac_status = &actual_pos.status; |
198 | ptr_pac_status = &actual_pos.status; |
| 199 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
199 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
| 200 | else |
200 | else |
| 201 | { |
201 | { |
| 202 | ptr_payload_data = &actual_pos; |
202 | ptr_payload_data = &actual_pos; |
| 203 | ptr_payload_data_end = &actual_pos.status; |
203 | ptr_payload_data_end = &actual_pos.status; |
| 204 | ublox_msg_state = UBLOX_LEN1; |
204 | ublox_msg_state = UBLOX_LEN1; |
| 205 | } |
205 | } |
| 206 | break; |
206 | break; |
| 207 | 207 | ||
| 208 | case UBLOX_NAV_STATUS: |
208 | case UBLOX_NAV_STATUS: |
| 209 | ptr_pac_status = &actual_status.status; |
209 | ptr_pac_status = &actual_status.status; |
| 210 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
210 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| 211 | else |
211 | else |
| 212 | { |
212 | { |
| 213 | ptr_payload_data = &actual_status; |
213 | ptr_payload_data = &actual_status; |
| 214 | ptr_payload_data_end = &actual_status.status; |
214 | ptr_payload_data_end = &actual_status.status; |
| 215 | ublox_msg_state = UBLOX_LEN1; |
215 | ublox_msg_state = UBLOX_LEN1; |
| 216 | } |
216 | } |
| 217 | break; |
217 | break; |
| 218 | 218 | ||
| 219 | case UBLOX_NAV_VELED: |
219 | case UBLOX_NAV_VELED: |
| 220 | ptr_pac_status = &actual_speed.status; |
220 | ptr_pac_status = &actual_speed.status; |
| 221 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
221 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| 222 | else |
222 | else |
| 223 | { |
223 | { |
| 224 | ptr_payload_data = &actual_speed; |
224 | ptr_payload_data = &actual_speed; |
| 225 | ptr_payload_data_end = &actual_speed.status; |
225 | ptr_payload_data_end = &actual_speed.status; |
| 226 | ublox_msg_state = UBLOX_LEN1; |
226 | ublox_msg_state = UBLOX_LEN1; |
| 227 | } |
227 | } |
| 228 | break; |
228 | break; |
| 229 | 229 | ||
| 230 | default: |
230 | default: |
| 231 | ublox_msg_state = UBLOX_IDLE; |
231 | ublox_msg_state = UBLOX_IDLE; |
| 232 | break; |
232 | break; |
| 233 | } |
233 | } |
| 234 | chk_a = UBLOX_NAV_CLASS + rx; |
234 | chk_a = UBLOX_NAV_CLASS + rx; |
| 235 | chk_b = UBLOX_NAV_CLASS + chk_a; |
235 | chk_b = UBLOX_NAV_CLASS + chk_a; |
| 236 | break; |
236 | break; |
| 237 | 237 | ||
| 238 | case UBLOX_LEN1: // Laenge auswerten |
238 | case UBLOX_LEN1: // Laenge auswerten |
| 239 | rx_len = rx; |
239 | rx_len = rx; |
| 240 | chk_a += rx; |
240 | chk_a += rx; |
| 241 | chk_b += chk_a; |
241 | chk_b += chk_a; |
| 242 | ublox_msg_state = UBLOX_LEN2; |
242 | ublox_msg_state = UBLOX_LEN2; |
| 243 | break; |
243 | break; |
| 244 | 244 | ||
| 245 | 245 | ||
| 246 | case UBLOX_LEN2: // Laenge auswerten |
246 | case UBLOX_LEN2: // Laenge auswerten |
| 247 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
247 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
| 248 | chk_a += rx; |
248 | chk_a += rx; |
| 249 | chk_b += chk_a; |
249 | chk_b += chk_a; |
| 250 | ublox_msg_state = UBLOX_PAYLOAD; |
250 | ublox_msg_state = UBLOX_PAYLOAD; |
| 251 | break; |
251 | break; |
| 252 | 252 | ||
| 253 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
253 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
| 254 | if (rx_len > 0) |
254 | if (rx_len > 0) |
| 255 | { |
255 | { |
| 256 | *ptr_payload_data = rx; |
256 | *ptr_payload_data = rx; |
| 257 | chk_a += rx; |
257 | chk_a += rx; |
| 258 | chk_b += chk_a; |
258 | chk_b += chk_a; |
| 259 | --rx_len; |
259 | --rx_len; |
| 260 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
260 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
| 261 | { |
261 | { |
| 262 | ptr_payload_data++; |
262 | ptr_payload_data++; |
| 263 | ublox_msg_state = UBLOX_PAYLOAD; |
263 | ublox_msg_state = UBLOX_PAYLOAD; |
| 264 | } |
264 | } |
| 265 | else ublox_msg_state = UBLOX_CKA; |
265 | else ublox_msg_state = UBLOX_CKA; |
| 266 | } |
266 | } |
| 267 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
267 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| 268 | break; |
268 | break; |
| 269 | 269 | ||
| 270 | case UBLOX_CKA: // Checksum pruefen |
270 | case UBLOX_CKA: // Checksum pruefen |
| 271 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
271 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
| 272 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
272 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| 273 | break; |
273 | break; |
| 274 | 274 | ||
| 275 | case UBLOX_CKB: // Checksum pruefen |
275 | case UBLOX_CKB: // Checksum pruefen |
| 276 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
276 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
| 277 | ublox_msg_state = UBLOX_IDLE; |
277 | ublox_msg_state = UBLOX_IDLE; |
| 278 | break; |
278 | break; |
| 279 | 279 | ||
| 280 | default: |
280 | default: |
| 281 | ublox_msg_state = UBLOX_IDLE; |
281 | ublox_msg_state = UBLOX_IDLE; |
| 282 | break; |
282 | break; |
| 283 | } |
283 | } |
| 284 | } |
284 | } |
| 285 | 285 | ||
| 286 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
286 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
| 287 | short int GPS_CRTL(short int cmd) |
287 | short int GPS_CRTL(short int cmd) |
| 288 | { |
288 | { |
| 289 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
289 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
| 290 | static signed int int_east,int_north; //Integrierer |
290 | static signed int int_east,int_north; //Integrierer |
| 291 | static signed int dist_north,dist_east; |
291 | static signed int dist_north,dist_east; |
| 292 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
292 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
| 293 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
293 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
| 294 | signed int n; |
294 | signed int n,diff_v; |
| 295 | long signed int dist,d,n_l; |
295 | long signed int dev,n_l; |
| 296 | switch (cmd) |
296 | switch (cmd) |
| 297 | { |
297 | { |
| 298 | 298 | ||
| 299 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
299 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
| 300 | // Noch einiges zu ueberlegen und zu tun |
300 | // Noch einiges zu ueberlegen und zu tun |
| 301 | return(GPS_STST_PEND); // noch warten |
301 | return(GPS_STST_PEND); // noch warten |
| 302 | break; |
302 | break; |
| 303 | // ****************************** |
303 | // ****************************** |
| 304 | 304 | ||
| 305 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
305 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
| 306 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
306 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
| 307 | { |
307 | { |
| 308 | cnt++; |
308 | cnt++; |
| 309 | if (cnt > 500) // erst nach Verzoegerung |
309 | if (cnt > 500) // erst nach Verzoegerung |
| 310 | { |
310 | { |
| 311 | cnt = 0; |
311 | cnt = 0; |
| 312 | // aktuelle positionsdaten abespeichern |
312 | // aktuelle positionsdaten abespeichern |
| 313 | if (gps_rel_act_position.status > 0) |
313 | if (gps_rel_act_position.status > 0) |
| 314 | { |
314 | { |
| 315 | int_east = 0; |
315 | int_east = 0; |
| 316 | int_north = 0; |
316 | int_north = 0; |
| 317 | gps_reg_x = 0; |
317 | gps_reg_x = 0; |
| 318 | gps_reg_y = 0; |
318 | gps_reg_y = 0; |
| 319 | dist_east = 0; |
319 | dist_east = 0; |
| 320 | dist_north = 0; |
320 | dist_north = 0; |
| 321 | diff_east_f = 0; |
321 | diff_east_f = 0; |
| 322 | diff_north_f = 0; |
322 | diff_north_f = 0; |
| 323 | diff_east = 0; |
323 | diff_east = 0; |
| 324 | diff_north = 0; |
324 | diff_north = 0; |
| 325 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
325 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| 326 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
326 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| 327 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
327 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| 328 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
328 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
| 329 | return (GPS_STST_OK); |
329 | return (GPS_STST_OK); |
| 330 | } |
330 | } |
| 331 | else |
331 | else |
| 332 | { |
332 | { |
| 333 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
333 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
| 334 | gps_state = GPS_CRTL_IDLE; |
334 | gps_state = GPS_CRTL_IDLE; |
| 335 | return(GPS_STST_ERR); // Keine Daten da |
335 | return(GPS_STST_ERR); // Keine Daten da |
| 336 | } |
336 | } |
| 337 | } |
337 | } |
| 338 | else return(GPS_STST_PEND); // noch warten |
338 | else return(GPS_STST_PEND); // noch warten |
| 339 | } |
339 | } |
| 340 | break; |
340 | break; |
| 341 | 341 | ||
| 342 | case GPS_CMD_STOP: // Lageregelung beenden |
342 | case GPS_CMD_STOP: // Lageregelung beenden |
| 343 | cnt = 0; |
343 | cnt = 0; |
| 344 | GPS_Nick = 0; |
344 | GPS_Nick = 0; |
| 345 | GPS_Roll = 0; |
345 | GPS_Roll = 0; |
| 346 | gps_int_x = 0; |
346 | gps_int_x = 0; |
| 347 | gps_int_y = 0; |
347 | gps_int_y = 0; |
| 348 | gps_state = GPS_CRTL_IDLE; |
348 | gps_state = GPS_CRTL_IDLE; |
| 349 | return (GPS_STST_OK); |
349 | return (GPS_STST_OK); |
| 350 | break; |
350 | break; |
| 351 | 351 | ||
| 352 | default: |
352 | default: |
| 353 | return (GPS_STST_ERR); |
353 | return (GPS_STST_ERR); |
| 354 | break; |
354 | break; |
| 355 | } |
355 | } |
| 356 | 356 | ||
| 357 | switch (gps_state) |
357 | switch (gps_state) |
| 358 | { |
358 | { |
| 359 | case GPS_CRTL_IDLE: |
359 | case GPS_CRTL_IDLE: |
| 360 | cnt = 0; |
360 | cnt = 0; |
| 361 | return (GPS_STST_OK); |
361 | return (GPS_STST_OK); |
| 362 | break; |
362 | break; |
| 363 | 363 | ||
| 364 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
364 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
| 365 | if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
365 | if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
| 366 | { |
366 | { |
| 367 | gps_updte_flag = 0; |
367 | gps_updte_flag = 0; |
| 368 | // ab hier wird geregelt |
368 | // ab hier wird geregelt |
| 369 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
369 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
| 370 | diff_north = -dist_north; |
370 | diff_north = -dist_north; |
| 371 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
371 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
| 372 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
372 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
| 373 | int_east += dist_east; |
373 | int_east += dist_east; |
| 374 | int_north += dist_north; |
374 | int_north += dist_north; |
| 375 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
375 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
| 376 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
376 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
| 377 | 377 | ||
| 378 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
378 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
| 379 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
379 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
| 380 | 380 | ||
| 381 | #define GPSINT_MAX 2048 //neuer Wert ab 1.10.2007 Begrenzung |
381 | #define GPSINT_MAX 2048 //neuer Wert ab 1.10.2007 Begrenzung |
| 382 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
382 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
| 383 | { |
383 | { |
| 384 | int_east -= dist_east; |
384 | int_east -= dist_east; |
| 385 | int_north -= dist_north; |
385 | int_north -= dist_north; |
| 386 | } |
386 | } |
| - | 387 | //Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
|
| 387 | // P-Anteil Kleine Werte verstaerken, grosse abschwaechen |
388 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. bei 0 ist die Verstaerkung 1 |
| 388 | #define GPS_DIST_P_MAX 200 //maximal 20m |
389 | #define GPS_DIFF_MAX_V 20 //maximale Verstaerkung * 10 |
| 389 | int dist_east_p,dist_north_p; |
390 | #define GPS_DIFF_MAX_D 40 //Entfernung bei der maximale Verstaerkung erreicht wird in (dm) |
| 390 | dist_east_p = dist_east; |
391 | signed long dist; |
| 391 | dist_north_p = dist_north; |
392 | int phi; |
| 392 | if (dist_east > GPS_DIST_P_MAX) dist_east_p = GPS_DIST_P_MAX; // P-Anteil begrenzen |
393 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
| 393 | else if (dist_east < - GPS_DIST_P_MAX) dist_east_p = -GPS_DIST_P_MAX; |
394 | if (abs(dist_east) > abs(dist_north) ) //Zunaechst Entfernung zum Ziel ermitteln |
| - | 395 | { |
|
| 394 | if (dist_north > GPS_DIST_P_MAX) dist_north_p = GPS_DIST_P_MAX; // P-Anteil begrenzen |
396 | dist = (long)dist_east; //Groesseren Wert wegen besserer Genauigkeit nehmen |
| 395 | else if (dist_north < - GPS_DIST_P_MAX) dist_north_p = -GPS_DIST_P_MAX; |
397 | dist = abs((dist *1000) / (long) sin_i(phi)); |
| - | 398 | } |
|
| - | 399 | else |
|
| 396 | 400 | { |
|
| 397 | n = sin_i((dist_east_p*90)/(GPS_DIST_P_MAX)); |
401 | dist = (long)dist_north; |
| 398 | d = (GPS_DIST_P_MAX * (long)n) /1000; |
402 | dist = abs((dist *1000) / (long) cos_i(phi)); |
| 399 | dist_east_p = (int) d; |
403 | } |
| 400 | n = sin_i((dist_north_p*90)/(GPS_DIST_P_MAX)); |
404 | diff_v = (int)((dist * (GPS_DIFF_MAX_V - 10)) / GPS_DIFF_MAX_D) +10; //Verstaerkung * 10 |
| 401 | d = (GPS_DIST_P_MAX * (long)n) /1000; |
405 | if (diff_v > GPS_DIFF_MAX_V) diff_v = GPS_DIFF_MAX_V; |
| 402 | dist_north_p = (int) d; |
- | |
| 403 | 406 | ||
| 404 | //PID Regler Werte aufsummieren |
407 | //PID Regler Werte aufsummieren |
| 405 | gps_reg_x = ((int_east * Parameter_UserParam2)/32) + ((dist_east_p * Parameter_UserParam1)/8)+ ((diff_east_f * Parameter_UserParam3)); // I + P +D Anteil X Achse |
408 | gps_reg_x = ((int_east * Parameter_UserParam2)/32) + ((dist_east * Parameter_UserParam1)/8)+ ((diff_east_f * diff_v * Parameter_UserParam3)/10); // I + P +D Anteil X Achse |
| 406 | gps_reg_y = ((int_north * Parameter_UserParam2)/32) + ((dist_north_p * Parameter_UserParam1)/8)+ ((diff_north_f * Parameter_UserParam3)); // I + P +D Anteil Y Achse |
409 | gps_reg_y = ((int_north * Parameter_UserParam2)/32) + ((dist_north * Parameter_UserParam1)/8)+ ((diff_north_f * diff_v * Parameter_UserParam3)/10); // I + P +D Anteil Y Achse |
| 407 | 410 | ||
| 408 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
411 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
| 409 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
412 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
| 410 | 413 | ||
| 411 | // in Winkel 0...360 Grad umrechnen |
414 | // in Winkel 0...360 Grad umrechnen |
| 412 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
415 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
| 413 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
416 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
| 414 | 417 | ||
| 415 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
418 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
| 416 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
419 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
| 417 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
420 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
| 418 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
421 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
| 419 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
422 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
| 420 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
423 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
| 421 | 424 | ||
| 422 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
425 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
| 423 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
426 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
| 424 | { |
427 | { |
| 425 | dist = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
428 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
| 426 | dist = abs((dist *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
429 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
| 427 | } |
430 | } |
| 428 | else |
431 | else |
| 429 | { |
432 | { |
| 430 | dist = (long)gps_reg_y; |
433 | dev = (long)gps_reg_y; |
| 431 | dist = abs((dist *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
434 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
| 432 | } |
435 | } |
| 433 | GPS_dist_2trgt = (int) dist; |
436 | GPS_dist_2trgt = (int) dev; |
| 434 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
437 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
| 435 | GPS_Roll = (int) +( (dist * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
438 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
| 436 | GPS_Nick = (int) -( (dist * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
439 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
| 437 | 440 | ||
| 438 | #define GPS_V 8 // auf Maximalwert normieren. Teilerfaktor ist 8 |
441 | #define GPS_V 8 // auf Maximalwert normieren. Teilerfaktor ist 8 |
| 439 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
442 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
| 440 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
443 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
| 441 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
444 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
| 442 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
445 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
| 443 | 446 | ||
| 444 | //Kleine Werte verstaerken, Grosse abschwaechen |
447 | //Kleine Werte verstaerken, Grosse abschwaechen |
| 445 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
448 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| 446 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
449 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| 447 | GPS_Roll = (int) n_l; |
450 | GPS_Roll = (int) n_l; |
| 448 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
451 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| 449 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
452 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| 450 | GPS_Nick = (int) n_l; |
453 | GPS_Nick = (int) n_l; |
| 451 | 454 | ||
| 452 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
455 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
| 453 | { |
456 | { |
| 454 | GPS_Roll = 0; |
457 | GPS_Roll = 0; |
| 455 | GPS_Nick = 0; |
458 | GPS_Nick = 0; |
| 456 | gps_state = GPS_CRTL_IDLE; |
459 | gps_state = GPS_CRTL_IDLE; |
| 457 | return (GPS_STST_ERR); |
460 | return (GPS_STST_ERR); |
| 458 | break; |
461 | break; |
| 459 | } |
462 | } |
| 460 | } |
463 | } |
| 461 | else return (GPS_STST_OK); |
464 | else return (GPS_STST_OK); |
| 462 | break; |
465 | break; |
| 463 | 466 | ||
| 464 | default: |
467 | default: |
| 465 | gps_state = GPS_CRTL_IDLE; |
468 | gps_state = GPS_CRTL_IDLE; |
| 466 | return (GPS_STST_ERR); |
469 | return (GPS_STST_ERR); |
| 467 | break; |
470 | break; |
| 468 | } |
471 | } |
| 469 | return (GPS_STST_ERR); |
472 | return (GPS_STST_ERR); |
| 470 | 473 | ||
| 471 | } |
474 | } |
| 472 | 475 | ||
| 473 | 476 | ||