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| 1 | /* |
1 | /* |
| 2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
| 3 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
3 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| 4 | either version 3 of the License, or (at your option) any later version. |
4 | either version 3 of the License, or (at your option) any later version. |
| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 7 | GNU General Public License and GNU Lesser General Public License for more details. |
7 | GNU General Public License and GNU Lesser General Public License for more details. |
| 8 | You should have received a copy of GNU General Public License ((License_GPL.txt) and |
8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
| 9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
| 10 | If not, see <http://www.gnu.org/licenses/>. |
10 | If not, see <http://www.gnu.org/licenses/>. |
| 11 | 11 | ||
| 12 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
12 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| 13 | */ |
13 | */ |
| 14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 15 | Peter Muehlenbrock |
15 | Peter Muehlenbrock |
| 16 | Auswertung der Daten vom GPS im ublox Format |
16 | Auswertung der Daten vom GPS im ublox Format |
| 17 | Hold Modus mit PID Regler |
17 | Hold Modus mit PID Regler |
| 18 | Rückstuerz zur Basis Funktion |
18 | Rückstuerz zur Basis Funktion |
| 19 | Stand 7.10.2007 |
19 | Stand 8.10.2007 |
| 20 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 21 | */ |
21 | */ |
| 22 | #include "main.h" |
22 | #include "main.h" |
| 23 | //#include "gps.h" |
23 | //#include "gps.h" |
| 24 | 24 | ||
| 25 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
25 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
| 26 | #define UBLOX_IDLE 0 |
26 | #define UBLOX_IDLE 0 |
| 27 | #define UBLOX_SYNC1 1 |
27 | #define UBLOX_SYNC1 1 |
| 28 | #define UBLOX_SYNC2 2 |
28 | #define UBLOX_SYNC2 2 |
| 29 | #define UBLOX_CLASS 3 |
29 | #define UBLOX_CLASS 3 |
| 30 | #define UBLOX_ID 4 |
30 | #define UBLOX_ID 4 |
| 31 | #define UBLOX_LEN1 5 |
31 | #define UBLOX_LEN1 5 |
| 32 | #define UBLOX_LEN2 6 |
32 | #define UBLOX_LEN2 6 |
| 33 | #define UBLOX_CKA 7 |
33 | #define UBLOX_CKA 7 |
| 34 | #define UBLOX_CKB 8 |
34 | #define UBLOX_CKB 8 |
| 35 | #define UBLOX_PAYLOAD 9 |
35 | #define UBLOX_PAYLOAD 9 |
| 36 | 36 | ||
| 37 | // ublox Protokoll Identifier |
37 | // ublox Protokoll Identifier |
| 38 | #define UBLOX_NAV_POSUTM 0x08 |
38 | #define UBLOX_NAV_POSUTM 0x08 |
| 39 | #define UBLOX_NAV_STATUS 0x03 |
39 | #define UBLOX_NAV_STATUS 0x03 |
| 40 | #define UBLOX_NAV_VELED 0x12 |
40 | #define UBLOX_NAV_VELED 0x12 |
| 41 | #define UBLOX_NAV_CLASS 0x01 |
41 | #define UBLOX_NAV_CLASS 0x01 |
| 42 | #define UBLOX_SYNCH1_CHAR 0xB5 |
42 | #define UBLOX_SYNCH1_CHAR 0xB5 |
| 43 | #define UBLOX_SYNCH2_CHAR 0x62 |
43 | #define UBLOX_SYNCH2_CHAR 0x62 |
| 44 | 44 | ||
| 45 | signed int GPS_Nick = 0; |
45 | signed int GPS_Nick = 0; |
| 46 | signed int GPS_Roll = 0; |
46 | signed int GPS_Roll = 0; |
| 47 | short int ublox_msg_state = UBLOX_IDLE; |
47 | short int ublox_msg_state = UBLOX_IDLE; |
| 48 | static uint8_t chk_a =0; //Checksum |
48 | static uint8_t chk_a =0; //Checksum |
| 49 | static uint8_t chk_b =0; |
49 | static uint8_t chk_b =0; |
| 50 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
50 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
| 51 | short int gps_updte_flag; |
51 | short int gps_updte_flag; |
| 52 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
52 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
| 53 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
53 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
| 54 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
54 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
| 55 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
55 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
| 56 | static unsigned int rx_len; |
56 | static unsigned int rx_len; |
| 57 | static unsigned int ptr_payload_data_end; |
57 | static unsigned int ptr_payload_data_end; |
| 58 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
58 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
| 59 | signed hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
59 | signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
| 60 | signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
60 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
| 61 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
61 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
| 62 | static uint8_t *ptr_payload_data; |
62 | static uint8_t *ptr_payload_data; |
| 63 | static uint8_t *ptr_pac_status; |
63 | static uint8_t *ptr_pac_status; |
| 64 | long int dist_flown; |
64 | long int dist_flown; |
| 65 | 65 | ||
| 66 | short int Get_GPS_data(void); |
66 | short int Get_GPS_data(void); |
| 67 | 67 | ||
| 68 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
68 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
| 69 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
69 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
| 70 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
70 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
| 71 | 71 | ||
| 72 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
72 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
| 73 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
73 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
| 74 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
74 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
| 75 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
75 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
| 76 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
76 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
| 77 | 77 | ||
| 78 | // Initialisierung |
78 | // Initialisierung |
| 79 | void GPS_Neutral(void) |
79 | void GPS_Neutral(void) |
| 80 | { |
80 | { |
| 81 | ublox_msg_state = UBLOX_IDLE; |
81 | ublox_msg_state = UBLOX_IDLE; |
| 82 | gps_state = GPS_CRTL_IDLE; |
82 | gps_state = GPS_CRTL_IDLE; |
| 83 | actual_pos.status = 0; |
83 | actual_pos.status = 0; |
| 84 | actual_speed.status = 0; |
84 | actual_speed.status = 0; |
| 85 | actual_status.status = 0; |
85 | actual_status.status = 0; |
| 86 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
86 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
| 87 | gps_act_position.status = 0; |
87 | gps_act_position.status = 0; |
| 88 | gps_rel_act_position.status = 0; |
88 | gps_rel_act_position.status = 0; |
| 89 | GPS_Nick = 0; |
89 | GPS_Nick = 0; |
| 90 | GPS_Roll = 0; |
90 | GPS_Roll = 0; |
| 91 | gps_updte_flag = 0; |
91 | gps_updte_flag = 0; |
| 92 | gps_int_x = 0; |
92 | gps_int_x = 0; |
| 93 | gps_int_y = 0; |
93 | gps_int_y = 0; |
| 94 | gps_alive_cnt = 0; |
94 | gps_alive_cnt = 0; |
| 95 | } |
95 | } |
| 96 | 96 | ||
| 97 | // Home Position sichern falls Daten verfuegbar sind. |
97 | // Home Position sichern falls Daten verfuegbar sind. |
| 98 | void GPS_Save_Home(void) |
98 | void GPS_Save_Home(void) |
| 99 | { |
99 | { |
| 100 | short int n; |
100 | short int n; |
| 101 | n = Get_GPS_data(); |
101 | n = Get_GPS_data(); |
| 102 | if (n == 0) // Gueltige und aktuelle Daten ? |
102 | if (n == 0) // Gueltige und aktuelle Daten ? |
| 103 | { |
103 | { |
| 104 | // Neue GPS Daten liegen vor |
104 | // Neue GPS Daten liegen vor |
| 105 | gps_home_position.utm_east = gps_act_position.utm_east; |
105 | gps_home_position.utm_east = gps_act_position.utm_east; |
| 106 | gps_home_position.utm_north = gps_act_position.utm_north; |
106 | gps_home_position.utm_north = gps_act_position.utm_north; |
| 107 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
107 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
| 108 | gps_home_position.status = 1; // Home Position gueltig |
108 | gps_home_position.status = 1; // Home Position gueltig |
| 109 | } |
109 | } |
| 110 | } |
110 | } |
| 111 | 111 | ||
| 112 | // Relative Position zur Home Position bestimmen |
112 | // Relative Position zur Home Position bestimmen |
| 113 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
113 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| 114 | short int Get_Rel_Position(void) |
114 | short int Get_Rel_Position(void) |
| 115 | { |
115 | { |
| 116 | short int n = 0; |
116 | short int n = 0; |
| 117 | n = Get_GPS_data(); |
117 | n = Get_GPS_data(); |
| 118 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
118 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
| 119 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
119 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
| 120 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
120 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
| 121 | { |
121 | { |
| 122 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
122 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
| 123 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
123 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
| 124 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
124 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
| 125 | n = 0; |
125 | n = 0; |
| 126 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
126 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
| 127 | } |
127 | } |
| 128 | else |
128 | else |
| 129 | { |
129 | { |
| 130 | n = 2; //keine gueltigen Daten vorhanden |
130 | n = 2; //keine gueltigen Daten vorhanden |
| 131 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
131 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
| 132 | } |
132 | } |
| 133 | return (n); |
133 | return (n); |
| 134 | } |
134 | } |
| 135 | 135 | ||
| 136 | // Daten aus aktuellen ublox Messages extrahieren |
136 | // Daten aus aktuellen ublox Messages extrahieren |
| 137 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
137 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| 138 | short int Get_GPS_data(void) |
138 | short int Get_GPS_data(void) |
| 139 | { |
139 | { |
| 140 | short int n = 1; |
140 | short int n = 1; |
| 141 | 141 | ||
| 142 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
142 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
| 143 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
143 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
| 144 | { |
144 | { |
| 145 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
145 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
| 146 | { |
146 | { |
| 147 | gps_act_position.utm_east = actual_pos.utm_east/10; |
147 | gps_act_position.utm_east = actual_pos.utm_east/10; |
| 148 | gps_act_position.utm_north = actual_pos.utm_north/10; |
148 | gps_act_position.utm_north = actual_pos.utm_north/10; |
| 149 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
149 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
| 150 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
150 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| 151 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
151 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| 152 | gps_act_position.heading = actual_speed.heading/100000; |
152 | gps_act_position.heading = actual_speed.heading/100000; |
| 153 | gps_act_position.status = 1; |
153 | gps_act_position.status = 1; |
| 154 | n = 0; //Daten gueltig |
154 | n = 0; //Daten gueltig |
| 155 | } |
155 | } |
| 156 | else |
156 | else |
| 157 | { |
157 | { |
| 158 | gps_act_position.status = 0; //Keine gueltigen Daten |
158 | gps_act_position.status = 0; //Keine gueltigen Daten |
| 159 | n = 2; |
159 | n = 2; |
| 160 | } |
160 | } |
| 161 | actual_pos.status = 0; //neue ublox Messages anfordern |
161 | actual_pos.status = 0; //neue ublox Messages anfordern |
| 162 | actual_status.status = 0; |
162 | actual_status.status = 0; |
| 163 | actual_speed.status = 0; |
163 | actual_speed.status = 0; |
| 164 | } |
164 | } |
| 165 | return (n); |
165 | return (n); |
| 166 | } |
166 | } |
| 167 | - | ||
| 168 | 167 | ||
| 169 | /* |
168 | /* |
| 170 | Daten vom GPS im ublox MSG Format auswerten |
169 | Daten vom GPS im ublox MSG Format auswerten |
| 171 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
170 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
| 172 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
171 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
| 173 | */ |
172 | */ |
| 174 | void Get_Ublox_Msg(uint8_t rx) |
173 | void Get_Ublox_Msg(uint8_t rx) |
| 175 | { |
174 | { |
| 176 | switch (ublox_msg_state) |
175 | switch (ublox_msg_state) |
| 177 | { |
176 | { |
| 178 | 177 | ||
| 179 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
178 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
| 180 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
179 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
| 181 | else ublox_msg_state = UBLOX_IDLE; |
180 | else ublox_msg_state = UBLOX_IDLE; |
| 182 | break; |
181 | break; |
| 183 | 182 | ||
| 184 | case UBLOX_SYNC1: |
183 | case UBLOX_SYNC1: |
| 185 | 184 | ||
| 186 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
185 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
| 187 | else ublox_msg_state = UBLOX_IDLE; |
186 | else ublox_msg_state = UBLOX_IDLE; |
| 188 | chk_a = 0,chk_b = 0; |
187 | chk_a = 0,chk_b = 0; |
| 189 | break; |
188 | break; |
| 190 | 189 | ||
| 191 | case UBLOX_SYNC2: |
190 | case UBLOX_SYNC2: |
| 192 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
191 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
| 193 | else ublox_msg_state = UBLOX_IDLE; |
192 | else ublox_msg_state = UBLOX_IDLE; |
| 194 | break; |
193 | break; |
| 195 | 194 | ||
| 196 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
195 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
| 197 | switch (rx) |
196 | switch (rx) |
| 198 | { |
197 | { |
| 199 | case UBLOX_NAV_POSUTM: |
198 | case UBLOX_NAV_POSUTM: |
| 200 | ptr_pac_status = &actual_pos.status; |
199 | ptr_pac_status = &actual_pos.status; |
| 201 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
200 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
| 202 | else |
201 | else |
| 203 | { |
202 | { |
| 204 | ptr_payload_data = &actual_pos; |
203 | ptr_payload_data = &actual_pos; |
| 205 | ptr_payload_data_end = &actual_pos.status; |
204 | ptr_payload_data_end = &actual_pos.status; |
| 206 | ublox_msg_state = UBLOX_LEN1; |
205 | ublox_msg_state = UBLOX_LEN1; |
| 207 | } |
206 | } |
| 208 | break; |
207 | break; |
| 209 | 208 | ||
| 210 | case UBLOX_NAV_STATUS: |
209 | case UBLOX_NAV_STATUS: |
| 211 | ptr_pac_status = &actual_status.status; |
210 | ptr_pac_status = &actual_status.status; |
| 212 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
211 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| 213 | else |
212 | else |
| 214 | { |
213 | { |
| 215 | ptr_payload_data = &actual_status; |
214 | ptr_payload_data = &actual_status; |
| 216 | ptr_payload_data_end = &actual_status.status; |
215 | ptr_payload_data_end = &actual_status.status; |
| 217 | ublox_msg_state = UBLOX_LEN1; |
216 | ublox_msg_state = UBLOX_LEN1; |
| 218 | } |
217 | } |
| 219 | break; |
218 | break; |
| 220 | 219 | ||
| 221 | case UBLOX_NAV_VELED: |
220 | case UBLOX_NAV_VELED: |
| 222 | ptr_pac_status = &actual_speed.status; |
221 | ptr_pac_status = &actual_speed.status; |
| 223 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
222 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| 224 | else |
223 | else |
| 225 | { |
224 | { |
| 226 | ptr_payload_data = &actual_speed; |
225 | ptr_payload_data = &actual_speed; |
| 227 | ptr_payload_data_end = &actual_speed.status; |
226 | ptr_payload_data_end = &actual_speed.status; |
| 228 | ublox_msg_state = UBLOX_LEN1; |
227 | ublox_msg_state = UBLOX_LEN1; |
| 229 | } |
228 | } |
| 230 | break; |
229 | break; |
| 231 | 230 | ||
| 232 | default: |
231 | default: |
| 233 | ublox_msg_state = UBLOX_IDLE; |
232 | ublox_msg_state = UBLOX_IDLE; |
| 234 | break; |
233 | break; |
| 235 | } |
234 | } |
| 236 | chk_a = UBLOX_NAV_CLASS + rx; |
235 | chk_a = UBLOX_NAV_CLASS + rx; |
| 237 | chk_b = UBLOX_NAV_CLASS + chk_a; |
236 | chk_b = UBLOX_NAV_CLASS + chk_a; |
| 238 | break; |
237 | break; |
| 239 | 238 | ||
| 240 | case UBLOX_LEN1: // Laenge auswerten |
239 | case UBLOX_LEN1: // Laenge auswerten |
| 241 | rx_len = rx; |
240 | rx_len = rx; |
| 242 | chk_a += rx; |
241 | chk_a += rx; |
| 243 | chk_b += chk_a; |
242 | chk_b += chk_a; |
| 244 | ublox_msg_state = UBLOX_LEN2; |
243 | ublox_msg_state = UBLOX_LEN2; |
| 245 | break; |
244 | break; |
| 246 | 245 | ||
| 247 | 246 | ||
| 248 | case UBLOX_LEN2: // Laenge auswerten |
247 | case UBLOX_LEN2: // Laenge auswerten |
| 249 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
248 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
| 250 | chk_a += rx; |
249 | chk_a += rx; |
| 251 | chk_b += chk_a; |
250 | chk_b += chk_a; |
| 252 | ublox_msg_state = UBLOX_PAYLOAD; |
251 | ublox_msg_state = UBLOX_PAYLOAD; |
| 253 | break; |
252 | break; |
| 254 | 253 | ||
| 255 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
254 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
| 256 | if (rx_len > 0) |
255 | if (rx_len > 0) |
| 257 | { |
256 | { |
| 258 | *ptr_payload_data = rx; |
257 | *ptr_payload_data = rx; |
| 259 | chk_a += rx; |
258 | chk_a += rx; |
| 260 | chk_b += chk_a; |
259 | chk_b += chk_a; |
| 261 | --rx_len; |
260 | --rx_len; |
| 262 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
261 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
| 263 | { |
262 | { |
| 264 | ptr_payload_data++; |
263 | ptr_payload_data++; |
| 265 | ublox_msg_state = UBLOX_PAYLOAD; |
264 | ublox_msg_state = UBLOX_PAYLOAD; |
| 266 | } |
265 | } |
| 267 | else ublox_msg_state = UBLOX_CKA; |
266 | else ublox_msg_state = UBLOX_CKA; |
| 268 | } |
267 | } |
| 269 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
268 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| 270 | break; |
269 | break; |
| 271 | 270 | ||
| 272 | case UBLOX_CKA: // Checksum pruefen |
271 | case UBLOX_CKA: // Checksum pruefen |
| 273 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
272 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
| 274 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
273 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| 275 | break; |
274 | break; |
| 276 | 275 | ||
| 277 | case UBLOX_CKB: // Checksum pruefen |
276 | case UBLOX_CKB: // Checksum pruefen |
| 278 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
277 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
| 279 | ublox_msg_state = UBLOX_IDLE; |
278 | ublox_msg_state = UBLOX_IDLE; |
| 280 | break; |
279 | break; |
| 281 | 280 | ||
| 282 | default: |
281 | default: |
| 283 | ublox_msg_state = UBLOX_IDLE; |
282 | ublox_msg_state = UBLOX_IDLE; |
| 284 | break; |
283 | break; |
| 285 | } |
284 | } |
| 286 | } |
285 | } |
| 287 | 286 | ||
| 288 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
287 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
| 289 | short int GPS_CRTL(short int cmd) |
288 | short int GPS_CRTL(short int cmd) |
| 290 | { |
289 | { |
| 291 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
290 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
| 292 | static signed int int_east,int_north; //Integrierer |
291 | static signed int int_east,int_north; //Integrierer |
| 293 | static signed int dist_north,dist_east; |
292 | static signed int dist_north,dist_east; |
| 294 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
293 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
| 295 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
294 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
| 296 | signed int n,diff_v; |
295 | signed int n,diff_v; |
| 297 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
296 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
| 298 | long signed int dev,n_l; |
297 | long signed int dev,n_l; |
| 299 | signed int dist_frm_start_east,dist_frm_start_north; |
298 | signed int dist_frm_start_east,dist_frm_start_north; |
| 300 | switch (cmd) |
299 | switch (cmd) |
| 301 | { |
300 | { |
| 302 | 301 | ||
| 303 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
302 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
| 304 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
303 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
| 305 | { |
304 | { |
| 306 | cnt++; |
305 | cnt++; |
| 307 | if (cnt > 500) // erst nach Verzoegerung |
306 | if (cnt > 500) // erst nach Verzoegerung |
| 308 | { |
307 | { |
| 309 | // Erst mal initialisieren |
308 | // Erst mal initialisieren |
| 310 | cnt = 0; |
309 | cnt = 0; |
| 311 | gps_tick = 0; |
310 | gps_tick = 0; |
| 312 | hold_fast = 0; |
311 | hold_fast = 0; |
| 313 | hold_reset_int = 0; // Integrator enablen |
312 | hold_reset_int = 0; // Integrator enablen |
| 314 | int_east = 0, int_north = 0; |
313 | int_east = 0, int_north = 0; |
| 315 | gps_reg_x = 0, gps_reg_y = 0; |
314 | gps_reg_x = 0, gps_reg_y = 0; |
| 316 | dist_east = 0, dist_north = 0; |
315 | dist_east = 0, dist_north = 0; |
| 317 | diff_east_f = 0, diff_north_f= 0; |
316 | diff_east_f = 0, diff_north_f= 0; |
| 318 | diff_east = 0, diff_north = 0; |
317 | diff_east = 0, diff_north = 0; |
| 319 | dist_flown = 0; |
318 | dist_flown = 0; |
| 320 | gps_g2t_act_v = 0; |
319 | gps_g2t_act_v = 0; |
| 321 | gps_sub_state = GPS_CRTL_IDLE; |
320 | gps_sub_state = GPS_CRTL_IDLE; |
| 322 | // aktuelle positionsdaten abspeichern |
321 | // aktuelle positionsdaten abspeichern |
| 323 | if (gps_rel_act_position.status > 0) |
322 | if (gps_rel_act_position.status > 0) |
| 324 | { |
323 | { |
| 325 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
324 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
| 326 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
325 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
| 327 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
326 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
| 328 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
327 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| 329 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
328 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| 330 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
329 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| 331 | //Richtung zur Home Positionbezogen auf Nordpol bestimmen |
330 | //Richtung zur Home Positionbezogen auf Nordpol bestimmen |
| 332 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
331 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
| 333 | // in Winkel 0...360 Grad umrechnen |
332 | // in Winkel 0...360 Grad umrechnen |
| 334 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
333 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
| 335 | else hdng_2home = (270 - hdng_2home); |
334 | else hdng_2home = (270 - hdng_2home); |
| 336 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
335 | dist_2home = get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
| 337 | gps_state = GPS_CRTL_HOME_ACTIVE; |
336 | gps_state = GPS_CRTL_HOME_ACTIVE; |
| 338 | return (GPS_STST_OK); |
337 | return (GPS_STST_OK); |
| 339 | } |
338 | } |
| 340 | else |
339 | else |
| 341 | { |
340 | { |
| 342 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
341 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
| 343 | gps_state = GPS_CRTL_IDLE; |
342 | gps_state = GPS_CRTL_IDLE; |
| 344 | return(GPS_STST_ERR); // Keine Daten da |
343 | return(GPS_STST_ERR); // Keine Daten da |
| 345 | } |
344 | } |
| 346 | } |
345 | } |
| 347 | else return(GPS_STST_PEND); // noch warten |
346 | else return(GPS_STST_PEND); // noch warten |
| 348 | } |
347 | } |
| 349 | break; |
348 | break; |
| 350 | // ****************************** |
349 | // ****************************** |
| 351 | 350 | ||
| 352 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
351 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
| 353 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
352 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
| 354 | { |
353 | { |
| 355 | cnt++; |
354 | cnt++; |
| 356 | if (cnt > 500) // erst nach Verzoegerung |
355 | if (cnt > 500) // erst nach Verzoegerung |
| 357 | { |
356 | { |
| 358 | cnt = 0; |
357 | cnt = 0; |
| 359 | // aktuelle positionsdaten abspeichern |
358 | // aktuelle positionsdaten abspeichern |
| 360 | if (gps_rel_act_position.status > 0) |
359 | if (gps_rel_act_position.status > 0) |
| 361 | { |
360 | { |
| 362 | hold_fast = 0; |
361 | hold_fast = 0; |
| 363 | hold_reset_int = 0; // Integrator enablen |
362 | hold_reset_int = 0; // Integrator enablen |
| 364 | int_east = 0, int_north = 0; |
363 | int_east = 0, int_north = 0; |
| 365 | gps_reg_x = 0, gps_reg_y = 0; |
364 | gps_reg_x = 0, gps_reg_y = 0; |
| 366 | dist_east = 0, dist_north = 0; |
365 | dist_east = 0, dist_north = 0; |
| 367 | diff_east_f = 0, diff_north_f= 0; |
366 | diff_east_f = 0, diff_north_f= 0; |
| 368 | diff_east = 0, diff_north = 0; |
367 | diff_east = 0, diff_north = 0; |
| 369 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
368 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| 370 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
369 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| 371 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
370 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| 372 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
371 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
| 373 | return (GPS_STST_OK); |
372 | return (GPS_STST_OK); |
| 374 | } |
373 | } |
| 375 | else |
374 | else |
| 376 | { |
375 | { |
| 377 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
376 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
| 378 | gps_state = GPS_CRTL_IDLE; |
377 | gps_state = GPS_CRTL_IDLE; |
| 379 | return(GPS_STST_ERR); // Keine Daten da |
378 | return(GPS_STST_ERR); // Keine Daten da |
| 380 | } |
379 | } |
| 381 | } |
380 | } |
| 382 | else return(GPS_STST_PEND); // noch warten |
381 | else return(GPS_STST_PEND); // noch warten |
| 383 | } |
382 | } |
| 384 | break; |
383 | break; |
| 385 | 384 | ||
| 386 | case GPS_CMD_STOP: // Lageregelung beenden |
385 | case GPS_CMD_STOP: // Lageregelung beenden |
| 387 | cnt = 0; |
386 | cnt = 0; |
| 388 | GPS_Nick = 0; |
387 | GPS_Nick = 0; |
| 389 | GPS_Roll = 0; |
388 | GPS_Roll = 0; |
| 390 | gps_int_x = 0; |
389 | gps_int_x = 0; |
| 391 | gps_int_y = 0; |
390 | gps_int_y = 0; |
| 392 | gps_state = GPS_CRTL_IDLE; |
391 | gps_state = GPS_CRTL_IDLE; |
| 393 | return (GPS_STST_OK); |
392 | return (GPS_STST_OK); |
| 394 | break; |
393 | break; |
| 395 | 394 | ||
| 396 | default: |
395 | default: |
| 397 | return (GPS_STST_ERR); |
396 | return (GPS_STST_ERR); |
| 398 | break; |
397 | break; |
| 399 | } |
398 | } |
| 400 | 399 | ||
| 401 | switch (gps_state) |
400 | switch (gps_state) |
| 402 | { |
401 | { |
| 403 | case GPS_CRTL_IDLE: |
402 | case GPS_CRTL_IDLE: |
| 404 | cnt = 0; |
403 | cnt = 0; |
| 405 | return (GPS_STST_OK); |
404 | return (GPS_STST_OK); |
| 406 | break; |
405 | break; |
| 407 | 406 | ||
| 408 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
407 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
| 409 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
408 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
| 410 | if (gps_rel_start_position.status >0) |
409 | if (gps_rel_start_position.status >0) |
| 411 | { |
410 | { |
| 412 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
411 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
| 413 | { |
412 | { |
| 414 | gps_tick++; |
413 | gps_tick++; |
| 415 | int d1,d2,d3; |
414 | int d1,d2,d3; |
| 416 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
415 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
| 417 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
416 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
| 418 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
417 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
| 419 | 418 | ||
| 420 | if (d3 > GPS_G2T_DIST_MAX_STOP) |
419 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
| 421 | { |
420 | { |
| 422 | hold_fast = 1; // Schnell Regeln |
421 | // hold_fast = 1; // Schnell Regeln |
| 423 | hold_reset_int = 1; // Integrator ausschalten |
422 | hold_reset_int = 1; // Integrator ausschalten |
| 424 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
423 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
| 425 | { |
424 | { |
| 426 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
425 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
| 427 | dist_flown += (long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
426 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
| 428 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
427 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
| 429 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
428 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
| 430 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
429 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
| 431 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
430 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
| 432 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
431 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
| 433 | } |
432 | } |
| 434 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
433 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
| 435 | { |
434 | { |
| 436 | /* if (gps_sub_state == GPS_HOME_FAST_IN_TOL) hold_reset_int = 1; //Integrator einmal am Beginn des normalen Regelns resetten |
- | |
| 437 | else hold_reset_int = 0; |
- | |
| 438 | */ if (gps_g2t_act_v > 0) gps_g2t_act_v--; |
435 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
| 439 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
436 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
| 440 | } |
437 | } |
| 441 | } |
438 | } |
| 442 | else //Schon ziemlich nahe am Ziel, deswegen abbremsen |
439 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
| 443 | { |
440 | { |
| - | 441 | hold_reset_int = 0; // Integrator einschalten |
|
| 444 | if ((d1 < GPS_G2T_TOL) && (d2 < GPS_G2T_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
442 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
| 445 | { |
443 | { |
| - | 444 | if (gps_g2t_act_v > GPS_G2T_V_RAMP_DWN) gps_g2t_act_v = GPS_G2T_V_RAMP_DWN; // Geschwindigkeit zu hoch |
|
| - | 445 | else gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
|
| - | 446 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
| - | 447 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
|
| - | 448 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
|
| - | 449 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
|
| - | 450 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
|
| 446 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
451 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
| - | 452 | } |
|
| - | 453 | else |
|
| - | 454 | { |
|
| 447 | if (d3 > GPS_G2T_DIST_HOLD) |
455 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; |
| - | 456 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
|
| 448 | { |
457 | } |
| - | 458 | } |
|
| - | 459 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
|
| - | 460 | { |
|
| 449 | if (gps_g2t_act_v < GPS_G2T_V_RAMP_DWN) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
461 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
| - | 462 | { |
|
| - | 463 | gps_sub_state = GPS_HOME_IN_TOL; |
|
| 450 | dist_flown += (long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
464 | hold_fast = 0; // Wieder normal regeln |
| 451 | dist_frm_start_east = (dist_flown * (long)sin_i(hdng_2home))/1000; |
465 | hold_reset_int = 0; // Integrator wieder aktivieren |
| 452 | dist_frm_start_north = (dist_flown * (long)cos_i(hdng_2home))/1000; |
466 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
| 453 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + (int)dist_frm_start_east; //naechster Zielpunkt |
467 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
| 454 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + (int)dist_frm_start_north; //naechster Zielpunkt |
468 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
| 455 | } |
- | |
| 456 | else //Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
469 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
| - | 470 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
|
| 457 | { |
471 | { |
| 458 | hold_fast = 0; // Wieder normal regeln |
- | |
| 459 | hold_reset_int = 0; // Integrator wieder aktivieren |
- | |
| 460 | if (gps_rel_hold_position.utm_east > GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
- | |
| 461 | else if (gps_rel_hold_position.utm_east < -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
- | |
| 462 | if (gps_rel_hold_position.utm_north > GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
- | |
| 463 | else if (gps_rel_hold_position.utm_north < - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
- | |
| 464 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
- | |
| 465 | { |
- | |
| 466 | gps_rel_hold_position.utm_east = 0; |
472 | gps_rel_hold_position.utm_east = 0; |
| 467 | gps_rel_hold_position.utm_north = 0; |
473 | gps_rel_hold_position.utm_north = 0; |
| 468 | gps_sub_state = GPS_HOME_FINISHED; |
474 | gps_sub_state = GPS_HOME_FINISHED; |
| 469 | } |
- | |
| 470 | } |
475 | } |
| 471 | } |
476 | } |
| 472 | else |
- | |
| 473 | { |
- | |
| 474 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
- | |
| 475 | if (gps_g2t_act_v > 0) gps_g2t_act_v--; |
- | |
| 476 | } |
- | |
| 477 | } |
477 | } |
| 478 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
- | |
| 479 | return (GPS_STST_OK); |
- | |
| 480 | } |
478 | } |
| - | 479 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
|
| 481 | else return (GPS_STST_OK); |
480 | return (GPS_STST_OK); |
| 482 | } |
481 | } |
| 483 | else |
482 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
| 484 | { |
483 | { |
| 485 | gps_state = GPS_CRTL_IDLE; //Abbruch |
484 | gps_state = GPS_CRTL_IDLE; |
| 486 | return (GPS_STST_ERR); |
485 | return (GPS_STST_ERR); |
| 487 | } |
486 | } |
| 488 | break; |
487 | break; |
| 489 | 488 | ||
| 490 | 489 | ||
| 491 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
490 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
| 492 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
491 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
| 493 | { |
492 | { |
| 494 | gps_updte_flag = 0; |
493 | gps_updte_flag = 0; |
| 495 | // ab hier wird geregelt |
494 | // ab hier wird geregelt |
| 496 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
495 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
| 497 | diff_north = -dist_north; |
496 | diff_north = -dist_north; |
| 498 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
497 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
| 499 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
498 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
| 500 | int_east += dist_east; |
499 | int_east += dist_east; |
| 501 | int_north += dist_north; |
500 | int_north += dist_north; |
| 502 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
501 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
| 503 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
502 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
| 504 | /* |
503 | /* |
| 505 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
504 | diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern |
| 506 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
505 | diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern |
| 507 | */ |
506 | */ |
| 508 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
507 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
| 509 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
508 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
| 510 | { |
509 | { |
| 511 | int_east -= dist_east; |
510 | int_east -= dist_east; |
| 512 | int_north -= dist_north; |
511 | int_north -= dist_north; |
| 513 | } |
512 | } |
| 514 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
513 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
| 515 | { |
514 | { |
| 516 | int_east = 0; |
515 | int_east = 0; |
| 517 | int_north = 0; |
516 | int_north = 0; |
| 518 | } |
517 | } |
| 519 | 518 | ||
| 520 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
519 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
| 521 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
520 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
| 522 | #define GPS_DIFF_MAX_V 20 //maximale Verstaerkung * 10 |
- | |
| 523 | #define GPS_DIFF_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm |
- | |
| 524 | signed long dist,int_east1,int_north1; |
521 | signed long dist,int_east1,int_north1; |
| 525 | int phi; |
522 | int phi; |
| 526 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
523 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
| 527 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
524 | dist = (long) (get_dist(dist_east,dist_north,phi)); //Zunaechst Entfernung zum Ziel ermitteln |
| - | 525 | ||
| - | 526 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
|
| 528 | 527 | { |
|
| 529 | diff_v = (int)((dist * (GPS_DIFF_MAX_V - 10)) / GPS_DIFF_MAX_D) +10; //Verstaerkung * 10 |
528 | diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
| - | 529 | if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
|
| - | 530 | } |
|
| - | 531 | else |
|
| - | 532 | { |
|
| 530 | if (diff_v > GPS_DIFF_MAX_V) diff_v = GPS_DIFF_MAX_V; //begrenzen |
533 | diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
| - | 534 | if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
|
| 531 | // if (hold_fast > 0) diff_v = 10; //im schnellen Modus schwache Wirkung des Differenzierers |
535 | } |
| 532 | 536 | ||
| 533 | //I Werte begrenzen |
537 | //I Werte begrenzen |
| 534 | #define INT1_MAX (20 * GPS_V) |
538 | #define INT1_MAX (20 * GPS_V) |
| 535 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
539 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
| 536 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
540 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
| 537 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
541 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
| 538 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
542 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
| 539 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
543 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
| 540 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
544 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
| 541 | 545 | ||
| 542 | int diff_p; |
546 | int diff_p; |
| - | 547 | if (hold_fast == 0) diff_p = 1; |
|
| 543 | if (hold_fast > 0) diff_p = 2; //im schnellen Modus Proportionalanteil staerken |
548 | else diff_p = 2; //im schnellen Modus Proportionalanteil staerken |
| 544 | else diff_p = 1; |
- | |
| 545 | 549 | ||
| 546 | //PID Regler Werte aufsummieren |
550 | //PID Regler Werte aufsummieren |
| 547 | gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/8)+ ((diff_east * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
551 | gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/8)+ ((diff_east * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
| 548 | gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/8)+ ((diff_north * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
552 | gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/8)+ ((diff_north * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
| 549 | 553 | ||
| 550 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
554 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
| 551 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
555 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
| 552 | 556 | ||
| 553 | // in Winkel 0...360 Grad umrechnen |
557 | // in Winkel 0...360 Grad umrechnen |
| 554 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
558 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
| 555 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
559 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
| 556 | 560 | ||
| 557 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
561 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
| 558 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
562 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
| 559 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
563 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
| 560 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
564 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
| 561 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
565 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
| 562 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
566 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
| 563 | 567 | ||
| 564 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
568 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
| 565 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
569 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
| 566 | { |
570 | { |
| 567 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
571 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
| 568 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
572 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
| 569 | } |
573 | } |
| 570 | else |
574 | else |
| 571 | { |
575 | { |
| 572 | dev = (long)gps_reg_y; |
576 | dev = (long)gps_reg_y; |
| 573 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
577 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
| 574 | } |
578 | } |
| 575 | GPS_dist_2trgt = (int) dev; |
579 | GPS_dist_2trgt = (int) dev; |
| 576 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
580 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
| 577 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
581 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
| 578 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
582 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
| 579 | 583 | ||
| 580 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
584 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
| 581 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
585 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
| 582 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
586 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
| 583 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
587 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
| 584 | 588 | ||
| 585 | //Kleine Werte verstaerken, Grosse abschwaechen |
589 | //Kleine Werte verstaerken, Grosse abschwaechen |
| 586 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
590 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| 587 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
591 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| 588 | GPS_Roll = (int) n_l; |
592 | GPS_Roll = (int) n_l; |
| 589 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
593 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| 590 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
594 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| 591 | GPS_Nick = (int) n_l; |
595 | GPS_Nick = (int) n_l; |
| 592 | 596 | ||
| 593 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
597 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
| 594 | { |
598 | { |
| 595 | GPS_Roll = 0; |
599 | GPS_Roll = 0; |
| 596 | GPS_Nick = 0; |
600 | GPS_Nick = 0; |
| 597 | gps_state = GPS_CRTL_IDLE; |
601 | gps_state = GPS_CRTL_IDLE; |
| 598 | return (GPS_STST_ERR); |
602 | return (GPS_STST_ERR); |
| 599 | break; |
603 | break; |
| 600 | } |
604 | } |
| 601 | else |
605 | else |
| 602 | { |
606 | { |
| 603 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
607 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| 604 | return (GPS_STST_OK); |
608 | return (GPS_STST_OK); |
| 605 | } |
609 | } |
| 606 | } |
610 | } |
| 607 | else |
611 | else |
| 608 | { |
612 | { |
| 609 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
613 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| 610 | return (GPS_STST_OK); |
614 | return (GPS_STST_OK); |
| 611 | } |
615 | } |
| 612 | break; |
616 | break; |
| 613 | 617 | ||
| 614 | default: |
618 | default: |
| 615 | gps_state = GPS_CRTL_IDLE; |
619 | gps_state = GPS_CRTL_IDLE; |
| 616 | return (GPS_STST_ERR); |
620 | return (GPS_STST_ERR); |
| 617 | break; |
621 | break; |
| 618 | } |
622 | } |
| 619 | return (GPS_STST_ERR); |
623 | return (GPS_STST_ERR); |
| 620 | 624 | ||
| 621 | } |
625 | } |
| 622 | 626 | ||
| 623 | 627 | ||