WebSVN - FlightCtrl - Diff - Rev 190 and 209


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Peter Muehlenbrock ("Salvo")
// Definitionen fuer Modul GPS
// Stand 2.10.007
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
extern signed int GPS_Nick;
extern signed int GPS_Roll;
extern void GPS_Neutral(void);
 
extern void Get_Ublox_Msg(uint8_t  rx) ;
//extern short int Get_GPS_data(void);
extern short int Get_Rel_Position(void);
extern void GPS_Save_Home(void);
extern short int GPS_CRTL(short int cmd);
 
typedef struct {
        unsigned long   utm_itow;       // time of week
        long                    utm_east;       // UTM Ost in cm  
        long                    utm_north;  // UTM Nord in cm    
        long                    utm_alt;        // hoehe in cm
        uint8_t                 utm_zone;       // 
        uint8_t                 utm_hem;        // Hemisphere Indicator 
        uint8_t                 status;         // 0: kein gueltiges Paket 1: alles ok
} NAV_POSUTM_t;
 
typedef struct {
        unsigned long   itow;   // time of week
        uint8_t                 gpsfix_type;// 3=3D Fix  
        uint8_t                 nav_status_flag;
        uint8_t                 nav_diff_status;
        uint8_t                 nav_resevd;
        long                    nav_tff;  // Time to First Fix in ms    
        long                    nav_msss;       // ms since startup
        uint8_t                 status;         // 0: kein gueltiges Paket 1: alles ok
} NAV_STATUS_t;
 
typedef struct {
        unsigned long   itow;            
        long                    speed_n;                // in cm/s  
        long                    speed_e;                // in cm/s  
        long                    speed_alt;              // in cm/s   
        unsigned long   speed_3d;       // in cm/s   
        unsigned long   speed_gnd;      // V ueber Grund in cm/s   
        long                    heading;        // Richtung in deg/10000 
        unsigned long   sacc;           // Speed Genauigkeit in cm/s  
        unsigned long   cacc;           // Richtungsgenauigkeit in deg 
        uint8_t                 status;         // 0: kein gueltiges Paket 1: alles ok  
} NAV_VELNED_t;
 
 
typedef struct {
        long                    utm_east;       // UTM Ost in 10 cm  
        long                    utm_north;  // UTM Nord in 10 cm    
        long                    utm_alt;        // hoehe in 10 cm
        unsigned long   speed_gnd;      // V ueber Grund in 10cm/s  
        unsigned                heading;        // Richtung in Grad   
        uint8_t                 status;         // 0: keine gueltigen Daten 1: alles ok
 
} GPS_ABS_POSITION_t;
 
 
typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position)
        int                             utm_east;       // UTM Ost in m  
        int                             utm_north;  // UTM Nord in m    
        uint8_t                 status;         // 0: keine gueltigen Daten 1: alles ok
 
} GPS_REL_POSITION_t;
 
 
extern GPS_ABS_POSITION_t gps_act_position;
extern GPS_ABS_POSITION_t gps_home_position;
extern GPS_REL_POSITION_t gps_rel_act_position;
extern GPS_REL_POSITION_t gps_rel_hold_position;
 
extern short int gps_state;
extern signed int GPS_hdng_abs_2trgt;
extern signed int GPS_hdng_rel_2trgt;
extern signed int GPS_dist_2trgt;
extern signed int gps_reg_x,gps_reg_y;
extern signed int GPS_dist_2trgt;
extern unsigned int gps_alive_cnt;
 
// Zustaende der zentralen GPS statemachine
#define GPS_CRTL_IDLE                   0    // 
#define GPS_CRTL_HOLD_ACTIVE    1        //  Lageregelung aktiv
#define GPS_CRTL_HOME_ACTIVE    2        //  Rueckglug zur Basis Aktiv
 
// Kommandokonstanten fuer die zentrale GPS statemachine
#define GPS_CMD_REQ_INIT                0    // Initialisierung
#define GPS_CMD_STOP                    1    // Lageregelung soll deaktiviert werden
#define GPS_CMD_REQ_HOLD                3    // Lageregelung soll aktiviert werden
#define GPS_CMD_REQ_HOME                4    // Das Heimfliegen soll aktiviert werden
 
// Statusmeldungen  der zentralen GPS statemachine
#define GPS_STST_OK                             0    // Kommando erfolgreich und abgeschlossen
#define GPS_STST_PEND                   1    // Kommando noch nicht komplett durchgefuehrt
#define GPS_STST_ERR                    2    // Fehler
 
// GPS Lageregler
#define GPS_NICKROLL_MAX                30  // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll
 
 
#define GPS_DIST_MAX                    300 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm)
#define GPS_STICK_HOLDOFF               25      // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert
 

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/gps.h - Rev 190 → 209

Rev 190		Rev 209
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// Peter Muehlenbrock ("Salvo")	2	// Peter Muehlenbrock ("Salvo")
3	// Definitionen fuer Modul GPS	3	// Definitionen fuer Modul GPS
4	// Stand 19.9.007	4	// Stand 2.10.007
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	extern signed int GPS_Nick;	6	extern signed int GPS_Nick;
7	extern signed int GPS_Roll;	7	extern signed int GPS_Roll;
8	extern void GPS_Neutral(void);	8	extern void GPS_Neutral(void);
9		9
10	extern void Get_Ublox_Msg(uint8_t rx) ;	10	extern void Get_Ublox_Msg(uint8_t rx) ;
11	//extern short int Get_GPS_data(void);	11	//extern short int Get_GPS_data(void);
12	extern short int Get_Rel_Position(void);	12	extern short int Get_Rel_Position(void);
13	extern void GPS_Save_Home(void);	13	extern void GPS_Save_Home(void);
14	extern short int GPS_CRTL(short int cmd);	14	extern short int GPS_CRTL(short int cmd);
15		15
16	typedef struct {	16	typedef struct {
17	unsigned long utm_itow; // time of week	17	unsigned long utm_itow; // time of week
18	long utm_east; // UTM Ost in cm	18	long utm_east; // UTM Ost in cm
19	long utm_north; // UTM Nord in cm	19	long utm_north; // UTM Nord in cm
20	long utm_alt; // hoehe in cm	20	long utm_alt; // hoehe in cm
21	uint8_t utm_zone; //	21	uint8_t utm_zone; //
22	uint8_t utm_hem; // Hemisphere Indicator	22	uint8_t utm_hem; // Hemisphere Indicator
23	uint8_t status; // 0: kein gueltiges Paket 1: alles ok	23	uint8_t status; // 0: kein gueltiges Paket 1: alles ok
24	} NAV_POSUTM_t;	24	} NAV_POSUTM_t;
25		25
26	typedef struct {	26	typedef struct {
27	unsigned long itow; // time of week	27	unsigned long itow; // time of week
28	uint8_t gpsfix_type;// 3=3D Fix	28	uint8_t gpsfix_type;// 3=3D Fix
29	uint8_t nav_status_flag;	29	uint8_t nav_status_flag;
30	uint8_t nav_diff_status;	30	uint8_t nav_diff_status;
31	uint8_t nav_resevd;	31	uint8_t nav_resevd;
32	long nav_tff; // Time to First Fix in ms	32	long nav_tff; // Time to First Fix in ms
33	long nav_msss; // ms since startup	33	long nav_msss; // ms since startup
34	uint8_t status; // 0: kein gueltiges Paket 1: alles ok	34	uint8_t status; // 0: kein gueltiges Paket 1: alles ok
35	} NAV_STATUS_t;	35	} NAV_STATUS_t;
36		36
37	typedef struct {	37	typedef struct {
38	unsigned long itow;	38	unsigned long itow;
39	long speed_n; // in cm/s	39	long speed_n; // in cm/s
40	long speed_e; // in cm/s	40	long speed_e; // in cm/s
41	long speed_alt; // in cm/s	41	long speed_alt; // in cm/s
42	unsigned long speed_3d; // in cm/s	42	unsigned long speed_3d; // in cm/s
43	unsigned long speed_gnd; // V ueber Grund in cm/s	43	unsigned long speed_gnd; // V ueber Grund in cm/s
44	long heading; // Richtung in deg/10000	44	long heading; // Richtung in deg/10000
45	unsigned long sacc; // Speed Genauigkeit in cm/s	45	unsigned long sacc; // Speed Genauigkeit in cm/s
46	unsigned long cacc; // Richtungsgenauigkeit in deg	46	unsigned long cacc; // Richtungsgenauigkeit in deg
47	uint8_t status; // 0: kein gueltiges Paket 1: alles ok	47	uint8_t status; // 0: kein gueltiges Paket 1: alles ok
48	} NAV_VELNED_t;	48	} NAV_VELNED_t;
49		49
50		50
51	typedef struct {	51	typedef struct {
52	long utm_east; // UTM Ost in 10 cm	52	long utm_east; // UTM Ost in 10 cm
53	long utm_north; // UTM Nord in 10 cm	53	long utm_north; // UTM Nord in 10 cm
54	long utm_alt; // hoehe in 10 cm	54	long utm_alt; // hoehe in 10 cm
55	unsigned long speed_gnd; // V ueber Grund in 10cm/s	55	unsigned long speed_gnd; // V ueber Grund in 10cm/s
56	unsigned heading; // Richtung in Grad	56	unsigned heading; // Richtung in Grad
57	uint8_t status; // 0: keine gueltigen Daten 1: alles ok	57	uint8_t status; // 0: keine gueltigen Daten 1: alles ok
58		58
59	} GPS_ABS_POSITION_t;	59	} GPS_ABS_POSITION_t;
60		60
61		61
62	typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position)	62	typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position)
63	int utm_east; // UTM Ost in m	63	int utm_east; // UTM Ost in m
64	int utm_north; // UTM Nord in m	64	int utm_north; // UTM Nord in m
65	uint8_t status; // 0: keine gueltigen Daten 1: alles ok	65	uint8_t status; // 0: keine gueltigen Daten 1: alles ok
66		66
67	} GPS_REL_POSITION_t;	67	} GPS_REL_POSITION_t;
68		68
69		69
70	extern GPS_ABS_POSITION_t gps_act_position;	70	extern GPS_ABS_POSITION_t gps_act_position;
71	extern GPS_ABS_POSITION_t gps_home_position;	71	extern GPS_ABS_POSITION_t gps_home_position;
72	extern GPS_REL_POSITION_t gps_rel_act_position;	72	extern GPS_REL_POSITION_t gps_rel_act_position;
73	extern GPS_REL_POSITION_t gps_rel_hold_position;	73	extern GPS_REL_POSITION_t gps_rel_hold_position;
74	extern unsigned int cnt0,cnt1,cnt2;	-
75	extern short int gps_state;	74	extern short int gps_state;
76	extern signed int GPS_hdng_abs_2trgt;	75	extern signed int GPS_hdng_abs_2trgt;
77	extern signed int GPS_hdng_rel_2trgt;	76	extern signed int GPS_hdng_rel_2trgt;
78	extern signed int GPS_dist_2trgt;	77	extern signed int GPS_dist_2trgt;
79	extern signed int gps_reg_x,gps_reg_y;	78	extern signed int gps_reg_x,gps_reg_y;
80	extern signed int GPS_dist_2trgt;	79	extern signed int GPS_dist_2trgt;
81	extern unsigned int gps_alive_cnt;	80	extern unsigned int gps_alive_cnt;
82		81
83	// Zustaende der zentralen GPS statemachine	82	// Zustaende der zentralen GPS statemachine
84	#define GPS_CRTL_IDLE 0 //	83	#define GPS_CRTL_IDLE 0 //
85	#define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv	84	#define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv
86	#define GPS_CRTL_HOME_ACTIVE 2 // Rueckglug zur Basis Aktiv	85	#define GPS_CRTL_HOME_ACTIVE 2 // Rueckglug zur Basis Aktiv
87		86
88	// Kommandokonstanten fuer die zentrale GPS statemachine	87	// Kommandokonstanten fuer die zentrale GPS statemachine
89	#define GPS_CMD_REQ_INIT 0 // Initialisierung	88	#define GPS_CMD_REQ_INIT 0 // Initialisierung
90	#define GPS_CMD_STOP 1 // Lageregelung soll deaktiviert werden	89	#define GPS_CMD_STOP 1 // Lageregelung soll deaktiviert werden
91	#define GPS_CMD_REQ_HOLD 3 // Lageregelung soll aktiviert werden	90	#define GPS_CMD_REQ_HOLD 3 // Lageregelung soll aktiviert werden
92	#define GPS_CMD_REQ_HOME 4 // Das Heimfliegen soll aktiviert werden	91	#define GPS_CMD_REQ_HOME 4 // Das Heimfliegen soll aktiviert werden
93		92
94	// Statusmeldungen der zentralen GPS statemachine	93	// Statusmeldungen der zentralen GPS statemachine
95	#define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen	94	#define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen
96	#define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt	95	#define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt
97	#define GPS_STST_ERR 2 // Fehler	96	#define GPS_STST_ERR 2 // Fehler
98		97
99	// GPS Lageregler	98	// GPS Lageregler
100	#define GPS_NICKROLL_MAX 30 //Maximaler Einfluss des GPS Lagereglers auf Nick und Roll	99	#define GPS_NICKROLL_MAX 30 // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll
101	#define GPS_DIST_MAX 500 //Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm)	-
102	//Salvo 16.9.2007 GPS_STICK_HOLDOFF ***************	-
103	// Laut Datenblatt sind die Werte ueber Zeit und Temperatur sehr stabil.	100	#define GPS_DIST_MAX 300 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm)
104	#define GPS_STICK_HOLDOFF 25 // Wenn der Nick oder Roll groesser ist, wird GPS_HOLD deaktiviert	101	#define GPS_STICK_HOLDOFF 25 // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert
105		102