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| Rev 162 | Rev 167 | ||
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| Line 283... | Line 283... | ||
| 283 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
283 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
| 284 | short int GPS_CRTL(short int cmd) |
284 | short int GPS_CRTL(short int cmd) |
| 285 | { |
285 | { |
| 286 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
286 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
| 287 | static int int_east,int_north; //Integrierer |
287 | static int int_east,int_north; //Integrierer |
| - | 288 | static signed int dist_north,dist_east; |
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| - | 289 | int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
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| 288 | int n; |
290 | int n; |
| 289 | long int dist; |
291 | long int dist; |
| 290 | switch (cmd) |
292 | switch (cmd) |
| 291 | { |
293 | { |
| Line 352... | Line 354... | ||
| 352 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
354 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
| 353 | if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
355 | if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
| 354 | { |
356 | { |
| 355 | gps_updte_flag = 0; |
357 | gps_updte_flag = 0; |
| 356 | // ab hier wird geregelt |
358 | // ab hier wird geregelt |
| - | 359 | ||
| - | 360 | diff_east = -dist_east; //Alten Wert schon mal abziehen |
|
| 357 | signed int dist_north,dist_east; |
361 | diff_north = -dist_north; |
| 358 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
362 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
| 359 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
363 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
| 360 | int_east += dist_east; |
364 | int_east += dist_east; |
| 361 | int_north += dist_north; |
365 | int_north += dist_north; |
| - | 366 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
|
| - | 367 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
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| Line 362... | Line 368... | ||
| 362 | 368 | ||
| 363 | #define GPSINT_MAX 1000 |
369 | #define GPSINT_MAX 2048 //neuer Wert ab 25.9.2007 Begrenzung |
| 364 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
370 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
| 365 | { |
371 | { |
| 366 | int_east -= dist_east; |
372 | int_east -= dist_east; |
| 367 | int_north -= dist_north; |
373 | int_north -= dist_north; |
| Line 368... | Line 374... | ||
| 368 | } |
374 | } |
| 369 | 375 | ||
| 370 | #define DIST_MAX 200 //neu ab 19.9. 1900 Begrenzung |
376 | #define DIST_MAX 100 //neuer Wert ab 24.9.2007 Begrenzung |
| 371 | if (dist_east > DIST_MAX) dist_east = DIST_MAX; |
377 | if (dist_east > DIST_MAX) dist_east = DIST_MAX; |
| 372 | if (dist_east <-DIST_MAX) dist_east = -DIST_MAX; |
378 | if (dist_east <-DIST_MAX) dist_east = -DIST_MAX; |
| Line 373... | Line 379... | ||
| 373 | if (dist_north > DIST_MAX) dist_north = DIST_MAX; |
379 | if (dist_north > DIST_MAX) dist_north = DIST_MAX; |
| 374 | if (dist_north <-DIST_MAX) dist_north = -DIST_MAX; |
380 | if (dist_north <-DIST_MAX) dist_north = -DIST_MAX; |
| 375 | 381 | ||
| Line 376... | Line 382... | ||
| 376 | //PI Regler |
382 | //PID Regler |
| 377 | gps_reg_x = ((int_east * Parameter_UserParam1)/16) + ((dist_east * Parameter_UserParam2)/8); // P+I Anteil |
383 | gps_reg_x = ((int_east * Parameter_UserParam1)/32) + ((dist_east * Parameter_UserParam2)/2)+ ((diff_east * Parameter_UserParam3)/2); // |
| Line 378... | Line 384... | ||
| 378 | gps_reg_y = ((int_north * Parameter_UserParam1)/16) + ((dist_north * Parameter_UserParam2)/8); // P+I Anteil |
384 | gps_reg_y = ((int_north * Parameter_UserParam1)/32) + ((dist_north * Parameter_UserParam2)/2)+ ((diff_north * Parameter_UserParam3)/2); // I + P +D Anteil Y Achse |