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2 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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3 | 3 | ||
4 | //############################################################################ |
4 | //############################################################################ |
5 | //# HISTORY gps.c |
5 | //# HISTORY gps.c |
- | 6 | //# |
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- | 7 | //# |
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- | 8 | //# |
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- | 9 | //# |
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- | 10 | //# |
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- | 11 | //# |
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- | 12 | //# |
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- | 13 | //# |
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- | 14 | //# 22.09.2015 Starter |
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- | 15 | //# - followme_add_offset(...) und followme_calculate_offset getestet mit PKT |
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- | 16 | //# - add my_abs(...) |
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6 | //# |
17 | //# |
7 | //# 20.09.2015 Startet |
18 | //# 20.09.2015 Starter |
8 | //# - add Routine um einen Offset in Meter zu den aktuellen Koordinaten dazurechnen |
19 | //# - add Routine um einen Offset in Meter zu den aktuellen Koordinaten dazurechnen |
9 | //# followme_calculate_offset(...) |
20 | //# followme_calculate_offset(...) |
10 | //# |
21 | //# |
11 | //# 03.08.2015 cebra |
22 | //# 03.08.2015 cebra |
Line 34... | Line 45... | ||
34 | #include "../mk-data-structs.h" |
45 | #include "../mk-data-structs.h" |
35 | #include "../gps/mymath.h" |
46 | #include "../gps/mymath.h" |
36 | #include "gps.h" |
47 | #include "gps.h" |
Line 37... | Line -... | ||
37 | - | ||
38 | - | ||
39 | /* |
- | |
40 | // definiert in: mk_data-stucts.h |
- | |
41 | typedef struct |
- | |
42 | { |
- | |
43 | u16 Distance; // distance to target in cm |
- | |
44 | s16 Bearing; // course to target in deg |
- | |
45 | } __attribute__((packed)) GPS_PosDev_t; |
- | |
46 | */ |
- | |
47 | - | ||
48 | /* |
- | |
49 | // definiert in: mk_data-stucts.h |
- | |
50 | typedef struct |
- | |
51 | { |
- | |
52 | s32 Longitude; // in 1E-7 deg |
- | |
53 | s32 Latitude; // in 1E-7 deg |
- | |
54 | s32 Altitude; // in mm |
- | |
55 | u8 Status; // validity of data |
- | |
56 | } __attribute__((packed)) GPS_Pos_t; |
- | |
57 | */ |
- | |
58 | - | ||
59 | - | ||
60 | //-------------------------------------------------------------- |
48 | |
61 | 49 | ||
62 | #define NMEA_PI (3.141592653589793) /**< PI value */ |
50 | #define NMEA_PI (3.141592653589793) /**< PI value */ |
63 | #define NMEA_PI180 (NMEA_PI / 180) /**< PI division by 180 */ |
51 | #define NMEA_PI180 (NMEA_PI / 180) /**< PI division by 180 */ |
64 | #define NMEA_EARTHRADIUS_KM (6378) /**< Earth's mean radius in km */ |
52 | #define NMEA_EARTHRADIUS_KM (6378) /**< Earth's mean radius in km */ |
Line 107... | Line 95... | ||
107 | int RetVal = 1; |
95 | int RetVal = 1; |
Line 108... | Line 96... | ||
108 | 96 | ||
109 | distance /= NMEA_EARTHRADIUS_KM; /* Angular distance covered on earth's surface */ |
97 | distance /= NMEA_EARTHRADIUS_KM; /* Angular distance covered on earth's surface */ |
Line 110... | Line 98... | ||
110 | azimuth = nmea_degree2radian(azimuth); |
98 | azimuth = nmea_degree2radian(azimuth); |
Line 111... | Line 99... | ||
111 | 99 | ||
Line 112... | Line 100... | ||
112 | end_pos->lat = asin( sin(p1.lat) * cos(distance) + cos(p1.lat) * sin(distance) * cos(azimuth)); |
100 | end_pos->latitude = asin( sin(p1.latitude) * cos(distance) + cos(p1.latitude) * sin(distance) * cos(azimuth)); |
113 | 101 | ||
114 | end_pos->lon = p1.lon + atan2( sin(azimuth) * sin(distance) * cos(p1.lat), cos(distance) - sin(p1.lat) * sin(end_pos->lat)); |
102 | end_pos->longitude = p1.longitude + atan2( sin(azimuth) * sin(distance) * cos(p1.latitude), cos(distance) - sin(p1.latitude) * sin(end_pos->latitude)); |
115 | 103 | ||
116 | if(NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon)) |
104 | if(NMEA_POSIX(isnan)(end_pos->latitude) || NMEA_POSIX(isnan)(end_pos->longitude)) |
Line 117... | Line 105... | ||
117 | { |
105 | { |
118 | end_pos->lat = 0; end_pos->lon = 0; |
106 | end_pos->latitude = 0; end_pos->longitude = 0; |
Line 139... | Line 127... | ||
139 | ) |
127 | ) |
140 | { |
128 | { |
141 | nmeaPOS pktPos = *pPktPos; |
129 | nmeaPOS pktPos = *pPktPos; |
142 | positionOffset followMeOffset = * pFollowMeOffset; |
130 | positionOffset followMeOffset = * pFollowMeOffset; |
Line 143... | Line 131... | ||
143 | 131 | ||
144 | target_pos->lat = pktPos.lat + ( ( followMeOffset.offset_lat * ( LAT_DIV / FOLLOWME_M2DEG ) ) ) / 1000; |
132 | target_pos->latitude = pktPos.latitude + ( ( followMeOffset.latitude * ( LAT_DIV / FOLLOWME_M2DEG ) ) ) / 1000; |
145 | target_pos->lon = pktPos.lon + ( ( followMeOffset.offset_long * ( LONG_DIV / FOLLOWME_M2DEG ) * (8192/1000) ) / my_abs( c_cos_8192( (pktPos.lat / LONG_DIV ) ) ) ); |
133 | target_pos->longitude = pktPos.longitude + ( ( followMeOffset.longitude * ( LONG_DIV / FOLLOWME_M2DEG ) * (8192/1000) ) / my_abs( c_cos_8192( (pktPos.latitude / LONG_DIV ) ) ) ); |
146 | return 1; |
134 | return 1; |
Line -... | Line 135... | ||
- | 135 | } |
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- | 136 | ||
- | 137 | ||
147 | } |
138 | // schlanke abs-Methode |
148 | 139 | // TODO: move to mymath.h |
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149 | int16_t my_abs(int16_t input) |
140 | int16_t my_abs(int16_t input) |
150 | { |
141 | { |
151 | if(input < 0) |
142 | if(input < 0) |
Line 164... | Line 155... | ||
164 | positionOffset *followMeOffset |
155 | positionOffset *followMeOffset |
165 | ) |
156 | ) |
166 | { |
157 | { |
167 | angle %= 360; // map angle to 0° - 360° |
158 | angle %= 360; // map angle to 0° - 360° |
Line 168... | Line 159... | ||
168 | 159 | ||
169 | followMeOffset->offset_lat = ( radius * c_cos_8192( angle ) ) / 8192; |
160 | followMeOffset->latitude = ( radius * c_cos_8192( angle ) ) / 8192; |
Line 170... | Line 161... | ||
170 | followMeOffset->offset_long = ( radius * c_sin_8192( angle ) ) / 8192; |
161 | followMeOffset->longitude = ( radius * c_sin_8192( angle ) ) / 8192; |
171 | 162 | ||
Line 199... | Line 190... | ||
199 | 190 | ||
200 | return PosDev; |
191 | return PosDev; |
Line 201... | Line -... | ||
201 | } |
- | |
202 | - | ||
203 | - | ||
204 | ///** |
- | |
205 | // * \brief Calculate distance between two points |
- | |
206 | // * \return Distance in meters |
- | |
207 | // */ |
- | |
208 | //int32_t nmea_distance( |
- | |
209 | // const nmeaPOS *from_pos, /**< From position in radians */ |
- | |
210 | // const nmeaPOS *to_pos /**< To position in radians */ |
- | |
211 | // ) |
- | |
212 | //{ |
- | |
213 | // int32_t dist = ((int32_t)NMEA_EARTHRADIUS_M) * acos( |
- | |
214 | // sin(to_pos->lat) * sin(from_pos->lat) + |
- | |
215 | // cos(to_pos->lat) * cos(from_pos->lat) * cos(to_pos->lon - from_pos->lon) |
- | |
216 | // ); |
- | |
217 | // return dist; |
- | |
218 | //} |
- | |
219 | - | ||
220 | - | ||
221 | - | ||
222 | //// Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet) |
- | |
223 | //// zur aktuellen Position(nach Motorstart) |
- | |
224 | //geo_t calc_geo(HomePos_t *home, GPS_Pos_t *pos) |
- | |
225 | //{ double lat1, lon1, lat2, lon2, d1, dlat; |
- | |
226 | // geo_t geo; |
- | |
227 | // |
- | |
228 | // lon1 = MK_pos.Home_Lon; |
- | |
229 | // lat1 = MK_pos.Home_Lat; |
- | |
230 | // lon2 = (double)pos->Longitude / 10000000.0; |
- | |
231 | // lat2 = (double)pos->Latitude / 10000000.0; |
- | |
232 | // |
- | |
233 | // // Formel verwendet von http://www.kompf.de/gps/distcalc.html |
- | |
234 | // // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Längenkreise am Äquator |
- | |
235 | // // es wird jedoch in Meter weiter gerechnet |
- | |
236 | // d1 = 111300 * (double)cos((double)(lat1 + lat2) / 2 * DEG_TO_RAD) * (lon1 - lon2); |
- | |
237 | // dlat = 111300 * (double)(lat1 - lat2); |
- | |
238 | // // returns a value in metres http://www.kompf.de/gps/distcalc.html |
- | |
239 | // geo.bearing = fmod((RAD_TO_DEG * (double)atan2(d1, dlat)) + 180, 360); // +180 besserer Vergleich mit MkCockpit |
- | |
240 | // if (geo.bearing > 360) geo.bearing -= 360; // bekam schon Werte über 400 |
- | |
241 | // geo.distance = sqrt(d1 * d1 + dlat * dlat); |
- | |
242 | // return(geo); |
- | |
243 | //} |
- | |
244 | - | ||
245 | // Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet) |
- | |
246 | // zur aktuellen Position(nach Motorstart) |
- | |
247 | //-------------------------------------------------------------- |
- | |
248 | //-------------------------------------------------------------- |
- | |
249 | - | ||
250 | /* |
- | |
251 | geo_t calc_geo( HomePos_t *home, GPS_Pos_t *pos ) |
- | |
252 | { |
- | |
253 | int32_t lat1, lon1, lat2, lon2; |
- | |
254 | int32_t d1, dlat; |
- | |
255 | geo_t geo; |
- | |
256 | - | ||
257 | lon1 = home->Home_Lon; |
- | |
258 | lat1 = home->Home_Lat; |
- | |
259 | lon2 = pos->Longitude; |
- | |
260 | lat2 = pos->Latitude; |
- | |
261 | - | ||
262 | if( !CheckGPS ) |
- | |
263 | { |
- | |
264 | writex_gpspos( 0, 3, home->Home_Lat , MNORMAL, 0,0); // Anzeige: Breitengrad (Latitude) |
- | |
265 | writex_gpspos( 11, 3, home->Home_Lon , MNORMAL, 0,0); // Anzeige: Laengengrad (Longitude) |
- | |
266 | writex_gpspos( 0, 4, pos->Latitude , MNORMAL, 0,0); // Anzeige: Breitengrad (Latitude) |
- | |
267 | writex_gpspos( 11, 4, pos->Longitude , MNORMAL, 0,0); // Anzeige: Laengengrad (Longitude) |
- | |
268 | - | ||
269 | //lcd_puts_at (0, 3, my_itoa(home->Home_Lat, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
- | |
270 | //lcd_puts_at (11, 3, my_itoa(home->Home_Lon, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
- | |
271 | //lcd_puts_at (0, 4, my_itoa(pos->Latitude, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
- | |
272 | //lcd_puts_at (11, 4, my_itoa(pos->Longitude, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
- | |
273 | } |
- | |
274 | - | ||
275 | // Formel verwendet von http://www.kompf.de/gps/distcalc.html |
- | |
276 | // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Langenkreise am Äquator |
- | |
277 | // es wird jedoch in dm Meter weiter gerechnet |
- | |
278 | // (tlon1 - tlon2)/10) sonst uint32_t-Überlauf bei cos(0) gleich 1 |
- | |
279 | d1 = (1359 * (int32_t)(c_cos_8192((lat1 + lat2) / 20000000)) * ((lon1 - lon2)/10))/ 10000000; |
- | |
280 | dlat = 1113 * (lat1 - lat2) / 10000; |
- | |
281 | geo.bearing = (my_atan2(d1, dlat) + 540) % 360; // 360 +180 besserer Vergleich mit MkCockpit |
- | |
282 | geo.distance = sqrt32(d1 * d1 + dlat * dlat); |
- | |
283 | if( !CheckGPS ) |
- | |
284 | { |
- | |
285 | lcd_printp_at (0, 5, PSTR("Bear:"), 0); |
- | |
286 | - | ||
287 | lcdx_printf_at_P( 5, 5, MNORMAL, 0,0, PSTR("%3d"), geo.bearing ); |
- | |
288 | //lcd_puts_at (5, 5, my_itoa((uint32_t)geo.bearing, 3, 0, 0), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
- | |
289 | - | ||
290 | lcd_printp_at (8, 5, PSTR("\x1e"), 0); |
- | |
291 | lcd_printp_at (9, 5, PSTR("Dist:"), 0); |
- | |
292 | - | ||
293 | lcdx_printf_at_P( 15, 5, MNORMAL, 0,0, PSTR("%3d"), geo.distance ); |
- | |
294 | //lcd_puts_at (15, 5, my_itoa((uint32_t)geo.distance, 3, 1, 1), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
- | |
295 | - | ||
296 | lcd_printp_at (20, 5, PSTR("m"), 0); |
- | |
297 | } |
- | |
298 | - | ||
299 | - |