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- | 1 | /* |
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- | 2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
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- | 3 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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- | 4 | either version 3 of the License, or (at your option) any later version. |
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- | 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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- | 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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- | 7 | GNU General Public License and GNU Lesser General Public License for more details. |
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- | 8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
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- | 9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
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- | 10 | If not, see <http://www.gnu.org/licenses/>. |
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- | 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 |
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- | 13 | */ |
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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 15 | Peter Muehlenbrock |
|
2 | // + Copyright (c) 04.2007 Holger Buss |
16 | Auswertung der Daten vom GPS im ublox Format |
3 | // + only for non-profit use |
17 | Hold Modus mit PID Regler |
4 | // + www.MikroKopter.com |
18 | Rückstuerz zur Basis Funktion |
- | 19 | Stand 24.10.2007 |
|
5 | // + see the File "License.txt" for further Informations |
20 | Anederung: 24.10. Altitude in relativer Position jetzt auch drin |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 22 | */ |
|
7 | #include "main.h" |
23 | #include "main.h" |
- | 24 | //#include "gps.h" |
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- | 25 | ||
- | 26 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
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- | 27 | #define UBLOX_IDLE 0 |
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- | 28 | #define UBLOX_SYNC1 1 |
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- | 29 | #define UBLOX_SYNC2 2 |
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- | 30 | #define UBLOX_CLASS 3 |
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- | 31 | #define UBLOX_ID 4 |
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- | 32 | #define UBLOX_LEN1 5 |
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- | 33 | #define UBLOX_LEN2 6 |
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- | 34 | #define UBLOX_CKA 7 |
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- | 35 | #define UBLOX_CKB 8 |
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- | 36 | #define UBLOX_PAYLOAD 9 |
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- | 37 | ||
- | 38 | // ublox Protokoll Identifier |
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- | 39 | #define UBLOX_NAV_POSUTM 0x08 |
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- | 40 | #define UBLOX_NAV_STATUS 0x03 |
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- | 41 | #define UBLOX_NAV_VELED 0x12 |
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- | 42 | #define UBLOX_NAV_CLASS 0x01 |
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- | 43 | #define UBLOX_SYNCH1_CHAR 0xB5 |
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- | 44 | #define UBLOX_SYNCH2_CHAR 0x62 |
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- | 45 | ||
- | 46 | signed int GPS_Nick = 0; |
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- | 47 | signed int GPS_Roll = 0; |
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- | 48 | short int ublox_msg_state = UBLOX_IDLE; |
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- | 49 | static uint8_t chk_a =0; //Checksum |
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- | 50 | static uint8_t chk_b =0; |
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- | 51 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
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- | 52 | short int gps_updte_flag; |
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- | 53 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
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- | 54 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
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- | 55 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
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- | 56 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
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- | 57 | static unsigned int rx_len; |
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- | 58 | static unsigned int ptr_payload_data_end; |
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- | 59 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
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- | 60 | signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
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- | 61 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
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- | 62 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
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- | 63 | static uint8_t *ptr_payload_data; |
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- | 64 | static uint8_t *ptr_pac_status; |
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- | 65 | long int dist_flown; |
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- | 66 | ||
- | 67 | short int Get_GPS_data(void); |
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- | 68 | ||
- | 69 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
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- | 70 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
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- | 71 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
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- | 72 | ||
- | 73 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
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- | 74 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
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- | 75 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
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- | 76 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
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- | 77 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
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Line 8... | Line -... | ||
8 | - | ||
9 | signed int GPS_Nick = 0; |
- | |
10 | signed int GPS_Roll = 0; |
- | |
11 | long GpsAktuell_X = 0; |
- | |
12 | long GpsAktuell_Y = 0; |
- | |
13 | long GpsZiel_X = 0; |
78 | |
14 | long GpsZiel_Y = 0; |
- | |
15 | 79 | // Initialisierung |
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16 | void GPS_Neutral(void) |
80 | void GPS_Neutral(void) |
- | 81 | { |
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- | 82 | ublox_msg_state = UBLOX_IDLE; |
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- | 83 | gps_state = GPS_CRTL_IDLE; |
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- | 84 | gps_sub_state = GPS_CRTL_IDLE; |
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- | 85 | actual_pos.status = 0; |
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- | 86 | actual_speed.status = 0; |
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- | 87 | actual_status.status = 0; |
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17 | { |
88 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
18 | GpsZiel_X = GpsAktuell_X; |
89 | gps_act_position.status = 0; |
- | 90 | gps_rel_act_position.status = 0; |
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- | 91 | GPS_Nick = 0; |
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- | 92 | GPS_Roll = 0; |
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- | 93 | gps_updte_flag = 0; |
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- | 94 | gps_int_x = 0; |
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- | 95 | gps_int_y = 0; |
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- | 96 | gps_alive_cnt = 0; |
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- | 97 | } |
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- | 98 | ||
- | 99 | // Home Position sichern falls Daten verfuegbar sind. |
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- | 100 | void GPS_Save_Home(void) |
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- | 101 | { |
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- | 102 | short int n; |
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- | 103 | n = Get_GPS_data(); |
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- | 104 | if (n == 0) // Gueltige und aktuelle Daten ? |
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- | 105 | { |
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- | 106 | // Neue GPS Daten liegen vor |
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- | 107 | gps_home_position.utm_east = gps_act_position.utm_east; |
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- | 108 | gps_home_position.utm_north = gps_act_position.utm_north; |
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- | 109 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
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- | 110 | gps_home_position.status = 1; // Home Position gueltig |
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- | 111 | } |
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- | 112 | } |
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- | 113 | ||
- | 114 | // Relative Position zur Home Position bestimmen |
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- | 115 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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- | 116 | short int Get_Rel_Position(void) |
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- | 117 | { |
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- | 118 | short int n = 0; |
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- | 119 | n = Get_GPS_data(); |
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- | 120 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
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- | 121 | if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
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- | 122 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
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- | 123 | { |
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- | 124 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
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- | 125 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
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- | 126 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
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- | 127 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
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- | 128 | n = 0; |
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- | 129 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
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- | 130 | } |
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- | 131 | else |
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- | 132 | { |
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- | 133 | n = 2; //keine gueltigen Daten vorhanden |
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- | 134 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
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- | 135 | } |
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19 | GpsZiel_Y = GpsAktuell_Y; |
136 | return (n); |
Line -... | Line 137... | ||
- | 137 | } |
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- | 138 | ||
20 | } |
139 | // Daten aus aktuellen ublox Messages extrahieren |
21 | 140 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
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22 | void GPS_BerechneZielrichtung(void) |
141 | short int Get_GPS_data(void) |
- | 142 | { |
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- | 143 | short int n = 1; |
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- | 144 | ||
- | 145 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
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- | 146 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
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- | 147 | { |
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- | 148 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
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- | 149 | { |
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- | 150 | gps_act_position.utm_east = actual_pos.utm_east/10; |
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- | 151 | gps_act_position.utm_north = actual_pos.utm_north/10; |
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- | 152 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
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- | 153 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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- | 154 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
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- | 155 | gps_act_position.heading = actual_speed.heading/100000; |
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- | 156 | gps_act_position.status = 1; |
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- | 157 | n = 0; //Daten gueltig |
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- | 158 | } |
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- | 159 | else |
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23 | { |
160 | { |
- | 161 | gps_act_position.status = 0; //Keine gueltigen Daten |
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- | 162 | n = 2; |
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- | 163 | } |
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- | 164 | actual_pos.status = 0; //neue ublox Messages anfordern |
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- | 165 | actual_status.status = 0; |
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- | 166 | actual_speed.status = 0; |
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24 | GPS_Nick = 0; |
167 | } |
Line -... | Line 168... | ||
- | 168 | return (n); |
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- | 169 | } |
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- | 170 | ||
- | 171 | /* |
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- | 172 | Daten vom GPS im ublox MSG Format auswerten |
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- | 173 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
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- | 174 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
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- | 175 | */ |
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- | 176 | void Get_Ublox_Msg(uint8_t rx) |
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- | 177 | { |
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- | 178 | switch (ublox_msg_state) |
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- | 179 | { |
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- | 180 | ||
- | 181 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
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- | 182 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
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- | 183 | else ublox_msg_state = UBLOX_IDLE; |
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- | 184 | break; |
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- | 185 | ||
- | 186 | case UBLOX_SYNC1: |
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- | 187 | ||
- | 188 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
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- | 189 | else ublox_msg_state = UBLOX_IDLE; |
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- | 190 | chk_a = 0,chk_b = 0; |
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- | 191 | break; |
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- | 192 | ||
- | 193 | case UBLOX_SYNC2: |
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- | 194 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
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- | 195 | else ublox_msg_state = UBLOX_IDLE; |
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- | 196 | break; |
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- | 197 | ||
- | 198 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
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- | 199 | switch (rx) |
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- | 200 | { |
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- | 201 | case UBLOX_NAV_POSUTM: |
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- | 202 | ptr_pac_status = &actual_pos.status; |
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- | 203 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
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- | 204 | else |
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- | 205 | { |
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- | 206 | ptr_payload_data = &actual_pos; |
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- | 207 | ptr_payload_data_end = &actual_pos.status; |
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- | 208 | ublox_msg_state = UBLOX_LEN1; |
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- | 209 | } |
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- | 210 | break; |
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- | 211 | ||
- | 212 | case UBLOX_NAV_STATUS: |
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- | 213 | ptr_pac_status = &actual_status.status; |
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- | 214 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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- | 215 | else |
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- | 216 | { |
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- | 217 | ptr_payload_data = &actual_status; |
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- | 218 | ptr_payload_data_end = &actual_status.status; |
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- | 219 | ublox_msg_state = UBLOX_LEN1; |
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- | 220 | } |
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- | 221 | break; |
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- | 222 | ||
- | 223 | case UBLOX_NAV_VELED: |
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- | 224 | ptr_pac_status = &actual_speed.status; |
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- | 225 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
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- | 226 | else |
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- | 227 | { |
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- | 228 | ptr_payload_data = &actual_speed; |
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- | 229 | ptr_payload_data_end = &actual_speed.status; |
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- | 230 | ublox_msg_state = UBLOX_LEN1; |
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- | 231 | } |
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- | 232 | break; |
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- | 233 | ||
- | 234 | default: |
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- | 235 | ublox_msg_state = UBLOX_IDLE; |
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- | 236 | break; |
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- | 237 | } |
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- | 238 | chk_a = UBLOX_NAV_CLASS + rx; |
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- | 239 | chk_b = UBLOX_NAV_CLASS + chk_a; |
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- | 240 | break; |
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- | 241 | ||
- | 242 | case UBLOX_LEN1: // Laenge auswerten |
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- | 243 | rx_len = rx; |
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- | 244 | chk_a += rx; |
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- | 245 | chk_b += chk_a; |
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- | 246 | ublox_msg_state = UBLOX_LEN2; |
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- | 247 | break; |
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- | 248 | ||
- | 249 | ||
- | 250 | case UBLOX_LEN2: // Laenge auswerten |
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- | 251 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
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- | 252 | chk_a += rx; |
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Line -... | Line 253... | ||
- | 253 | chk_b += chk_a; |
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- | 254 | ublox_msg_state = UBLOX_PAYLOAD; |
|
- | 255 | break; |
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- | 256 | ||
- | 257 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
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- | 258 | if (rx_len > 0) |
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- | 259 | { |
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- | 260 | *ptr_payload_data = rx; |
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- | 261 | chk_a += rx; |
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- | 262 | chk_b += chk_a; |
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- | 263 | --rx_len; |
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- | 264 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
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- | 265 | { |
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- | 266 | ptr_payload_data++; |
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- | 267 | ublox_msg_state = UBLOX_PAYLOAD; |
|
- | 268 | } |
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Line -... | Line 269... | ||
- | 269 | else ublox_msg_state = UBLOX_CKA; |
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- | 270 | } |
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- | 271 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
|
- | 272 | break; |
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- | 273 | ||
- | 274 | case UBLOX_CKA: // Checksum pruefen |
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- | 275 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
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- | 276 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
|
- | 277 | break; |
|
- | 278 | ||
- | 279 | case UBLOX_CKB: // Checksum pruefen |
|
- | 280 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
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- | 281 | ublox_msg_state = UBLOX_IDLE; |
|
- | 282 | break; |
|
- | 283 | ||
- | 284 | default: |
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- | 285 | ublox_msg_state = UBLOX_IDLE; |
|
- | 286 | break; |
|
- | 287 | } |
|
- | 288 | } |
|
- | 289 | ||
- | 290 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
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- | 291 | short int GPS_CRTL(short int cmd) |
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- | 292 | { |
|
- | 293 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
|
- | 294 | static signed int int_east,int_north; //Integrierer |
|
- | 295 | static signed int dist_north,dist_east; |
|
- | 296 | static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
|
- | 297 | static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
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- | 298 | signed int n,diff_v; |
|
- | 299 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
|
- | 300 | long signed int dev,n_l; |
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- | 301 | signed int dist_frm_start_east,dist_frm_start_north; |
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- | 302 | switch (cmd) |
|
- | 303 | { |
|
- | 304 | ||
- | 305 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
|
- | 306 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
|
- | 307 | { |
|
- | 308 | cnt++; |
|
- | 309 | if (cnt > 500) // erst nach Verzoegerung |
|
- | 310 | { |
|
- | 311 | // Erst mal initialisieren |
|
- | 312 | cnt = 0; |
|
- | 313 | gps_tick = 0; |
|
- | 314 | hold_fast = 0; |
|
- | 315 | hold_reset_int = 0; // Integrator enablen |
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- | 316 | int_east = 0, int_north = 0; |
|
- | 317 | gps_reg_x = 0, gps_reg_y = 0; |
|
- | 318 | dist_east = 0, dist_north = 0; |
|
- | 319 | diff_east_f = 0, diff_north_f= 0; |
|
- | 320 | diff_east = 0, diff_north = 0; |
|
- | 321 | dist_flown = 0; |
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- | 322 | gps_g2t_act_v = 0; |
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- | 323 | gps_sub_state = GPS_CRTL_IDLE; |
|
- | 324 | // aktuelle positionsdaten abspeichern |
|
- | 325 | if (gps_rel_act_position.status > 0) |
|
- | 326 | { |
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- | 327 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
|
- | 328 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
|
- | 329 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
|
- | 330 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
|
- | 331 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
|
- | 332 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
|
- | 333 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
|
- | 334 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
|
- | 335 | // in Winkel 0...360 Grad umrechnen |
|
- | 336 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
|
- | 337 | else hdng_2home = (270 - hdng_2home); |
|
- | 338 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
|
- | 339 | gps_state = GPS_CRTL_HOME_ACTIVE; |
|
- | 340 | return (GPS_STST_OK); |
|
- | 341 | } |
|
- | 342 | else |
|
- | 343 | { |
|
- | 344 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
|
- | 345 | gps_state = GPS_CRTL_IDLE; |
|
- | 346 | return(GPS_STST_ERR); // Keine Daten da |
|
- | 347 | } |
|
- | 348 | } |
|
- | 349 | else return(GPS_STST_PEND); // noch warten |
|
- | 350 | } |
|
- | 351 | break; |
|
- | 352 | // ****************************** |
|
- | 353 | ||
- | 354 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
|
- | 355 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
|
- | 356 | { |
|
- | 357 | cnt++; |
|
- | 358 | if (cnt > 500) // erst nach Verzoegerung |
|
- | 359 | { |
|
- | 360 | cnt = 0; |
|
- | 361 | // aktuelle positionsdaten abspeichern |
|
- | 362 | if (gps_rel_act_position.status > 0) |
|
- | 363 | { |
|
- | 364 | hold_fast = 0; |
|
- | 365 | hold_reset_int = 0; // Integrator enablen |
|
- | 366 | int_east = 0, int_north = 0; |
|
- | 367 | gps_reg_x = 0, gps_reg_y = 0; |
|
- | 368 | dist_east = 0, dist_north = 0; |
|
- | 369 | diff_east_f = 0, diff_north_f= 0; |
|
- | 370 | diff_east = 0, diff_north = 0; |
|
- | 371 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
|
- | 372 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
|
- | 373 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
|
- | 374 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
|
- | 375 | return (GPS_STST_OK); |
|
- | 376 | } |
|
- | 377 | else |
|
- | 378 | { |
|
- | 379 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
|
- | 380 | gps_state = GPS_CRTL_IDLE; |
|
- | 381 | return(GPS_STST_ERR); // Keine Daten da |
|
- | 382 | } |
|
- | 383 | } |
|
- | 384 | else return(GPS_STST_PEND); // noch warten |
|
- | 385 | } |
|
- | 386 | break; |
|
- | 387 | ||
- | 388 | case GPS_CMD_STOP: // Lageregelung beenden |
|
- | 389 | cnt = 0; |
|
- | 390 | GPS_Nick = 0; |
|
- | 391 | GPS_Roll = 0; |
|
- | 392 | gps_int_x = 0; |
|
- | 393 | gps_int_y = 0; |
|
- | 394 | gps_sub_state = GPS_CRTL_IDLE; |
|
- | 395 | gps_state = GPS_CRTL_IDLE; |
|
- | 396 | return (GPS_STST_OK); |
|
- | 397 | break; |
|
- | 398 | ||
- | 399 | default: |
|
- | 400 | return (GPS_STST_ERR); |
|
- | 401 | break; |
|
- | 402 | } |
|
- | 403 | ||
- | 404 | switch (gps_state) |
|
- | 405 | { |
|
- | 406 | case GPS_CRTL_IDLE: |
|
- | 407 | cnt = 0; |
|
- | 408 | return (GPS_STST_OK); |
|
- | 409 | break; |
|
- | 410 | ||
- | 411 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
|
- | 412 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
|
- | 413 | if (gps_rel_start_position.status >0) |
|
- | 414 | { |
|
- | 415 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
|
- | 416 | { |
|
- | 417 | gps_tick++; |
|
- | 418 | int d1,d2,d3; |
|
- | 419 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
|
- | 420 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
|
- | 421 | d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
|
- | 422 | ||
- | 423 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
|
- | 424 | { |
|
- | 425 | if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
|
- | 426 | { |
|
- | 427 | if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
|
- | 428 | dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
- | 429 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
|
- | 430 | } |
|
- | 431 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
|
- | 432 | { |
|
- | 433 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
|
- | 434 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
|
- | 435 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
|
- | 436 | } |
|
- | 437 | hold_reset_int = 0; // Integrator einsschalten |
|
- | 438 | hold_fast = 1; // Regler fuer schnellen Flug |
|
- | 439 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
|
- | 440 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
|
- | 441 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
|
- | 442 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
|
- | 443 | } |
|
- | 444 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
|
- | 445 | { |
|
- | 446 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
|
- | 447 | { |
|
- | 448 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
- | 449 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
|
- | 450 | } |
|
- | 451 | else |
|
- | 452 | { |
|
- | 453 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
|
- | 454 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
|
- | 455 | } |
|
- | 456 | hold_reset_int = 0; // Integrator ausschalten |
|
- | 457 | hold_fast = 1; // Wieder normal regeln |
|
- | 458 | dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
|
- | 459 | dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
|
- | 460 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
|
- | 461 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
|
- | 462 | } |
|
- | 463 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
|
- | 464 | { |
|
- | 465 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
|
- | 466 | { |
|
- | 467 | gps_sub_state = GPS_HOME_IN_TOL; |
|
- | 468 | hold_fast = 0; // Wieder normal regeln |
|
- | 469 | hold_reset_int = 0; // Integrator wieder aktivieren |
|
- | 470 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
|
- | 471 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
|
- | 472 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
|
- | 473 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
|
- | 474 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
|
- | 475 | { |
|
- | 476 | gps_rel_hold_position.utm_east = 0; |
|
- | 477 | gps_rel_hold_position.utm_north = 0; |
|
- | 478 | gps_sub_state = GPS_HOME_FINISHED; |
|
- | 479 | } |
|
- | 480 | } |
|
- | 481 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
|
- | 482 | } |
|
- | 483 | } |
|
- | 484 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
|
- | 485 | return (GPS_STST_OK); |
|
- | 486 | } |
|
- | 487 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
|
- | 488 | { |
|
- | 489 | gps_state = GPS_CRTL_IDLE; |
|
- | 490 | return (GPS_STST_ERR); |
|
- | 491 | } |
|
- | 492 | break; |
|
- | 493 | ||
- | 494 | ||
- | 495 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
|
- | 496 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
|
- | 497 | { |
|
- | 498 | gps_updte_flag = 0; |
|
- | 499 | // ab hier wird geregelt |
|
- | 500 | diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
|
- | 501 | diff_north = -dist_north; |
|
- | 502 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
|
- | 503 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
|
- | 504 | int_east += dist_east; |
|
- | 505 | int_north += dist_north; |
|
- | 506 | diff_east += dist_east; // Differenz zur vorhergehenden East Position |
|
- | 507 | diff_north += dist_north; // Differenz zur vorhergehenden North Position |
|
- | 508 | ||
- | 509 | if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
|
- | 510 | { |
|
- | 511 | diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
|
- | 512 | diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
|
- | 513 | } |
|
- | 514 | else // schwache Filterung |
|
- | 515 | { |
|
- | 516 | diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
|
- | 517 | diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
|
- | 518 | } |
|
- | 519 | ||
- | 520 | #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
|
- | 521 | if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
|
- | 522 | { |
|
- | 523 | int_east -= dist_east; |
|
- | 524 | int_north -= dist_north; |
|
- | 525 | } |
|
- | 526 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
|
- | 527 | { |
|
- | 528 | int_east = 0; |
|
- | 529 | int_north = 0; |
|
- | 530 | } |
|
- | 531 | ||
- | 532 | // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
|
- | 533 | // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
|
- | 534 | signed long dist,int_east1,int_north1; |
|
- | 535 | int phi; |
|
- | 536 | phi = arctan_i(abs(dist_north),abs(dist_east)); |
|
- | 537 | dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
|
- | 538 | ||
- | 539 | if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
|
- | 540 | { |
|
- | 541 | diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
|
- | 542 | if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
|
- | 543 | } |
|
- | 544 | else |
|
- | 545 | { |
|
- | 546 | diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
|
- | 547 | if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
|
- | 548 | } |
|
- | 549 | ||
- | 550 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
|
- | 551 | if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
|
- | 552 | else diff_p = GPS_PROP_NRML_V; |
|
- | 553 | ||
- | 554 | //I Werte begrenzen |
|
- | 555 | #define INT1_MAX (20 * GPS_V) |
|
- | 556 | int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
|
- | 557 | int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
|
- | 558 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
|
- | 559 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
|
- | 560 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
|
- | 561 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
|
- | 562 | ||
- | 563 | //PID Regler Werte aufsummieren |
|
- | 564 | gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_east_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
|
- | 565 | gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_north_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
|
- | 566 | ||
- | 567 | //Ziel-Richtung bezogen auf Nordpol bestimmen |
|
- | 568 | GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
|
- | 569 | ||
- | 570 | // in Winkel 0...360 Grad umrechnen |
|
- | 571 | if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
|
- | 572 | else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
|
- | 573 | ||
- | 574 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
|
- | 575 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
|
- | 576 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
|
- | 577 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
|
- | 578 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
|
- | 579 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
|
- | 580 | ||
- | 581 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
|
- | 582 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
|
- | 583 | { |
|
- | 584 | dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
|
- | 585 | dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
|
- | 586 | } |
|
- | 587 | else |
|
- | 588 | { |
|
- | 589 | dev = (long)gps_reg_y; |
|
- | 590 | dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
|
- | 591 | } |
|
- | 592 | GPS_dist_2trgt = (int) dev; |
|
- | 593 | // Winkel und Distanz in Nick und Rollgroessen umrechnen |
|
- | 594 | GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
|
- | 595 | GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
|
- | 596 | ||
- | 597 | if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
|
- | 598 | else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
|
- | 599 | if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
|
- | 600 | else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
|
- | 601 | ||
- | 602 | //Kleine Werte verstaerken, Grosse abschwaechen |
|
- | 603 | n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
|
- | 604 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
|
- | 605 | GPS_Roll = (int) n_l; |
|
- | 606 | n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
|
- | 607 | n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
|
- | 608 | GPS_Nick = (int) n_l; |
|
- | 609 | ||
- | 610 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
|
- | 611 | { |
|
- | 612 | GPS_Roll = 0; |
|
- | 613 | GPS_Nick = 0; |
|
- | 614 | gps_state = GPS_CRTL_IDLE; |
|
- | 615 | return (GPS_STST_ERR); |
|
- | 616 | break; |
|
- | 617 | } |
|
- | 618 | else |
|
- | 619 | { |
|
- | 620 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
- | 621 | return (GPS_STST_OK); |
|
- | 622 | } |
|
- | 623 | } |
|
- | 624 | else |
|
- | 625 | { |
|
- | 626 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
- | 627 | return (GPS_STST_OK); |
|
- | 628 | } |
|
- | 629 | break; |
|
- | 630 | ||
- | 631 | default: |
|
- | 632 | gps_state = GPS_CRTL_IDLE; |
|
- | 633 | return (GPS_STST_ERR); |