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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 |
|
| - | 13 | */ |
|
| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
15 | von Peter Muehlenbrock alias Salvo |
| 3 | // + only for non-profit use |
16 | Auswertung der Daten vom GPS im ublox Format |
| 4 | // + www.MikroKopter.com |
17 | Hold Modus mit PID Regler |
| - | 18 | Rückstuerz zur Basis Funktion |
|
| 5 | // + see the File "License.txt" for further Informations |
19 | Umstellung auf NaviParameter an Flight Version 00.70d |
| - | 20 | GPS_V durch gps_gain ersetzt, damit Einstellung durch MK Tool möglich wird |
|
| - | 21 | ||
| - | 22 | Stand 7.12.2008 |
|
| - | 23 | ||
| - | 24 | Aenderung 7.12.2008: an Coming Home geschraubt |
|
| - | 25 | Aenderung 27.11.2008: gps_gain erhoeht |
|
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 27 | */ |
|
| 7 | #include "main.h" |
28 | #include "main.h" |
| - | 29 | #include "math.h" |
|
| - | 30 | //#include "gps.h" |
|
| - | 31 | ||
| - | 32 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
|
| - | 33 | #define UBLOX_IDLE 0 |
|
| - | 34 | #define UBLOX_SYNC1 1 |
|
| - | 35 | #define UBLOX_SYNC2 2 |
|
| - | 36 | #define UBLOX_CLASS 3 |
|
| - | 37 | #define UBLOX_ID 4 |
|
| - | 38 | #define UBLOX_LEN1 5 |
|
| - | 39 | #define UBLOX_LEN2 6 |
|
| - | 40 | #define UBLOX_CKA 7 |
|
| - | 41 | #define UBLOX_CKB 8 |
|
| - | 42 | #define UBLOX_PAYLOAD 9 |
|
| - | 43 | ||
| - | 44 | // ublox Protokoll Identifier |
|
| - | 45 | #define UBLOX_NAV_POSUTM 0x08 |
|
| - | 46 | #define UBLOX_NAV_STATUS 0x03 |
|
| - | 47 | #define UBLOX_NAV_VELED 0x12 |
|
| - | 48 | #define UBLOX_NAV_CLASS 0x01 |
|
| - | 49 | #define UBLOX_SYNCH1_CHAR 0xB5 |
|
| - | 50 | #define UBLOX_SYNCH2_CHAR 0x62 |
|
| - | 51 | ||
| - | 52 | signed int GPS_Nick = 0; |
|
| - | 53 | signed int GPS_Roll = 0; |
|
| - | 54 | signed int GPS_Nick2 = 0; |
|
| - | 55 | signed int GPS_Roll2 = 0; |
|
| - | 56 | short int ublox_msg_state = UBLOX_IDLE; |
|
| - | 57 | static uint8_t chk_a =0; //Checksum |
|
| - | 58 | static uint8_t chk_b =0; |
|
| - | 59 | short int gps_state,gps_sub_state; //Zustaende der Statemachine |
|
| - | 60 | short int gps_updte_flag; |
|
| - | 61 | static long signed gps_reg_x,gps_reg_y; |
|
| - | 62 | static unsigned int rx_len; |
|
| - | 63 | static unsigned int ptr_payload_data_end; |
|
| - | 64 | unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
|
| - | 65 | static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
|
| - | 66 | static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
|
| - | 67 | static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
|
| - | 68 | static uint8_t *ptr_payload_data; |
|
| - | 69 | static uint8_t *ptr_pac_status; |
|
| - | 70 | static int dist_flown; |
|
| - | 71 | //static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
|
| - | 72 | static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen |
|
| - | 73 | static long int limit_gain; // Teilerfaktor Regelabweichung zu Ausgabewert |
|
| - | 74 | static int gps_gain ; // Verstaerkunsgfaktor*10 |
|
| - | 75 | ||
| - | 76 | short int Get_GPS_data(void); |
|
| - | 77 | ||
| - | 78 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
|
| - | 79 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
|
| - | 80 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
|
| Line 8... | Line 81... | ||
| 8 | 81 | ||
| 9 | signed int GPS_Nick = 0; |
82 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
| 10 | signed int GPS_Roll = 0; |
83 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
| 11 | signed int GPS_Nick2 = 0; |
84 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
| 12 | signed int GPS_Roll2 = 0; |
- | |
| 13 | long GpsAktuell_X = 0; |
85 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
| 14 | long GpsAktuell_Y = 0; |
- | |
| 15 | long GpsZiel_X = 0; |
- | |
| 16 | long GpsZiel_Y = 0; |
86 | GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
| - | 87 | ||
| 17 | 88 | // Initialisierung |
|
| 18 | void GPS_Neutral(void) |
89 | void GPS_Neutral(void) |
| - | 90 | { |
|
| - | 91 | ublox_msg_state = UBLOX_IDLE; |
|
| - | 92 | gps_state = GPS_CRTL_IDLE; |
|
| - | 93 | gps_sub_state = GPS_CRTL_IDLE; |
|
| - | 94 | actual_pos.status = 0; |
|
| - | 95 | actual_speed.status = 0; |
|
| - | 96 | actual_status.status = 0; |
|
| - | 97 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
|
| - | 98 | gps_act_position.status = 0; |
|
| - | 99 | gps_rel_act_position.status = 0; |
|
| - | 100 | GPS_Nick = 0; |
|
| - | 101 | GPS_Roll = 0; |
|
| - | 102 | gps_updte_flag = 0; |
|
| - | 103 | gps_alive_cnt = 0; |
|
| - | 104 | ||
| - | 105 | } |
|
| - | 106 | ||
| - | 107 | // Home Position sichern falls Daten verfuegbar sind. |
|
| - | 108 | void GPS_Save_Home(void) |
|
| - | 109 | { |
|
| - | 110 | short int n; |
|
| - | 111 | n = Get_GPS_data(); |
|
| - | 112 | if (n == 0) // Gueltige und aktuelle Daten ? |
|
| - | 113 | { |
|
| - | 114 | // Neue GPS Daten liegen vor |
|
| - | 115 | gps_home_position.utm_east = gps_act_position.utm_east; |
|
| - | 116 | gps_home_position.utm_north = gps_act_position.utm_north; |
|
| - | 117 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
|
| - | 118 | gps_home_position.status = 1; // Home Position gueltig |
|
| - | 119 | } |
|
| - | 120 | } |
|
| - | 121 | ||
| - | 122 | // Relative Position zur Home Position bestimmen |
|
| - | 123 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
|
| - | 124 | short int Get_Rel_Position(void) |
|
| - | 125 | { |
|
| - | 126 | short int n = 0; |
|
| - | 127 | n = Get_GPS_data(); |
|
| - | 128 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
|
| - | 129 | if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
|
| - | 130 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
|
| - | 131 | { |
|
| - | 132 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
|
| - | 133 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
|
| - | 134 | gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
|
| - | 135 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
|
| - | 136 | n = 0; |
|
| - | 137 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
|
| - | 138 | } |
|
| - | 139 | else |
|
| - | 140 | { |
|
| - | 141 | n = 2; //keine gueltigen Daten vorhanden |
|
| - | 142 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
|
| - | 143 | } |
|
| - | 144 | return (n); |
|
| - | 145 | } |
|
| - | 146 | ||
| - | 147 | // Daten aus aktuellen ublox Messages extrahieren |
|
| - | 148 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
|
| - | 149 | short int Get_GPS_data(void) |
|
| - | 150 | { |
|
| - | 151 | short int n = 1; |
|
| - | 152 | ||
| - | 153 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
|
| - | 154 | gps_gain = Parameter_NaviGpsGain/5; |
|
| - | 155 | limit_gain = 8; |
|
| - | 156 | // debug_gp_0 = (int)limit_gain; // zum Debuggen |
|
| - | 157 | ||
| - | 158 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
|
| - | 159 | { |
|
| - | 160 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
|
| - | 161 | { |
|
| - | 162 | actual_status.status = 0; |
|
| - | 163 | gps_act_position.utm_east = actual_pos.utm_east/10; |
|
| - | 164 | gps_act_position.utm_north = actual_pos.utm_north/10; |
|
| - | 165 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
|
| - | 166 | actual_pos.status = 0; //neue ublox Messages anfordern |
|
| - | 167 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
|
| - | 168 | gps_act_position.speed_gnd = actual_speed.speed_gnd; |
|
| - | 169 | gps_act_position.heading = actual_speed.heading/100000; |
|
| - | 170 | actual_speed.status = 0; |
|
| - | 171 | gps_act_position.status = 1; |
|
| - | 172 | n = 0; //Daten gueltig |
|
| - | 173 | } |
|
| - | 174 | else |
|
| - | 175 | { |
|
| 19 | { |
176 | gps_act_position.status = 0; //Keine gueltigen Daten |
| 20 | GpsZiel_X = GpsAktuell_X; |
177 | actual_speed.status = 0; |
| - | 178 | actual_status.status = 0; |
|
| - | 179 | actual_pos.status = 0; //neue ublox Messages anfordern |
|
| - | 180 | n = 2; |
|
| - | 181 | } |
|
| - | 182 | } |
|
| 21 | GpsZiel_Y = GpsAktuell_Y; |
183 | return (n); |
| Line -... | Line 184... | ||
| - | 184 | } |
|
| - | 185 | ||
| - | 186 | /* |
|
| - | 187 | Daten vom GPS im ublox MSG Format auswerten |
|
| - | 188 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
|
| 22 | } |
189 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
| 23 | 190 | */ |
|
| - | 191 | void Get_Ublox_Msg(uint8_t rx) |
|
| - | 192 | { |
|
| - | 193 | switch (ublox_msg_state) |
|
| - | 194 | { |
|
| - | 195 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
|
| - | 196 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
|
| - | 197 | else ublox_msg_state = UBLOX_IDLE; |
|
| - | 198 | break; |
|
| - | 199 | ||
| - | 200 | case UBLOX_SYNC1: |
|
| - | 201 | ||
| - | 202 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
|
| - | 203 | else ublox_msg_state = UBLOX_IDLE; |
|
| - | 204 | chk_a = 0,chk_b = 0; |
|
| - | 205 | break; |
|
| - | 206 | ||
| - | 207 | case UBLOX_SYNC2: |
|
| - | 208 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
|
| - | 209 | else ublox_msg_state = UBLOX_IDLE; |
|
| - | 210 | break; |
|
| - | 211 | ||
| - | 212 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
|
| - | 213 | switch (rx) |
|
| - | 214 | { |
|
| - | 215 | case UBLOX_NAV_POSUTM: |
|
| - | 216 | ptr_pac_status = &actual_pos.status; |
|
| - | 217 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
|
| - | 218 | else |
|
| - | 219 | { |
|
| - | 220 | ptr_payload_data = &actual_pos; |
|
| - | 221 | ptr_payload_data_end = &actual_pos.status; |
|
| - | 222 | ublox_msg_state = UBLOX_LEN1; |
|
| - | 223 | } |
|
| - | 224 | break; |
|
| - | 225 | ||
| - | 226 | case UBLOX_NAV_STATUS: |
|
| - | 227 | ptr_pac_status = &actual_status.status; |
|
| - | 228 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
|
| - | 229 | else |
|
| - | 230 | { |
|
| - | 231 | ptr_payload_data = &actual_status; |
|
| - | 232 | ptr_payload_data_end = &actual_status.status; |
|
| - | 233 | ublox_msg_state = UBLOX_LEN1; |
|
| - | 234 | } |
|
| - | 235 | break; |
|
| - | 236 | ||
| - | 237 | case UBLOX_NAV_VELED: |
|
| - | 238 | ptr_pac_status = &actual_speed.status; |
|
| - | 239 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
|
| - | 240 | else |
|
| - | 241 | { |
|
| - | 242 | ptr_payload_data = &actual_speed; |
|
| - | 243 | ptr_payload_data_end = &actual_speed.status; |
|
| - | 244 | ublox_msg_state = UBLOX_LEN1; |
|
| - | 245 | } |
|
| - | 246 | break; |
|
| - | 247 | ||
| - | 248 | default: |
|
| - | 249 | ublox_msg_state = UBLOX_IDLE; |
|
| - | 250 | break; |
|
| - | 251 | } |
|
| - | 252 | chk_a = UBLOX_NAV_CLASS + rx; |
|
| - | 253 | chk_b = UBLOX_NAV_CLASS + chk_a; |
|
| - | 254 | break; |
|
| 24 | void GPS_BerechneZielrichtung(void) |
255 | |
| - | 256 | case UBLOX_LEN1: // Laenge auswerten |
|
| - | 257 | rx_len = rx; |
|
| - | 258 | chk_a += rx; |
|
| - | 259 | chk_b += chk_a; |
|
| - | 260 | ublox_msg_state = UBLOX_LEN2; |
|
| - | 261 | break; |
|
| - | 262 | ||
| - | 263 | ||
| 25 | { |
264 | case UBLOX_LEN2: // Laenge auswerten |
| - | 265 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
|
| - | 266 | chk_a += rx; |
|
| - | 267 | chk_b += chk_a; |
|
| - | 268 | ublox_msg_state = UBLOX_PAYLOAD; |
|
| - | 269 | break; |
|
| - | 270 | ||
| - | 271 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
|
| - | 272 | if (rx_len > 0) |
|
| - | 273 | { |
|
| - | 274 | *ptr_payload_data = rx; |
|
| - | 275 | chk_a += rx; |
|
| - | 276 | chk_b += chk_a; |
|
| - | 277 | --rx_len; |
|
| - | 278 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
|
| - | 279 | { |
|
| - | 280 | ptr_payload_data++; |
|
| - | 281 | ublox_msg_state = UBLOX_PAYLOAD; |
|
| - | 282 | } |
|
| - | 283 | else ublox_msg_state = UBLOX_CKA; |
|
| - | 284 | } |
|
| - | 285 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
|
| - | 286 | break; |
|
| - | 287 | ||
| - | 288 | case UBLOX_CKA: // Checksum pruefen |
|
| - | 289 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
|
| - | 290 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
|
| - | 291 | break; |
|
| - | 292 | ||
| - | 293 | case UBLOX_CKB: // Checksum pruefen |
|
| - | 294 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
|
| - | 295 | ublox_msg_state = UBLOX_IDLE; |
|
| - | 296 | break; |
|
| - | 297 | ||
| - | 298 | default: |
|
| - | 299 | ublox_msg_state = UBLOX_IDLE; |
|
| 26 | GPS_Nick = 0; |
300 | break; |
| - | 301 | } |
|
| - | 302 | } |
|
| - | 303 | ||
| - | 304 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
|
| - | 305 | short int GPS_CRTL(short int cmd) |
|
| - | 306 | { |
|
| - | 307 | static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen |
|
| - | 308 | static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition |
|
| - | 309 | signed int n; |
|
| - | 310 | static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
|
| - | 311 | signed int dist_frm_start_east,dist_frm_start_north; |
|
| - | 312 | int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil |
|
| - | 313 | static signed int int_east,int_north; //Integrierer |
|
| - | 314 | long int speed_east,speed_north; //Aktuelle Geschwindigkeit |
|
| - | 315 | signed long int_east1,int_north1; |
|
| - | 316 | int dist_east,dist_north; |
|
| - | 317 | int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
|
| - | 318 | long ni,ro; // Nick und Roll Zwischenwerte |
|
| - | 319 | ||
| - | 320 | ||
| - | 321 | switch (cmd) |
|
| - | 322 | { |
|
| - | 323 | ||
| - | 324 | case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
|
| - | 325 | if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
|
| - | 326 | { |
|
| - | 327 | cnt++; |
|
| - | 328 | if (cnt > 100) // erst nach Verzoegerung |
|
| - | 329 | { |
|
| - | 330 | // Erst mal initialisieren |
|
| - | 331 | cnt = 0; |
|
| - | 332 | gps_tick = 0; |
|
| - | 333 | hold_fast = 0; |
|
| - | 334 | hold_reset_int = 0; // Integrator enablen |
|
| - | 335 | int_east = 0, int_north = 0; |
|
| - | 336 | gps_reg_x = 0, gps_reg_y = 0; |
|
| - | 337 | delta_east = 0, delta_north = 0; |
|
| - | 338 | dist_flown = 0; |
|
| - | 339 | gps_g2t_act_v = 0; |
|
| - | 340 | gps_sub_state = GPS_CRTL_IDLE; |
|
| - | 341 | // aktuelle positionsdaten abspeichern |
|
| - | 342 | if (gps_rel_act_position.status > 0) |
|
| - | 343 | { |
|
| - | 344 | gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
|
| - | 345 | gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
|
| - | 346 | gps_rel_start_position.status = 1; // gueltige Positionsdaten |
|
| - | 347 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
|
| - | 348 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
|
| - | 349 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
|
| - | 350 | //Richtung zur Home Position bezogen auf Nordpol bestimmen |
|
| - | 351 | hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
|
| - | 352 | // in Winkel 0...360 Grad umrechnen |
|
| - | 353 | if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
|
| - | 354 | else hdng_2home = (270 - hdng_2home); |
|
| - | 355 | dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
|
| - | 356 | gps_state = GPS_CRTL_HOME_ACTIVE; |
|
| - | 357 | return (GPS_STST_OK); |
|
| - | 358 | } |
|
| - | 359 | else |
|
| - | 360 | { |
|
| - | 361 | gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
|
| - | 362 | gps_state = GPS_CRTL_IDLE; |
|
| - | 363 | return(GPS_STST_ERR); // Keine Daten da |
|
| - | 364 | } |
|
| - | 365 | } |
|
| - | 366 | else return(GPS_STST_PEND); // noch warten |
|
| - | 367 | } |
|
| - | 368 | break; |
|
| - | 369 | // ****************************** |
|
| - | 370 | ||
| - | 371 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
|
| - | 372 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
|
| - | 373 | { |
|
| - | 374 | cnt++; |
|
| - | 375 | if (cnt > 600) // erst nach Verzoegerung |
|
| - | 376 | { |
|
| - | 377 | cnt = 0; |
|
| - | 378 | // aktuelle positionsdaten abspeichern |
|
| - | 379 | if (gps_rel_act_position.status > 0) |
|
| - | 380 | { |
|
| - | 381 | hold_fast = 0; |
|
| - | 382 | hold_reset_int = 0; // Integrator enablen |
|
| - | 383 | int_east = 0, int_north = 0; |
|
| - | 384 | gps_reg_x = 0, gps_reg_y = 0; |
|
| - | 385 | delta_east = 0, delta_north = 0; |
|
| - | 386 | speed_east = 0; speed_north= 0; |
|
| - | 387 | // int_ovfl_cnt = 0; |
|
| - | 388 | gps_quiet_cnt = 0; |
|
| - | 389 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
|
| - | 390 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
|
| - | 391 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
|
| - | 392 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
|
| - | 393 | return (GPS_STST_OK); |
|
| - | 394 | } |
|
| - | 395 | else |
|
| - | 396 | { |
|
| - | 397 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
|
| - | 398 | gps_state = GPS_CRTL_IDLE; |
|
| - | 399 | return(GPS_STST_ERR); // Keine Daten da |
|
| - | 400 | } |
|
| - | 401 | } |
|
| - | 402 | else return(GPS_STST_PEND); // noch warten |
|
| - | 403 | } |
|
| - | 404 | break; |
|
| - | 405 | ||
| - | 406 | case GPS_CMD_STOP: // Lageregelung beenden |
|
| - | 407 | cnt = 0; |
|
| - | 408 | GPS_Nick = 0; |
|
| - | 409 | GPS_Roll = 0; |
|
| - | 410 | gps_sub_state = GPS_CRTL_IDLE; |
|
| - | 411 | gps_state = GPS_CRTL_IDLE; |
|
| - | 412 | return (GPS_STST_OK); |
|
| - | 413 | break; |
|
| - | 414 | ||
| - | 415 | default: |
|
| - | 416 | return (GPS_STST_ERR); |
|
| - | 417 | break; |
|
| - | 418 | } |
|
| - | 419 | ||
| - | 420 | switch (gps_state) |
|
| - | 421 | { |
|
| - | 422 | case GPS_CRTL_IDLE: |
|
| - | 423 | cnt = 0; |
|
| - | 424 | return (GPS_STST_OK); |
|
| - | 425 | break; |
|
| - | 426 | ||
| - | 427 | case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
|
| - | 428 | //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
|
| - | 429 | if (gps_rel_start_position.status >0) |
|
| - | 430 | { |
|
| - | 431 | if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
|
| - | 432 | { |
|
| - | 433 | gps_tick++; |
|
| - | 434 | int d1,d2,d3; |
|
| - | 435 | d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
|
| - | 436 | d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
|
| - | 437 | d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel |
|
| - | 438 | ||
| - | 439 | if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
|
| - | 440 | { |
|
| - | 441 | if ((d1 < (GPS_G2T_FAST_TOL/2)) && (d2 < (GPS_G2T_FAST_TOL/2))) //voll Stoff weiter wenn Lage gut innerhalb der Toleranz |
|
| - | 442 | { |
|
| - | 443 | if (gps_g2t_act_v < GPS_G2T_V_MAX-1) gps_g2t_act_v += 2; //Geschwindigkeit erhoehen |
|
| - | 444 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
| - | 445 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
|
| - | 446 | } |
|
| - | 447 | else if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
|
| - | 448 | { |
|
| - | 449 | if (gps_g2t_act_v > (GPS_G2T_V_MAX/2)) gps_g2t_act_v -= 1; //Geschwindigkeit auf Haelfte runter oder rauffahren |
|
| - | 450 | else if (gps_g2t_act_v < (GPS_G2T_V_MAX/2)) gps_g2t_act_v += 1; |
|
| - | 451 | dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
| - | 452 | gps_sub_state = GPS_HOME_FAST_IN_TOL; |
|
| - | 453 | } |
|
| - | 454 | else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
|
| - | 455 | { |
|
| - | 456 | if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
|
| - | 457 | // dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
|
| - | 458 | gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
|
| - | 459 | } |
|
| - | 460 | hold_reset_int = 1; // Integrator aussschalten |
|
| - | 461 | hold_fast = 1; // Regler fuer schnellen Flug |
|
| - | 462 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
|
| - | 463 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
|
| - | 464 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
|
| - | 465 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
|
| - | 466 | } |
|
| - | 467 | else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
|
| - | 468 | { |
|
| - | 469 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
|
| - | 470 | { |
|
| - | 471 | dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
|
| - | 472 | gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
|
| - | 473 | } |
|
| - | 474 | else |
|
| - | 475 | { |
|
| - | 476 | dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
|
| - | 477 | gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
|
| - | 478 | } |
|
| - | 479 | hold_reset_int = 0; // Integrator einsschalten |
|
| - | 480 | hold_fast = 1; // Regler fuer schnellen Flug |
|
| - | 481 | dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
|
| - | 482 | dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
|
| - | 483 | gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
|
| - | 484 | gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
|
| - | 485 | } |
|
| - | 486 | else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
|
| - | 487 | { |
|
| - | 488 | if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
|
| - | 489 | { |
|
| - | 490 | gps_sub_state = GPS_HOME_IN_TOL; |
|
| - | 491 | hold_fast = 0; // Wieder normal regeln |
|
| - | 492 | hold_reset_int = 0; // Integrator einsschalten |
|
| - | 493 | if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
|
| - | 494 | else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
|
| - | 495 | if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
|
| - | 496 | else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
|
| - | 497 | if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
|
| - | 498 | { |
|
| - | 499 | gps_rel_hold_position.utm_east = 0; |
|
| - | 500 | gps_rel_hold_position.utm_north = 0; |
|
| - | 501 | gps_sub_state = GPS_HOME_FINISHED; |
|
| - | 502 | } |
|
| - | 503 | } |
|
| - | 504 | else gps_sub_state = GPS_HOME_OUTOF_TOL; |
|
| - | 505 | } |
|
| - | 506 | } |
|
| - | 507 | gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
|
| - | 508 | return (GPS_STST_OK); |
|
| - | 509 | } |
|
| - | 510 | else // Keine GPS Daten verfuegbar, deswegen Abbruch |
|
| - | 511 | { |
|
| - | 512 | gps_state = GPS_CRTL_IDLE; |
|
| - | 513 | return (GPS_STST_ERR); |
|
| - | 514 | } |
|
| Line -... | Line 515... | ||
| - | 515 | break; |
|
| - | 516 | ||
| - | 517 | ||
| - | 518 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
|
| - | 519 | if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
|
| - | 520 | { |
|
| - | 521 | gps_quiet_cnt++; |
|
| - | 522 | // ab hier wird geregelt |
|
| - | 523 | delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east); |
|
| - | 524 | delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north); |
|
| - | 525 | int_east += (int)(delta_east*gps_gain)/10; |
|
| - | 526 | int_north += (int)(delta_north*gps_gain)/10; |
|
| - | 527 | speed_east = actual_speed.speed_e; |
|
| - | 528 | speed_north = actual_speed.speed_n; |
|
| - | 529 | gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden |
|
| Line -... | Line 530... | ||
| - | 530 | dist_east = (int)delta_east; //merken |
|
| - | 531 | dist_north = (int)delta_north; |
|
| - | 532 | ||
| - | 533 | ||
| - | 534 | // #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
|
| - | 535 | long int gpsintmax; |
|
| - | 536 | if (Parameter_NaviGpsI > 0) |
|
| - | 537 | { |
|
| - | 538 | gpsintmax = (GPS_NICKROLL_MAX * limit_gain * GPS_USR_PAR_FKT * ((32*3)/10))/(long)Parameter_NaviGpsI; //auf ungefeahren Maximalwert begrenzen |
|
| - | 539 | if ((abs(int_east) > (int)gpsintmax) || (abs(int_north)> (int)gpsintmax)) |
|
| - | 540 | { |
|
| - | 541 | // // = 1; // Zahl der Overflows zaehlen |
|
| Line -... | Line 542... | ||
| - | 542 | // int_ovfl_cnt -= 1; |
|
| - | 543 | int_east = (int_east * 6)/8; // Wert reduzieren |
|
| - | 544 | int_north = (int_north* 6)/8; |
|
| - | 545 | } |
|
| - | 546 | ||
| - | 547 | if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
|
| - | 548 | { |
|
| - | 549 | int_east = 0; |
|
| - | 550 | int_north = 0; |
|
| - | 551 | } |
|
| - | 552 | } |
|
| - | 553 | else // Integrator deaktiviert |
|
| - | 554 | { |
|
| - | 555 | int_east = 0; |
|
| - | 556 | int_north = 0; |
|
| - | 557 | } |
|
| - | 558 | ||
| - | 559 | debug_gp_4 = (int)int_east; // zum Debuggen |
|
| - | 560 | debug_gp_5 = (int)int_north; // zum Debuggen |
|
| - | 561 | ||
| - | 562 | //I Werte begrenzen |
|
| - | 563 | #define INT1_MAX (GPS_NICKROLL_MAX * limit_gain*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen |
|
| - | 564 | int_east1 = ((((long)int_east) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
|
| - | 565 | int_north1 = ((((long)int_north) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT; |
|
| - | 566 | if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
|
| - | 567 | else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
|
| - | 568 | if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
|
| - | 569 | else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
|
| - | 570 | ||
| - | 571 | if (hold_fast > 0) //schneller Coming Home Modus |
|
| - | 572 | { |
|
| - | 573 | amplfy_speed_east = DIFF_Y_F_MAX; |
|
| - | 574 | amplfy_speed_north = DIFF_Y_F_MAX; |
|
| - | 575 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
|
| - | 576 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
|
| - | 577 | speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /400; |
|
| - | 578 | speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/400; |
|
| - | 579 | // D Werte begrenzen |
|
| - | 580 | #define D_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
|
| - | 581 | if (speed_east > D_F_MAX) speed_east = D_F_MAX; |
|
| - | 582 | else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX; |
|
| - | 583 | if (speed_north > D_F_MAX) speed_north = D_F_MAX; |
|
| - | 584 | else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX; |
|
| - | 585 | ||
| - | 586 | diff_p = (Parameter_NaviGpsP * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
|
| - | 587 | } |
|
| - | 588 | else //langsamer Holdmodus |
|
| - | 589 | { |
|
| - | 590 | amplfy_speed_east = DIFF_Y_N_MAX; |
|
| - | 591 | amplfy_speed_north = DIFF_Y_N_MAX; |
|
| - | 592 | amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
|
| - | 593 | amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT); |
|
| - | 594 | speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /250; |
|
| - | 595 | speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/250; |
|
| - | 596 | // D Werte begrenzen |
|
| - | 597 | #define D_N_MAX (GPS_NICKROLL_MAX * limit_gain*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
|
| - | 598 | if (speed_east > D_N_MAX) speed_east = D_N_MAX; |
|
| - | 599 | else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX; |
|
| - | 600 | if (speed_north > D_N_MAX) speed_north = D_N_MAX; |
|
| - | 601 | else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX; |
|
| - | 602 | ||
| - | 603 | diff_p = (Parameter_NaviGpsP * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
|
| - | 604 | } |
|
| - | 605 | ||
| - | 606 | // debug_gp_4 = (int)speed_east; // zum Debuggen |
|
| - | 607 | // debug_gp_5 = (int)speed_north; // zum Debuggen |
|
| - | 608 | ||
| - | 609 | //P-Werte verstaerken |
|
| - | 610 | delta_east = (delta_east * (long)diff_p*gps_gain)/(400); |
|
| - | 611 | delta_north = (delta_north * (long)diff_p*gps_gain)/(400); |
|
| - | 612 | ||
| - | 613 | if (hold_fast > 0) //schneller Coming Home Modus |
|
| - | 614 | { |
|
| - | 615 | // P Werte begrenzen |
|
| - | 616 | #define P1_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
|
| - | 617 | if (delta_east > P1_F_MAX) delta_east = P1_F_MAX; |
|
| - | 618 | else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX; |
|
| - | 619 | if (delta_north > P1_F_MAX) delta_north = P1_F_MAX; |
|
| - | 620 | else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX; |
|
| - | 621 | } |
|
| - | 622 | else // Hold modus |
|
| - | 623 | { |
|
| - | 624 | // P Werte begrenzen |
|
| - | 625 | #define P1_N_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
|
| - | 626 | if (delta_east > P1_N_MAX) delta_east = P1_N_MAX; |
|
| - | 627 | else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX; |
|
| - | 628 | if (delta_north > P1_N_MAX) delta_north = P1_N_MAX; |
|
| - | 629 | else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX; |
|
| - | 630 | } |
|
| - | 631 | ||
| - | 632 | debug_gp_2 = (int)delta_east; // zum Debuggen |
|
| - | 633 | debug_gp_3 = (int)delta_north; // zum Debuggen |
|
| - | 634 | ||
| - | 635 | ||
| - | 636 | //PID Regler Werte aufsummieren |
|
| - | 637 | gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse |
|
| - | 638 | gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse |
|
| - | 639 | debug_gp_0 = (int)gps_reg_x; // zum Debuggen |
|
| - | 640 | debug_gp_1 = (int)gps_reg_y; // zum Debuggen |
|
| - | 641 | ||
| - | 642 | // Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen |
|
| - | 643 | n = GyroKomp_Int/GIER_GRAD_FAKTOR; //Ausrichtung Kopter |
|
| - | 644 | ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000L*(long)limit_gain); |
|
| - | 645 | ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000L*(long)limit_gain); |
|
| - | 646 | ||
| - | 647 | if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX); |
|
| - | 648 | else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX ); |
|
| - | 649 | if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX ); |
|
| - | 650 | else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX ); |
|
| - | 651 | ||
| - | 652 | if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
|
| - | 653 | { |
|
| - | 654 | GPS_Roll = 0; |
|
| - | 655 | GPS_Nick = 0; |
|
| - | 656 | gps_state = GPS_CRTL_IDLE; |
|
| - | 657 | return (GPS_STST_ERR); |
|
| - | 658 | break; |
|
| - | 659 | } |
|
| - | 660 | else if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen |
|
| - | 661 | { |
|
| - | 662 | gps_quiet_cnt++; |
|
| - | 663 | GPS_Roll = 0; |
|
| - | 664 | GPS_Nick = 0; |
|
| - | 665 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
| - | 666 | return (GPS_STST_OK); |
|
| - | 667 | } |
|
| - | 668 | else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4)) |
|
| - | 669 | { |
|
| - | 670 | gps_quiet_cnt = 0; |
|
| - | 671 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
| - | 672 | return (GPS_STST_OK); |
|
| - | 673 | } |
|
| - | 674 | else |
|
| - | 675 | { |
|
| - | 676 | GPS_Roll = (int)ro; |
|
| - | 677 | GPS_Nick = (int)ni; |
|
| - | 678 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
| - | 679 | return (GPS_STST_OK); |
|
| - | 680 | } |
|
| - | 681 | } |
|
| - | 682 | else |
|
| - | 683 | { |
|
| - | 684 | if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
|
| - | 685 | return (GPS_STST_OK); |
|
| - | 686 | } |
|
| - | 687 | break; |
|
| - | 688 | ||
| - | 689 | default: |
|
| - | 690 | gps_state = GPS_CRTL_IDLE; |
|
| - | 691 | return (GPS_STST_ERR); |
|