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/*
* tracking.h
*
* Created on: 13.02.2012
* Author: cebra
*/
#ifndef TRACKING_H_
#define TRACKING_H_
#define REPEAT 1
#define REPEAT_MIN 1
#define REPEAT_MAX 100
#define PAUSE 10
#define PAUSE_MIN 4 // mindestens 400ms, da mechanischer Servo-Lauf zur Position berücksichtigt werden muss
#define PAUSE_MAX 20 // Pause pro Links-, Mittel- und Rechtsposition 10*100ms
#define PAUSE_STEP 0
#define PAUSE_STEP_MIN 0 // Pause bei jeden Servoschritt in ms
#define PAUSE_STEP_MAX 200
/* Antennen-Nachführung */
#define TRACKING_MIN 0 // aus, TRACKING_RSSI, TRACKING_GPS, TRACKING_MKCOCKPIT, TRACKING_NMEA
#define TRACKING_MAX 4
/* Antennen-Nachführung per RSSI */
#define TRACKING_HYSTERESE 40 // Hysterese bevor Tracking bei Richtungswechsel anspricht
#define TRACKING_HYST_MIN 0
#define TRACKING_HYST_MAX 100
#define FC_FLAG_MOTOR_RUN 0x01
#define FC_FLAG_FLY 0x02
#define FC_FLAG_CALIBRATE 0x04
#define FC_FLAG_MOTOR_START 0x08
//#define NC_FLAG_GPS_OK 0
typedef struct {
int32_t distance;
int16_t bearing;
}geo_t;
typedef struct {
int32_t Home_Lon; // in 1E-7 degrees
int32_t Home_Lat; // in 1E-7 degrees
int32_t Home_Alt; // in mm
int16_t direction; // ermittelte Konstante aus Mittelposition Antenne geo.bearing - navi_data.CompassHeading
}__attribute__((packed)) HomePos_t;
extern uint8_t NMEAsatsInUse; // Number of satelites currently in use
extern int32_t NMEAlatitude, NMEAlongitude;
extern uint8_t posfix; // GPS Fix, 0 = Fix not available or invalid,1 = GPS SPS Mode, fix valid,
// 2 = Differential GPS, SPS Mode, fix valid, 6 = Dead Reckoning Mode, fix valid
extern int16_t HDOP; // Horizontal Dilution of Precision, 1.1 -xx.x, niederiger = besser
extern int16_t NMEAaltitude; // Höhe in Meter
extern char NMEAtime[9];
extern uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix
void Tracking_NMEA(void);
uint8_t decodeNMEA(void);
void PKT_tracking(void);
#endif /* TRACKING_H_ */