WebSVN - FlightCtrl - Rev 1086 - /branches/salvo_gps/Basis

/*
This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License and GNU Lesser General Public License for more details.
You should have received a copy of GNU General Public License (License_GPL.txt) and
GNU Lesser General Public License (License_LGPL.txt) along with this program.
If not, see <http://www.gnu.org/licenses/>.

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
*/
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
von Peter Muehlenbrock alias Salvo
Auswertung der Daten vom GPS im ublox Format
Hold Modus mit PID Regler
Rückstuerz zur Basis Funktion
Umstellung auf NaviParameter an Flight Version 00.70d
GPS_V durch gps_gain ersetzt, damit Einstellung durch MK Tool möglich wird

Stand 7.12.2008

Aenderung 7.12.2008: an Coming Home geschraubt
Aenderung 27.11.2008: gps_gain erhoeht
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
#include "main.h"
#include "math.h"
//#include "gps.h"

// Defines fuer ublox Messageformat um Auswertung zu steuern
#define UBLOX_IDLE 0
#define UBLOX_SYNC1 1
#define UBLOX_SYNC2 2
#define UBLOX_CLASS 3
#define UBLOX_ID 4
#define UBLOX_LEN1 5
#define UBLOX_LEN2 6
#define UBLOX_CKA 7
#define UBLOX_CKB 8
#define UBLOX_PAYLOAD 9

// ublox Protokoll Identifier
#define UBLOX_NAV_POSUTM 0x08
#define UBLOX_NAV_STATUS 0x03
#define UBLOX_NAV_VELED 0x12
#define UBLOX_NAV_CLASS 0x01
#define UBLOX_SYNCH1_CHAR 0xB5
#define UBLOX_SYNCH2_CHAR 0x62

signed int GPS_Nick = 0;
signed int GPS_Roll = 0;
signed int GPS_Nick2 = 0;
signed int GPS_Roll2 = 0;
short int ublox_msg_state = UBLOX_IDLE;
static uint8_t chk_a =0; //Checksum
static uint8_t chk_b =0;
short int gps_state,gps_sub_state; //Zustaende der Statemachine
short int gps_updte_flag;
static long signed gps_reg_x,gps_reg_y;
static unsigned int rx_len;
static unsigned int ptr_payload_data_end;
unsigned int    gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt
static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position
static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt
static    short int hold_fast,hold_reset_int; //Flags fuer Hold Regler
static    uint8_t *ptr_payload_data;
static    uint8_t *ptr_pac_status;
static int dist_flown;
//static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators
static int gps_quiet_cnt; // Zaehler fuer GPS Off Time beim Kameraausloesen
static long int limit_gain; // Teilerfaktor Regelabweichung zu Ausgabewert
static int gps_gain ; // Verstaerkunsgfaktor*10

short int Get_GPS_data(void);

NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt
NAV_STATUS_t actual_status; // Aktueller Nav Status
NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten

GPS_ABS_POSITION_t    gps_act_position; // Alle wichtigen Daten zusammengefasst
GPS_ABS_POSITION_t    gps_home_position;    // Die Startposition, beim Kalibrieren ermittelt
GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode
GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode

// Initialisierung
void GPS_Neutral(void)
{
ublox_msg_state = UBLOX_IDLE;
gps_state = GPS_CRTL_IDLE;
gps_sub_state = GPS_CRTL_IDLE;
actual_pos.status = 0;
actual_speed.status = 0;
actual_status.status = 0;
gps_home_position.status = 0; // Noch keine gueltige Home Position
gps_act_position.status = 0;
gps_rel_act_position.status = 0;
GPS_Nick = 0;
GPS_Roll = 0;
gps_updte_flag = 0;
gps_alive_cnt = 0;

}

// Home Position sichern falls Daten verfuegbar sind.
void GPS_Save_Home(void)
{
short int n;
n = Get_GPS_data();
if (n == 0) // Gueltige und aktuelle Daten ?
{
// Neue GPS Daten liegen vor
gps_home_position.utm_east = gps_act_position.utm_east;
gps_home_position.utm_north = gps_act_position.utm_north;
gps_home_position.utm_alt = gps_act_position.utm_alt;
gps_home_position.status = 1; // Home Position gueltig
}
}

// Relative Position zur Home Position bestimmen
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
short int Get_Rel_Position(void)
{
short int n = 0;
n = Get_GPS_data();
if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
{
gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt);
gps_rel_act_position.status = 1; // gueltige Positionsdaten
n = 0;
gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
}
else
{
n = 2; //keine gueltigen Daten vorhanden
gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
}
return (n);
}

// Daten aus aktuellen ublox Messages extrahieren
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
short int Get_GPS_data(void)
{
short int n = 1;

if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist
gps_gain = Parameter_NaviGpsGain/5;
limit_gain = 8;
// debug_gp_0 = (int)limit_gain; // zum Debuggen

if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
{
if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
{
actual_status.status    = 0;
gps_act_position.utm_east = actual_pos.utm_east/10;
gps_act_position.utm_north = actual_pos.utm_north/10;
gps_act_position.utm_alt = actual_pos.utm_alt/10;
actual_pos.status = 0; //neue ublox Messages anfordern
gps_act_position.speed_gnd = actual_speed.speed_gnd;
gps_act_position.speed_gnd = actual_speed.speed_gnd;
gps_act_position.heading = actual_speed.heading/100000;
actual_speed.status = 0;
gps_act_position.status = 1;
n = 0; //Daten gueltig
}
else
{
gps_act_position.status = 0; //Keine gueltigen Daten
actual_speed.status = 0;
actual_status.status = 0;
actual_pos.status = 0; //neue ublox Messages anfordern
n = 2;
}
}
return (n);
}

/*
Daten vom GPS im ublox MSG Format auswerten
Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
*/
void Get_Ublox_Msg(uint8_t rx)
{
switch (ublox_msg_state)
{
case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
else ublox_msg_state = UBLOX_IDLE;
break;

case UBLOX_SYNC1:

if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
else ublox_msg_state = UBLOX_IDLE;
chk_a = 0,chk_b = 0;
break;

case UBLOX_SYNC2:
if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
else ublox_msg_state = UBLOX_IDLE;
break;

case UBLOX_CLASS: // Nur NAV Meldungen auswerten
switch (rx)
{
case UBLOX_NAV_POSUTM:
ptr_pac_status = &actual_pos.status;
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
else
{
ptr_payload_data = &actual_pos;
ptr_payload_data_end = &actual_pos.status;
ublox_msg_state = UBLOX_LEN1;
}
break;

case UBLOX_NAV_STATUS:
ptr_pac_status = &actual_status.status;
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
else
{
ptr_payload_data = &actual_status;
ptr_payload_data_end = &actual_status.status;
ublox_msg_state = UBLOX_LEN1;
}
break;

case UBLOX_NAV_VELED:
ptr_pac_status = &actual_speed.status;
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
else
{
ptr_payload_data = &actual_speed;
ptr_payload_data_end = &actual_speed.status;
ublox_msg_state = UBLOX_LEN1;
}
break;

default:
ublox_msg_state = UBLOX_IDLE;
break;
}
chk_a = UBLOX_NAV_CLASS + rx;
chk_b = UBLOX_NAV_CLASS + chk_a;
break;

case UBLOX_LEN1: // Laenge auswerten
rx_len = rx;
chk_a += rx;
chk_b += chk_a;
ublox_msg_state = UBLOX_LEN2;
break;

case UBLOX_LEN2: // Laenge auswerten
rx_len = rx_len + (rx *256); // Laenge ermitteln
chk_a += rx;
chk_b += chk_a;
ublox_msg_state = UBLOX_PAYLOAD;
break;

case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
if (rx_len > 0)
{
*ptr_payload_data = rx;
chk_a += rx;
chk_b += chk_a;
--rx_len;
if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
{
ptr_payload_data++;
ublox_msg_state = UBLOX_PAYLOAD;
}
else ublox_msg_state = UBLOX_CKA;
}
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
break;

case UBLOX_CKA: // Checksum pruefen
if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
break;

case UBLOX_CKB: // Checksum pruefen
if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
ublox_msg_state = UBLOX_IDLE;
break;

default:
ublox_msg_state = UBLOX_IDLE;
break;
}
}

//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
short int GPS_CRTL(short int cmd)
{
static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen
static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition
signed int n;
static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
signed int dist_frm_start_east,dist_frm_start_north;
int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil
static signed int int_east,int_north; //Integrierer
long int speed_east,speed_north; //Aktuelle Geschwindigkeit
signed long int_east1,int_north1;
int dist_east,dist_north;
int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung
long ni,ro; // Nick und Roll Zwischenwerte

switch (cmd)
{

case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
{
cnt++;
if (cnt > 100) // erst nach Verzoegerung
{
// Erst mal initialisieren
cnt = 0;
gps_tick = 0;
hold_fast = 0;
hold_reset_int = 0; // Integrator enablen
int_east = 0, int_north = 0;
gps_reg_x = 0, gps_reg_y = 0;
delta_east = 0, delta_north = 0;
dist_flown = 0;
gps_g2t_act_v = 0;
gps_sub_state = GPS_CRTL_IDLE;
// aktuelle positionsdaten abspeichern
if (gps_rel_act_position.status > 0)
{
gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
gps_rel_start_position.status = 1; // gueltige Positionsdaten
gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
gps_rel_hold_position.status = 1; // gueltige Positionsdaten
//Richtung zur Home Position bezogen auf Nordpol bestimmen
hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
// in Winkel 0...360 Grad umrechnen
if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
else hdng_2home = (270 - hdng_2home);
dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen
gps_state = GPS_CRTL_HOME_ACTIVE;
return (GPS_STST_OK);
}
else
{
gps_rel_start_position.status = 0; //Keine Daten verfuegbar
gps_state = GPS_CRTL_IDLE;
return(GPS_STST_ERR); // Keine Daten da
}
}
else return(GPS_STST_PEND); // noch warten
}
break;
// ******************************

case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
if (gps_state != GPS_CRTL_HOLD_ACTIVE)
{
cnt++;
if (cnt > 600) // erst nach Verzoegerung
{
cnt = 0;
// aktuelle positionsdaten abspeichern
if (gps_rel_act_position.status > 0)
{
hold_fast = 0;
hold_reset_int = 0; // Integrator enablen
int_east = 0, int_north = 0;
gps_reg_x = 0, gps_reg_y = 0;
delta_east = 0, delta_north = 0;
speed_east = 0; speed_north= 0;
// int_ovfl_cnt = 0;
gps_quiet_cnt = 0;
gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
gps_rel_hold_position.status = 1; // gueltige Positionsdaten
gps_state = GPS_CRTL_HOLD_ACTIVE;
return (GPS_STST_OK);
}
else
{
gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
gps_state = GPS_CRTL_IDLE;
return(GPS_STST_ERR); // Keine Daten da
}
}
else return(GPS_STST_PEND); // noch warten
}
break;

case GPS_CMD_STOP: // Lageregelung beenden
cnt = 0;
GPS_Nick = 0;
GPS_Roll = 0;
gps_sub_state = GPS_CRTL_IDLE;
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_OK);
break;

default:
return (GPS_STST_ERR);
break;
}

switch (gps_state)
{
case GPS_CRTL_IDLE:
cnt = 0;
return (GPS_STST_OK);
break;

case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis
//Der Sollwert des Lagereglers wird der Homeposition angenaehert
if (gps_rel_start_position.status >0)
{
if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist
{
gps_tick++;
int d1,d2,d3;
d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east );
d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north );
d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel

if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel
{
if ((d1 < (GPS_G2T_FAST_TOL/2)) && (d2 < (GPS_G2T_FAST_TOL/2))) //voll Stoff weiter wenn Lage gut innerhalb der Toleranz
{
if (gps_g2t_act_v < GPS_G2T_V_MAX-1) gps_g2t_act_v += 2; //Geschwindigkeit erhoehen
dist_flown    +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
gps_sub_state = GPS_HOME_FAST_IN_TOL;
}
else if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz
{
if (gps_g2t_act_v > (GPS_G2T_V_MAX/2)) gps_g2t_act_v -= 1; //Geschwindigkeit auf Haelfte runter oder rauffahren
else if (gps_g2t_act_v < (GPS_G2T_V_MAX/2)) gps_g2t_act_v += 1;
dist_flown    +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
gps_sub_state = GPS_HOME_FAST_IN_TOL;
}
else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz
{
if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren
// dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
gps_sub_state = GPS_HOME_FAST_OUTOF_TOL;
}
hold_reset_int    = 1; // Integrator aussschalten
hold_fast = 1; // Regler fuer schnellen Flug
dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000);
dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000);
gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
}
else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen
{
if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL))
{
dist_flown    += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit
gps_sub_state = GPS_HOME_RMPDWN_IN_TOL;
}
else
{
dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL;
}
hold_reset_int    = 0; // Integrator einsschalten
hold_fast = 1; // Regler fuer schnellen Flug
dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000);
dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000);
gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
}
else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt)
{
if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln
{
gps_sub_state = GPS_HOME_IN_TOL;
hold_fast = 0; // Wieder normal regeln
hold_reset_int = 0; // Integrator einsschalten
if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN;
else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN;
if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN;
else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN;
if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN))
{
gps_rel_hold_position.utm_east = 0;
gps_rel_hold_position.utm_north = 0;
gps_sub_state = GPS_HOME_FINISHED;
}
}
else gps_sub_state = GPS_HOME_OUTOF_TOL;
}
}
gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung
return (GPS_STST_OK);
}
else // Keine GPS Daten verfuegbar, deswegen Abbruch
{
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_ERR);
}
break;

case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet
if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen
{
gps_quiet_cnt++;
// ab hier wird geregelt
delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east);
delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north);
int_east += (int)(delta_east*gps_gain)/10;
int_north += (int)(delta_north*gps_gain)/10;
speed_east = actual_speed.speed_e;
speed_north = actual_speed.speed_n;
gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden
dist_east = (int)delta_east; //merken
dist_north = (int)delta_north;

// #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow
long int gpsintmax;
if (Parameter_NaviGpsI > 0)
{
gpsintmax = (GPS_NICKROLL_MAX * limit_gain * GPS_USR_PAR_FKT * ((32*3)/10))/(long)Parameter_NaviGpsI; //auf ungefeahren Maximalwert begrenzen
if ((abs(int_east) > (int)gpsintmax) || (abs(int_north)> (int)gpsintmax))
{
// // = 1; // Zahl der Overflows zaehlen
// int_ovfl_cnt -= 1;
int_east = (int_east * 6)/8; // Wert reduzieren
int_north = (int_north* 6)/8;
}

if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten
{
int_east = 0;
int_north = 0;
}
}
else // Integrator deaktiviert
{
int_east = 0;
int_north = 0;
}

debug_gp_4 = (int)int_east; // zum Debuggen
debug_gp_5 = (int)int_north; // zum Debuggen

//I Werte begrenzen
#define INT1_MAX (GPS_NICKROLL_MAX * limit_gain*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen
int_east1 = ((((long)int_east) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT;
int_north1 = ((((long)int_north) * Parameter_NaviGpsI)/32)/GPS_USR_PAR_FKT;
if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen
else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX;
if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen
else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX;

if (hold_fast > 0) //schneller Coming Home Modus
{
amplfy_speed_east = DIFF_Y_F_MAX;
amplfy_speed_north = DIFF_Y_F_MAX;
amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /400;
speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/400;
// D Werte begrenzen
#define D_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
if (speed_east > D_F_MAX) speed_east = D_F_MAX;
else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX;
if (speed_north > D_F_MAX) speed_north = D_F_MAX;
else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX;

diff_p    = (Parameter_NaviGpsP * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil
}
else //langsamer Holdmodus
{
amplfy_speed_east = DIFF_Y_N_MAX;
amplfy_speed_north = DIFF_Y_N_MAX;
amplfy_speed_east *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
amplfy_speed_north *= (Parameter_NaviGpsD/GPS_USR_PAR_FKT);
speed_east = (speed_east * (long)amplfy_speed_east*gps_gain) /250;
speed_north = (speed_north * (long)amplfy_speed_north*gps_gain)/250;
// D Werte begrenzen
#define D_N_MAX (GPS_NICKROLL_MAX * limit_gain*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen
if (speed_east > D_N_MAX) speed_east = D_N_MAX;
else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX;
if (speed_north > D_N_MAX) speed_north = D_N_MAX;
else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX;

diff_p = (Parameter_NaviGpsP * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil
}

// debug_gp_4 = (int)speed_east; // zum Debuggen
// debug_gp_5 = (int)speed_north; // zum Debuggen

//P-Werte verstaerken
delta_east = (delta_east * (long)diff_p*gps_gain)/(400);
delta_north = (delta_north * (long)diff_p*gps_gain)/(400);

if (hold_fast > 0) //schneller Coming Home Modus
{
// P Werte begrenzen
#define P1_F_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
if (delta_east > P1_F_MAX) delta_east = P1_F_MAX;
else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX;
if (delta_north > P1_F_MAX) delta_north = P1_F_MAX;
else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX;
}
else // Hold modus
{
// P Werte begrenzen
#define P1_N_MAX (GPS_NICKROLL_MAX * limit_gain*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
if (delta_east > P1_N_MAX) delta_east = P1_N_MAX;
else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX;
if (delta_north > P1_N_MAX) delta_north = P1_N_MAX;
else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX;
}

debug_gp_2 = (int)delta_east;    // zum Debuggen
debug_gp_3 = (int)delta_north; // zum Debuggen

//PID Regler Werte aufsummieren
gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse
gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse
debug_gp_0 = (int)gps_reg_x; // zum Debuggen
debug_gp_1 = (int)gps_reg_y; // zum Debuggen

// Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen
n = GyroKomp_Int/GIER_GRAD_FAKTOR; //Ausrichtung Kopter
ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000L*(long)limit_gain);
ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000L*(long)limit_gain);

if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX);
else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX );
if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX );
else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX );

if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen
{
GPS_Roll = 0;
GPS_Nick = 0;
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_ERR);
break;
}
else if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen
{
gps_quiet_cnt++;
GPS_Roll = 0;
GPS_Nick = 0;
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
return (GPS_STST_OK);
}
else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4))
{
gps_quiet_cnt = 0;
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
return (GPS_STST_OK);
}
else
{
GPS_Roll = (int)ro;
GPS_Nick = (int)ni;
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
return (GPS_STST_OK);
}
}
else
{
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
return (GPS_STST_OK);
}
break;

default:
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_ERR);
break;
}
return (GPS_STST_ERR);

}

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_V0071h/trunk/GPS.c - Rev 1086