WebSVN - FlightCtrl - /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
*/
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Peter Muehlenbrock
Auswertung der Daten vom GPS im ublox Format
Hold Modus mit PID Regler
Rückstuerz zur Basis Funktion
Stand 24.10.2007
Anederung: 24.10. Altitude in relativer Position jetzt auch drin
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
#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;
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 signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol
static signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters
static signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel
static signed int gps_int_x,gps_int_y,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 long int dist_flown;
static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators

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_int_x = 0;
gps_int_y = 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
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 signed int dist_north,dist_east; // Distanz zur Sollpoistion
static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert)
static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert
signed int    n,n1;
static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
long signed int dev;
signed int    dist_frm_start_east,dist_frm_start_north;
int diff_v_east,diff_v_north; //Verstaerkungsfaktoren fuer Differenzierer
static signed int int_east,int_north; //Integrierer
int speed_east,speed_north; //Aktuelle Geschwindigkeit
signed long int_east1,int_north1;
// signed long dist;

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 > 200) // 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;
dist_east = 0, dist_north = 0;
diff_east_f = 0, diff_north_f= 0;
diff_east = 0, diff_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 > 500) // 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;
dist_east = 0, dist_north = 0;
diff_east_f = 0, diff_north_f= 0;
diff_east = 0, diff_north = 0;
speed_east = 0; speed_north= 0;
int_ovfl_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_int_x = 0;
gps_int_y = 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 - (int)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) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz
{
if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen
dist_flown    +=(long)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    = 0; // Integrator einsschalten
hold_fast = 1; // Regler fuer schnellen Flug
dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
dist_frm_start_north = (int)((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 ausschalten
hold_fast = 1; // Wieder normal regeln
dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
dist_frm_start_north = (int)((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 wieder aktivieren
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
{
// ab hier wird geregelt
diff_east = dist_east; //Alten Wert fuer Differenzierer schon mal addieren
diff_north = dist_north;
dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east;
dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north;
int_east += dist_east;
int_north += dist_north;
diff_east -= dist_east; // Differenz zur vorhergehenden East Position
diff_north -= dist_north; // Differenz zur vorhergehenden North Position
speed_east = (int) actual_speed.speed_e;
speed_north = (int) actual_speed.speed_n;
gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden

debug_gp_2 = speed_east; // zum Debuggen
debug_gp_3 = speed_north; // zum Debuggen

if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen
{
diff_east_f = (((diff_east_f *2)/3) + ((diff_east *1*10)/3)); //Differenzierer filtern
diff_north_f = (((diff_north_f *2)/3) + ((diff_north*1*10)/3)); //Differenzierer filtern
}
else // schwache Filterung
{
diff_east_f = (((diff_east_f * 2)/4) + ((diff_east *2*10)/4)); //Differenzierer filtern
diff_north_f = (((diff_north_f * 2)/4) + ((diff_north*2*10)/4)); //Differenzierer filtern
}

// Differenz aus Distanz durch eche geschwindigkeit aus VELNED Msg ersetzten
diff_east_f = -speed_east;
diff_north_f = speed_north;

#define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow
if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX))
{
if (int_ovfl_cnt < 40) int_ovfl_cnt += 1; // Zahl der Overflows zaehlen
// int_east -= dist_east; auf alten Wert halten
// int_north -= dist_north;
}
if (int_ovfl_cnt > 0) //bei Overflow Wert Integratorwert reduzieren
{
int_ovfl_cnt -= 1;
int_east = (int_east*7)/8; // Wert reduzieren
int_north = (int_north*7)/8;
}

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

// int phi;
// phi = arctan_i(abs(dist_north),abs(dist_east));
// dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln

if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer
{
// diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10
// if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen
// diff_v = GPS_DIFF_NRML_MAX_V ; //variable Versterkung raus 31.12.2007
}
else
{
// diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10
// if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen
// diff_v = GPS_DIFF_FAST_MAX_V ; //variable Versterkung raus 31.12.2007
}
diff_v_east = (((abs(diff_east_f)) *(DIFF_Y_MAX-1))/DIFF_X_MAX) +10;
diff_v_north = (((abs(diff_north_f))*(DIFF_Y_MAX-1))/DIFF_X_MAX) +10;
if (diff_v_east > (DIFF_Y_MAX *10)) diff_v_east = DIFF_Y_MAX *10; // Begrenzung
if (diff_v_north > (DIFF_Y_MAX *10)) diff_v_north = DIFF_Y_MAX *10; // Begrenzung
// diff_v_east *= 2;
// diff_v_north *= 2;

// debug_gp_2 = diff_v_east; // zum Debuggen
// debug_gp_3 = diff_v_north; // zum Debuggen
// debug_gp_4 = diff_east_f; // zum Debuggen
// debug_gp_5 = diff_north_f; // zum Debuggen

int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung
if (hold_fast > 0) diff_p = GPS_PROP_FAST_V;
else diff_p = GPS_PROP_NRML_V;

//I Werte begrenzen
#define INT1_MAX (GPS_NICKROLL_MAX * GPS_V)/2 //ab 30.12.2007 auf Halben Maximalen Nick/Rollwert begrenzen
int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; //Fehler behoben am 17.12.2007 vorher int_north=
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;

//PID Regler Werte aufsummieren
gps_reg_x = ((int)int_east1 + ((dist_east * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_east_f * diff_v_east * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil X Achse
gps_reg_y = ((int)int_north1 + ((dist_north * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_north_f * diff_v_north * (Parameter_UserParam3/GPS_USR_PAR_FKT))/100)); // I + P +D Anteil Y Achse
debug_gp_0 = gps_reg_x; // zum Debuggen
debug_gp_1 = gps_reg_y; // zum Debuggen

//Ziel-Richtung bezogen auf Nordpol bestimmen
GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y);

// in Winkel 0...360 Grad umrechnen
if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt);
else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt);

// Relative Richtung in bezug auf Nordachse des Kopters errechen
n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n;
if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360;
else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt;
else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt;

// Regelabweichung aus x,y zu Ziel in Distanz umrechnen
if (abs(gps_reg_x) > abs(gps_reg_y) )
{
dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen
dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt));
}
else
{
dev = (long)gps_reg_y;
dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt));
}
GPS_dist_2trgt = (int) dev;
// Winkel und Distanz in Nick und Rollgroessen umrechnen
n = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); //Rollwert bestimmen
n1 = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); //Nickwert bestimmen

// GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000);
// GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000);

if (n > (GPS_NICKROLL_MAX * GPS_V)) n = (GPS_NICKROLL_MAX * GPS_V);
else if (n < -(GPS_NICKROLL_MAX * GPS_V)) n = -(GPS_NICKROLL_MAX * GPS_V);
if (n1 > (GPS_NICKROLL_MAX * GPS_V)) n1 = (GPS_NICKROLL_MAX * GPS_V);
else if (n1 < -(GPS_NICKROLL_MAX * GPS_V)) n1 = -(GPS_NICKROLL_MAX * GPS_V);
n = n/GPS_V;
n1 = n1/GPS_V;
//Kleine Werte verstaerken, Grosse abschwaechen
/* n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V));
n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
GPS_Roll = (int) n_l;
n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V));
n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
GPS_Nick = (int) n_l;
*/

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
{
GPS_Roll = n;
GPS_Nick = n1;
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_v0067g/trunk/GPS.c @ 625 - Rev