Auto tuleb nendest juppidest: http://notsu.pri.ee/asd/index.php.html ja PIC asemel on mul AVR ja ARM(GPS on selle küljes ja ei saa teda lahti). Hetkel on plaan mitte osta servo kontrollerit vaid teha see ise.Code: Select all
void GPS_Arvutus() // hakkame arvutama
{
if (gps_OK[0] == 'A'){
// konverdime GPSi andmed Ddmm.mmmm -> dd.dddd
// latitude gps_LAT
gps_LAT[9]=0x30; // taastame
afterDecimal[0] = gps_LAT[2];
afterDecimal[1] = gps_LAT[3];
afterDecimal[2] = gps_LAT[4];
afterDecimal[3] = gps_LAT[5];
afterDecimal[4] = gps_LAT[6];
afterDecimal[5] = gps_LAT[7];
afterDecimal[6] = gps_LAT[8];
currentLat = (float)(atol(gps_LAT)/100) + atof(afterDecimal)/60;
// konverdime GPSi andmed 0Ddmm.mmmm -> dd.dddd
// longtidude gps_LONG
gps_LONG[10]=0x30; // taastame
afterDecimal[0] = gps_LONG[2];
afterDecimal[1] = gps_LONG[3];
afterDecimal[2] = gps_LONG[4];
afterDecimal[3] = gps_LONG[5];
afterDecimal[4] = gps_LONG[6];
afterDecimal[5] = gps_LONG[7];
afterDecimal[6] = gps_LONG[8];
currentLong = (float)(atol(gps_LONG)/100) + atof(afterDecimal)/60;
// hakkame arvutama suunda "bearing"
LatTo_m = 111377.60;
LongTo_m = 59132.84;
Lat = 0.0;
Long = 0.0;
angle = 0.0;
Lat_m = 0.0;
Long_m = 0.0;
// current waypoint
// currentWayptLat = 58.34663;
// currentWayptLong = 25.61145;
Lat = currentWayptLat - currentLat;
Long = currentWayptLong - currentLong;
// Siin kontrollime kas on vaja vahetada sihtpunkti 1852*0,0003=0.54m
// 1 kaareminut ~1 meremiil (1852m)
// 0.0000040 +-0.0003 0.5m
// 0.000015 +-0.0006 1.1m
// Lat 0.000030 +-0.0017 3.1m
// Long 0.000060 +-0.0035 6.4m
// --------------------------------
// Lat 0.000070 +-0.0042 7.7m
// Long 0.000140 +-0.0080 14m
// --------------------------------
// Lat 0.000090 +-0.0053 9.8m
// Long 0.000180 +-0.0100 18.5m
if((Lat<0.000070 && Lat>-0.000070) && (Long<0.000140 && Long>-0.000140)) {
SDrida++;
EEprom_Write(0, SDrida); // salvestame mällu uue sihtkoha punkti aadressi
if (SDrida == 99) SDflag = 1; // edaspidi enam kaardilt ei loe
SihtpunktFailist(); // loeme uue sihtpunkti failist
Lat = currentWayptLat - currentLat;
Long = currentWayptLong - currentLong;
Lcd_Out(1, 1, "Sp"); // Print text at LCD
}
Lat_m = Lat * LatTo_m;
Long_m = Long * LongTo_m;
rad = atan2(long_m, lat_m);
angle = 180 * rad / 3.14;
if ((Lat > 0) && (Long < 0)) // kas on neljandas veerandis?
angle = 360 + angle;
else
if ((Lat < 0) && (Long < 0)) // kas on kolmandas veerandis?
angle = 180 + angle + 180;
else;
FloatToStr(angle, bearing);
bearing[5]=0; // märgime teksti lõpu muidu LCD kirjutab jura
Lcd_Out(2, 16, bearing); // Print text at LCD
}
else
Lcd_Out(2, 16, "---.-"); // ei lubatud arvutada...
}
Auto kiirust hoidsin puldist, kui auto oli käsijuhtimisel sain autot ise juhtida, nupust käis autopiloot.
või sai GPSpiloot matsust ja mäluka 
