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Rev | Author | Line No. | Line |
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1538 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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12 | // + Verkauf von Luftbildaufnahmen, usw. |
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13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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19 | // + eindeutig als Ursprung verlinkt werden |
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20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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22 | // + Benutzung auf eigene Gefahr |
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23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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26 | // + mit unserer Zustimmung zulässig |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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31 | // + this list of conditions and the following disclaimer. |
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32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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33 | // + from this software without specific prior written permission. |
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34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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35 | // + for non-commercial use (directly or indirectly) |
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36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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37 | // + with our written permission |
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38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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39 | // + clearly linked as origin |
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40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | #include <inttypes.h> |
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53 | #include <stdlib.h> |
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54 | #include "fc.h" |
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55 | #include "ubx.h" |
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56 | #include "mymath.h" |
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57 | #include "timer0.h" |
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58 | #include "uart0.h" |
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59 | #include "rc.h" |
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60 | #include "eeprom.h" |
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61 | |||
62 | typedef enum |
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63 | { |
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64 | GPS_FLIGHT_MODE_UNDEF, |
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65 | GPS_FLIGHT_MODE_FREE, |
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66 | GPS_FLIGHT_MODE_AID, |
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67 | GPS_FLIGHT_MODE_HOME, |
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68 | } FlightMode_t; |
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69 | |||
70 | #define GPS_POSINTEGRAL_LIMIT 32000 |
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71 | #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
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72 | #define GPS_P_LIMIT 25 |
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73 | |||
74 | |||
75 | typedef struct |
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76 | { |
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77 | int32_t Longitude; |
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78 | int32_t Latitude; |
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79 | int32_t Altitude; |
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80 | Status_t Status; |
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81 | } GPS_Pos_t; |
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82 | |||
83 | // GPS coordinates for hold position |
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84 | GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
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85 | // GPS coordinates for home position |
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86 | GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
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87 | // the current flight mode |
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88 | FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF; |
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89 | |||
90 | |||
91 | // --------------------------------------------------------------------------------- |
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92 | void GPS_UpdateParameter(void) |
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93 | { |
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94 | static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF; |
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95 | |||
96 | if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) |
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97 | { |
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98 | FlightMode = GPS_FLIGHT_MODE_FREE; |
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99 | } |
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100 | else |
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101 | { |
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102 | if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID; |
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103 | else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE; |
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104 | else FlightMode = GPS_FLIGHT_MODE_HOME; |
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105 | } |
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106 | if (FlightMode != FlightModeOld) |
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107 | { |
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108 | BeepTime = 100; |
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109 | } |
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110 | FlightModeOld = FlightMode; |
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111 | } |
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112 | |||
113 | |||
114 | |||
115 | // --------------------------------------------------------------------------------- |
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116 | // This function defines a good GPS signal condition |
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117 | uint8_t GPS_IsSignalOK(void) |
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118 | { |
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119 | static uint8_t GPSFix = 0; |
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120 | if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) || GPSFix)) |
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121 | { |
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122 | GPSFix = 1; |
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123 | return(1); |
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124 | |||
125 | } |
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126 | else return (0); |
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127 | |||
128 | } |
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129 | // --------------------------------------------------------------------------------- |
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130 | // rescale xy-vector length to limit |
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131 | uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit) |
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132 | { |
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133 | uint8_t retval = 0; |
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134 | int32_t len; |
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135 | len = (int32_t)c_sqrt(*x * *x + *y * *y); |
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136 | if (len > limit) |
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137 | { |
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138 | // normalize control vector components to the limit |
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139 | *x = (*x * limit) / len; |
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140 | *y = (*y * limit) / len; |
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141 | retval = 1; |
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142 | } |
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143 | return(retval); |
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144 | } |
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145 | |||
146 | // checks nick and roll sticks for manual control |
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147 | uint8_t GPS_IsManualControlled(void) |
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148 | { |
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149 | if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < ParamSet.NaviStickThreshold) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < ParamSet.NaviStickThreshold)) return 0; |
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150 | else return 1; |
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151 | } |
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152 | |||
153 | // set given position to current gps position |
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154 | uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) |
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155 | { |
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156 | uint8_t retval = 0; |
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157 | if(pGPSPos == NULL) return(retval); // bad pointer |
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158 | |||
159 | if(GPS_IsSignalOK()) |
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160 | { // is GPS signal condition is fine |
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161 | pGPSPos->Longitude = GPSInfo.longitude; |
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162 | pGPSPos->Latitude = GPSInfo.latitude; |
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163 | pGPSPos->Altitude = GPSInfo.altitude; |
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164 | pGPSPos->Status = NEWDATA; |
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165 | retval = 1; |
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166 | } |
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167 | else |
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168 | { // bad GPS signal condition |
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169 | pGPSPos->Status = INVALID; |
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170 | retval = 0; |
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171 | } |
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172 | return(retval); |
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173 | } |
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174 | |||
175 | // clear position |
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176 | uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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177 | { |
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178 | uint8_t retval = 0; |
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179 | if(pGPSPos == NULL) return(retval); // bad pointer |
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180 | else |
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181 | { |
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182 | pGPSPos->Longitude = 0; |
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183 | pGPSPos->Latitude = 0; |
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184 | pGPSPos->Altitude = 0; |
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185 | pGPSPos->Status = INVALID; |
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186 | retval = 1; |
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187 | } |
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188 | return (retval); |
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189 | } |
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190 | |||
191 | // disable GPS control sticks |
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192 | void GPS_Neutral(void) |
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193 | { |
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194 | GPSStickNick = 0; |
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195 | GPSStickRoll = 0; |
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196 | } |
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197 | |||
198 | // calculates the GPS control stick values from the deviation to target position |
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199 | // if the pointer to the target positin is NULL or is the target position invalid |
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200 | // then the P part of the controller is deactivated. |
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201 | void GPS_PIDController(GPS_Pos_t *pTargetPos) |
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202 | { |
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203 | static int32_t PID_Nick, PID_Roll; |
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204 | int32_t coscompass, sincompass; |
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205 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
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206 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
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207 | int32_t PID_North = 0, PID_East = 0; |
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208 | static int32_t cos_target_latitude = 1; |
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209 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
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210 | static GPS_Pos_t *pLastTargetPos = 0; |
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211 | |||
212 | // if GPS data and Compass are ok |
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213 | if( GPS_IsSignalOK() && (CompassHeading >= 0) ) |
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214 | { |
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215 | |||
216 | if(pTargetPos != NULL) // if there is a target position |
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217 | { |
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218 | if(pTargetPos->Status != INVALID) // and the position data are valid |
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219 | { |
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220 | // if the target data are updated or the target pointer has changed |
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221 | if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
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222 | { |
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223 | // reset error integral |
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224 | GPSPosDevIntegral_North = 0; |
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225 | GPSPosDevIntegral_East = 0; |
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226 | // recalculate latitude projection |
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227 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
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228 | // remember last target pointer |
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229 | pLastTargetPos = pTargetPos; |
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230 | // mark data as processed |
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231 | pTargetPos->Status = PROCESSED; |
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232 | } |
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233 | // calculate position deviation from latitude and longitude differences |
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234 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
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235 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
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236 | // calculate latitude projection |
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237 | GPSPosDev_East *= cos_target_latitude; |
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238 | GPSPosDev_East /= 8192; |
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239 | } |
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240 | else // no valid target position available |
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241 | { |
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242 | // reset error |
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243 | GPSPosDev_North = 0; |
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244 | GPSPosDev_East = 0; |
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245 | // reset error integral |
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246 | GPSPosDevIntegral_North = 0; |
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247 | GPSPosDevIntegral_East = 0; |
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248 | } |
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249 | } |
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250 | else // no target position available |
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251 | { |
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252 | // reset error |
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253 | GPSPosDev_North = 0; |
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254 | GPSPosDev_East = 0; |
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255 | // reset error integral |
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256 | GPSPosDevIntegral_North = 0; |
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257 | GPSPosDevIntegral_East = 0; |
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258 | } |
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259 | |||
260 | //Calculate PID-components of the controller |
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261 | |||
262 | // D-Part |
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263 | D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/512; |
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264 | D_East = ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/512; |
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265 | |||
266 | // P-Part |
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267 | P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/2048; |
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268 | P_East = ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/2048; |
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269 | |||
270 | // I-Part |
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271 | I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/8192; |
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272 | I_East = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/8192; |
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273 | |||
274 | |||
275 | // combine P & I |
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276 | PID_North = P_North + I_North; |
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277 | PID_East = P_East + I_East; |
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278 | if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT)) |
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279 | { |
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280 | GPSPosDevIntegral_North += GPSPosDev_North/16; |
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281 | GPSPosDevIntegral_East += GPSPosDev_East/16; |
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282 | GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
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283 | } |
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284 | |||
285 | // combine PI- and D-Part |
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286 | PID_North += D_North; |
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287 | PID_East += D_East; |
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288 | |||
289 | |||
290 | // scale combination with gain. |
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291 | PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100; |
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292 | PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / 100; |
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293 | |||
294 | // GPS to nick and roll settings |
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295 | |||
296 | // A positive nick angle moves head downwards (flying forward). |
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297 | // A positive roll angle tilts left side downwards (flying left). |
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298 | // If compass heading is 0 the head of the copter is in north direction. |
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299 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
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300 | // In case of a positive north deviation/velocity the |
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301 | // copter should fly to south (negative nick). |
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302 | // In case of a positive east position deviation and a positive east velocity the |
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303 | // copter should fly to west (positive roll). |
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304 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
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305 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
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306 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
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307 | |||
308 | coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
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309 | sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
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310 | PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192; |
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311 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192; |
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312 | |||
313 | |||
314 | // limit resulting GPS control vector |
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315 | GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
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316 | |||
317 | GPSStickNick = (int16_t)PID_Nick; |
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318 | GPSStickRoll = (int16_t)PID_Roll; |
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319 | } |
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320 | else // invalid GPS data or bad compass reading |
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321 | { |
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322 | GPS_Neutral(); // do nothing |
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323 | // reset error integral |
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324 | GPSPosDevIntegral_North = 0; |
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325 | GPSPosDevIntegral_East = 0; |
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326 | } |
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327 | } |
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328 | |||
329 | |||
330 | |||
331 | |||
332 | void GPS_Main(void) |
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333 | { |
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334 | static uint8_t GPS_P_Delay = 0; |
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335 | static uint16_t beep_rythm = 0; |
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336 | |||
337 | GPS_UpdateParameter(); |
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338 | |||
339 | // store home position if start of flight flag is set |
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340 | if(MKFlags & MKFLAG_CALIBRATE) |
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341 | { |
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342 | if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700; |
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343 | } |
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344 | |||
345 | switch(GPSInfo.status) |
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346 | { |
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347 | case INVALID: // invalid gps data |
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348 | GPS_Neutral(); |
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349 | if(FlightMode != GPS_FLIGHT_MODE_FREE) |
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350 | { |
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351 | BeepTime = 100; // beep if signal is neccesary |
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352 | } |
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353 | break; |
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354 | case PROCESSED: // if gps data are already processed do nothing |
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355 | // downcount timeout |
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356 | if(GPSTimeout) GPSTimeout--; |
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357 | // if no new data arrived within timeout set current data invalid |
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358 | // and therefore disable GPS |
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359 | else |
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360 | { |
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361 | GPS_Neutral(); |
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362 | GPSInfo.status = INVALID; |
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363 | } |
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364 | break; |
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365 | case NEWDATA: // new valid data from gps device |
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366 | // if the gps data quality is good |
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367 | beep_rythm++; |
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368 | |||
369 | if (GPS_IsSignalOK()) |
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370 | { |
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371 | switch(FlightMode) // check what's to do |
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372 | { |
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373 | case GPS_FLIGHT_MODE_FREE: |
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374 | // update hold position to current gps position |
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375 | GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad |
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376 | // disable gps control |
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377 | GPS_Neutral(); |
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378 | break; |
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379 | |||
380 | case GPS_FLIGHT_MODE_AID: |
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381 | if(HoldPosition.Status != INVALID) |
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382 | { |
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383 | if( GPS_IsManualControlled() ) // MK controlled by user |
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384 | { |
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385 | // update hold point to current gps position |
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386 | GPS_SetCurrPosition(&HoldPosition); |
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387 | // disable gps control |
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388 | GPS_Neutral(); |
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389 | GPS_P_Delay = 0; |
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390 | } |
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391 | else // GPS control active |
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392 | { |
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393 | if(GPS_P_Delay < 7) |
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394 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
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395 | GPS_P_Delay++; |
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396 | GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position |
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397 | GPS_PIDController(NULL); // activates only the D-Part |
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398 | } |
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399 | else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
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400 | } |
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401 | } |
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402 | else // invalid Hold Position |
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403 | { // try to catch a valid hold position from gps data input |
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404 | GPS_SetCurrPosition(&HoldPosition); |
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405 | GPS_Neutral(); |
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406 | } |
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407 | break; |
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408 | |||
409 | case GPS_FLIGHT_MODE_HOME: |
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410 | if(HomePosition.Status != INVALID) |
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411 | { |
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412 | // update hold point to current gps position |
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413 | // to avoid a flight back if home comming is deactivated |
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414 | GPS_SetCurrPosition(&HoldPosition); |
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415 | if( GPS_IsManualControlled() ) // MK controlled by user |
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416 | { |
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417 | GPS_Neutral(); |
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418 | } |
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419 | else // GPS control active |
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420 | { |
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421 | GPS_PIDController(&HomePosition); |
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422 | } |
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423 | } |
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424 | else // bad home position |
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425 | { |
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426 | BeepTime = 50; // signal invalid home position |
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427 | // try to hold at least the position as a fallback option |
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428 | |||
429 | if (HoldPosition.Status != INVALID) |
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430 | { |
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431 | if( GPS_IsManualControlled() ) // MK controlled by user |
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432 | { |
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433 | GPS_Neutral(); |
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434 | } |
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435 | else // GPS control active |
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436 | { |
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437 | GPS_PIDController(&HoldPosition); |
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438 | } |
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439 | } |
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440 | else |
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441 | { // try to catch a valid hold position |
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442 | GPS_SetCurrPosition(&HoldPosition); |
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443 | GPS_Neutral(); |
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444 | } |
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445 | } |
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446 | break; // eof TSK_HOME |
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447 | default: // unhandled task |
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448 | GPS_Neutral(); |
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449 | break; // eof default |
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450 | } // eof switch GPS_Task |
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451 | } // eof gps data quality is good |
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452 | else // gps data quality is bad |
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453 | { // disable gps control |
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454 | GPS_Neutral(); |
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455 | if(FlightMode != GPS_FLIGHT_MODE_FREE) |
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456 | { |
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457 | // beep if signal is not sufficient |
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458 | if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
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459 | else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10; |
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460 | } |
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461 | } |
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462 | // set current data as processed to avoid further calculations on the same gps data |
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463 | GPSInfo.status = PROCESSED; |
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464 | break; |
||
465 | } // eof GPSInfo.status |
||
466 | } |
||
467 |