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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*#######################################################################################*/ |
| 41 | ingob | 2 | /*#######################################################################################*/ |
| 3 | |||
| 4 | // IMPORTANT NOTE: |
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| 5 | |||
| 6 | // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
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| 7 | |||
| 8 | // The GPS navigation routines are NOT included ! |
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| 9 | |||
| 10 | /*#######################################################################################*/ |
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| 11 | /*#######################################################################################*/ |
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| 1 | ingob | 12 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 13 | /*#######################################################################################*/ |
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| 14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 15 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 16 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 1 | ingob | 17 | // + FOR NON COMMERCIAL USE ONLY |
| 18 | // + www.MikroKopter.com |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 20 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 21 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 22 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 23 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 24 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 25 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 27 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 28 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 31 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 32 | // + eindeutig als Ursprung verlinkt werden |
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| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 34 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 35 | // + Benutzung auf eigene Gefahr |
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| 36 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 37 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 38 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 39 | // + mit unserer Zustimmung zulässig |
| 40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 43 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 44 | // + this list of conditions and the following disclaimer. |
| 45 | // + * 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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| 46 | // + from this software without specific prior written permission. |
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| 41 | ingob | 47 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 1 | ingob | 48 | // + for non-commercial use (directly or indirectly) |
| 41 | ingob | 49 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 50 | // + with our written permission |
| 41 | ingob | 51 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 52 | // + clearly linked as origin |
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| 171 | ingob | 53 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 54 | // |
| 55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 41 | ingob | 65 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 67 | #include <stdio.h> |
| 68 | #include <stdlib.h> |
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| 69 | #include <math.h> |
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| 70 | #include "91x_lib.h" |
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| 1 | ingob | 71 | #include "main.h" |
| 41 | ingob | 72 | #include "uart1.h" |
| 73 | #include "GPS.h" |
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| 119 | killagreg | 74 | #include "timer1.h" |
| 41 | ingob | 75 | #include "spi_slave.h" |
| 76 | #include "waypoints.h" |
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| 77 | #include "i2c.h" |
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| 1 | ingob | 78 | |
| 79 | |||
| 41 | ingob | 80 | #define M_PI_180 (M_PI / 180.0f) |
| 81 | #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
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| 82 | typedef enum |
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| 83 | { |
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| 84 | GPS_FLIGHT_MODE_UNDEF, |
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| 85 | GPS_FLIGHT_MODE_FREE, |
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| 86 | GPS_FLIGHT_MODE_AID, |
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| 87 | GPS_FLIGHT_MODE_WAYPOINT |
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| 88 | } GPS_FlightMode_t; |
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| 1 | ingob | 89 | |
| 41 | ingob | 90 | typedef struct |
| 91 | { |
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| 92 | float Gain; |
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| 93 | float P; |
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| 94 | float I; |
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| 95 | float D; |
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| 103 | killagreg | 96 | float A; |
| 41 | ingob | 97 | float ACC; |
| 102 | killagreg | 98 | s32 P_Limit; |
| 99 | s32 I_Limit; |
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| 100 | s32 D_Limit; |
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| 101 | s32 PID_Limit; |
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| 73 | killagreg | 102 | u32 BrakingDuration; |
| 41 | ingob | 103 | u8 MinSat; |
| 104 | s8 StickThreshold; |
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| 105 | float WindCorrection; |
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| 89 | killagreg | 106 | float SpeedCompensation; |
| 102 | killagreg | 107 | s32 OperatingRadius; |
| 41 | ingob | 108 | GPS_FlightMode_t FlightMode; |
| 109 | } __attribute__((packed)) GPS_Parameter_t; |
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| 1 | ingob | 110 | |
| 41 | ingob | 111 | typedef struct |
| 112 | { |
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| 146 | killagreg | 113 | u8 Status; // invalid, newdata, processed |
| 103 | killagreg | 114 | s32 North; // in cm |
| 41 | ingob | 115 | s32 East; // in cm |
| 116 | s32 Bearing; // in deg |
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| 102 | killagreg | 117 | s32 Distance; // in cm |
| 41 | ingob | 118 | } __attribute__((packed)) GPS_Deviation_t; |
| 73 | killagreg | 119 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
| 120 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
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| 121 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
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| 41 | ingob | 122 | |
| 123 | GPS_Stick_t GPS_Stick; |
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| 124 | GPS_Parameter_t GPS_Parameter; |
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| 125 | |||
| 126 | // the gps reference positions |
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| 127 | GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
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| 128 | GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
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| 129 | GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
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| 92 | killagreg | 130 | u32 GPS_TargetRadius = 0; // catch radius for target area |
| 41 | ingob | 131 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
| 132 | |||
| 133 | //------------------------------------------------------------- |
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| 134 | // Update GPSParamter |
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| 135 | void GPS_UpdateParameter(void) |
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| 136 | { |
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| 133 | killagreg | 137 | #define SWITCH_DELAY 500 |
| 185 | killagreg | 138 | static u8 wpclear = FALSE; |
| 133 | killagreg | 139 | static u32 SwitchDelay = 0; |
| 41 | ingob | 140 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
| 133 | killagreg | 141 | |
| 41 | ingob | 142 | // in case of bad receiving conditions |
| 143 | if(FC.RC_Quality < 100) |
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| 144 | { // set fixed parameter |
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| 97 | killagreg | 145 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
| 41 | ingob | 146 | GPS_Parameter.Gain = (float) 100; |
| 147 | GPS_Parameter.P = (float) 90; |
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| 148 | GPS_Parameter.I = (float) 90; |
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| 149 | GPS_Parameter.D = (float) 90; |
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| 150 | GPS_Parameter.A = (float) 90; |
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| 151 | GPS_Parameter.ACC = (float) 0; |
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| 73 | killagreg | 152 | GPS_Parameter.P_Limit = 90; |
| 153 | GPS_Parameter.I_Limit = 90; |
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| 154 | GPS_Parameter.D_Limit = 90; |
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| 155 | GPS_Parameter.PID_Limit = 200; |
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| 156 | GPS_Parameter.BrakingDuration = 0; |
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| 89 | killagreg | 157 | GPS_Parameter.SpeedCompensation = (float) 30; |
| 41 | ingob | 158 | GPS_Parameter.MinSat = 6; |
| 159 | GPS_Parameter.StickThreshold = 8; |
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| 160 | GPS_Parameter.WindCorrection = 0.0; |
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| 161 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
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| 73 | killagreg | 162 | |
| 41 | ingob | 163 | } |
| 164 | else |
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| 165 | { |
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| 166 | // update parameter from FC |
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| 167 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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| 168 | else |
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| 169 | { |
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| 96 | killagreg | 170 | if(Parameter.NaviGpsModeControl < 50) |
| 171 | { |
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| 159 | killagreg | 172 | if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY); |
| 133 | killagreg | 173 | if(CheckDelay(SwitchDelay)) |
| 159 | killagreg | 174 | { |
| 133 | killagreg | 175 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| 176 | } |
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| 96 | killagreg | 177 | } |
| 178 | else if(Parameter.NaviGpsModeControl < 180) |
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| 179 | { |
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| 133 | killagreg | 180 | if(FlightMode_Old == GPS_FLIGHT_MODE_AID) SetDelay(SWITCH_DELAY); |
| 181 | if(CheckDelay(SwitchDelay)) |
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| 182 | { |
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| 183 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
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| 184 | } |
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| 96 | killagreg | 185 | } |
| 186 | else |
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| 187 | { |
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| 133 | killagreg | 188 | if(FlightMode_Old == GPS_FLIGHT_MODE_WAYPOINT) SetDelay(SWITCH_DELAY); |
| 189 | if(CheckDelay(SwitchDelay)) |
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| 190 | { |
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| 191 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
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| 192 | } |
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| 96 | killagreg | 193 | } |
| 41 | ingob | 194 | } |
| 195 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
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| 196 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
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| 197 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
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| 198 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
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| 199 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
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| 200 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
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| 102 | killagreg | 201 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
| 202 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
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| 203 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
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| 92 | killagreg | 204 | GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation; |
| 73 | killagreg | 205 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
| 89 | killagreg | 206 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
| 41 | ingob | 207 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
| 208 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
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| 209 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
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| 102 | killagreg | 210 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
| 41 | ingob | 211 | } |
| 185 | killagreg | 212 | // FlightMode transitions |
| 103 | killagreg | 213 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
| 214 | { |
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| 185 | killagreg | 215 | BeepTime = 100; // beep to indicate that mode has been switched |
| 103 | killagreg | 216 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 185 | killagreg | 217 | switch(GPS_Parameter.FlightMode) |
| 218 | { |
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| 219 | case GPS_FLIGHT_MODE_FREE: |
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| 220 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
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| 221 | NCFlags |= NC_FLAG_FREE; |
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| 222 | if(!StopNavigation && wpclear) |
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| 223 | { |
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| 224 | WPList_Clear(); // clear WPList if mode has changed to Free |
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| 225 | wpclear = FALSE; |
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| 226 | } |
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| 227 | break; |
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| 228 | |||
| 229 | case GPS_FLIGHT_MODE_AID: |
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| 230 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
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| 231 | NCFlags |= NC_FLAG_PH; |
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| 232 | break; |
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| 233 | |||
| 234 | case GPS_FLIGHT_MODE_WAYPOINT: |
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| 235 | wpclear = TRUE; // clear WP's only if CH was once active |
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| 236 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
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| 237 | NCFlags |= NC_FLAG_CH; |
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| 238 | break; |
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| 239 | |||
| 240 | default: // should never happen |
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| 241 | NCFlags = 0; |
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| 242 | break; |
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| 243 | } |
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| 244 | FlightMode_Old = GPS_Parameter.FlightMode; |
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| 103 | killagreg | 245 | } |
| 41 | ingob | 246 | } |
| 247 | |||
| 248 | //------------------------------------------------------------- |
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| 249 | // This function defines a good GPS signal condition |
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| 250 | u8 GPS_IsSignalOK(void) |
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| 251 | { |
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| 252 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
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| 253 | else return(0); |
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| 254 | } |
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| 255 | |||
| 1 | ingob | 256 | //------------------------------------------------------------ |
| 41 | ingob | 257 | // Checks for manual control action |
| 258 | u8 GPS_IsManuallyControlled(void) |
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| 259 | { |
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| 102 | killagreg | 260 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0) && (FC.RC_Quality > 150) ) |
| 261 | { |
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| 262 | NCFlags |= NC_FLAG_MANUAL_CONTROL; |
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| 263 | return(1); |
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| 264 | } |
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| 265 | else |
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| 266 | { |
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| 267 | NCFlags &= ~NC_FLAG_MANUAL_CONTROL; |
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| 268 | return(0); |
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| 103 | killagreg | 269 | } |
| 41 | ingob | 270 | } |
| 271 | |||
| 272 | //------------------------------------------------------------ |
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| 273 | // copy GPS position from source position to target position |
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| 274 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
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| 275 | { |
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| 276 | u8 retval = 0; |
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| 277 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
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| 278 | // copy only valid positions |
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| 279 | if(pGPSPosSrc->Status != INVALID) |
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| 280 | { |
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| 281 | // if the source GPS position is not invalid |
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| 282 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
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| 283 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
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| 284 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
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| 285 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
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| 286 | retval = 1; |
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| 287 | } |
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| 288 | return(retval); |
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| 289 | } |
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| 290 | |||
| 291 | //------------------------------------------------------------ |
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| 292 | // clear position data |
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| 293 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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| 294 | { |
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| 295 | u8 retval = FALSE; |
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| 296 | if(pGPSPos == NULL) return(retval); // bad pointer |
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| 297 | else |
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| 298 | { |
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| 299 | pGPSPos->Longitude = 0; |
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| 300 | pGPSPos->Latitude = 0; |
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| 301 | pGPSPos->Altitude = 0; |
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| 302 | pGPSPos->Status = INVALID; |
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| 303 | retval = TRUE; |
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| 304 | } |
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| 305 | return (retval); |
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| 306 | } |
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| 307 | |||
| 308 | |||
| 309 | //------------------------------------------------------------ |
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| 97 | killagreg | 310 | void GPS_Neutral(void) |
| 41 | ingob | 311 | { |
| 312 | GPS_Stick.Nick = 0; |
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| 313 | GPS_Stick.Roll = 0; |
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| 314 | GPS_Stick.Yaw = 0; |
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| 315 | } |
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| 316 | |||
| 317 | //------------------------------------------------------------ |
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| 1 | ingob | 318 | void GPS_Init(void) |
| 319 | { |
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| 110 | killagreg | 320 | UART1_PutString("\r\n GPS init..."); |
| 41 | ingob | 321 | UBX_Init(); |
| 322 | GPS_Neutral(); |
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| 323 | GPS_ClearPosition(&GPS_HoldPosition); |
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| 324 | GPS_ClearPosition(&GPS_HomePosition); |
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| 325 | GPS_pTargetPosition = NULL; |
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| 326 | WPList_Init(); |
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| 152 | killagreg | 327 | GPS_pWaypoint = NULL; |
| 41 | ingob | 328 | GPS_UpdateParameter(); |
| 110 | killagreg | 329 | UART1_PutString("ok"); |
| 41 | ingob | 330 | } |
| 1 | ingob | 331 | |
| 41 | ingob | 332 | //------------------------------------------------------------ |
| 333 | // calculate the bearing to target position from its deviation |
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| 334 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
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| 335 | { |
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| 336 | s32 bearing; |
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| 337 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
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| 338 | bearing = (270L - bearing)%360L; |
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| 339 | return(bearing); |
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| 1 | ingob | 340 | } |
| 41 | ingob | 341 | |
| 342 | |||
| 1 | ingob | 343 | //------------------------------------------------------------ |
| 41 | ingob | 344 | // Rescale xy-vector length if length limit is violated |
| 102 | killagreg | 345 | // returns vector len after scaling |
| 346 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
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| 41 | ingob | 347 | { |
| 102 | killagreg | 348 | s32 dist; |
| 98 | killagreg | 349 | |
| 102 | killagreg | 350 | dist = (s32)hypot(*x,*y); // the length of the vector |
| 99 | killagreg | 351 | if (dist > limit) |
| 41 | ingob | 352 | // if vector length is larger than the given limit |
| 103 | killagreg | 353 | { // scale vector compontents so that the length is cut off to limit |
| 102 | killagreg | 354 | *x = (s32)(( (double)(*x) * (double)limit ) / (double)dist); |
| 355 | *y = (s32)(( (double)(*y) * (double)limit ) / (double)dist); |
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| 99 | killagreg | 356 | dist = limit; |
| 41 | ingob | 357 | } |
| 99 | killagreg | 358 | return(dist); |
| 41 | ingob | 359 | } |
| 1 | ingob | 360 | |
| 41 | ingob | 361 | //------------------------------------------------------------ |
| 362 | // transform the integer deg into float radians |
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| 363 | inline double RadiansFromGPS(s32 deg) |
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| 1 | ingob | 364 | { |
| 41 | ingob | 365 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
| 366 | } |
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| 1 | ingob | 367 | |
| 41 | ingob | 368 | //------------------------------------------------------------ |
| 369 | // transform the integer deg into float deg |
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| 370 | inline double DegFromGPS(s32 deg) |
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| 371 | { |
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| 372 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
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| 373 | } |
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| 1 | ingob | 374 | |
| 41 | ingob | 375 | //------------------------------------------------------------ |
| 376 | // calculate the deviation from the current position to the target position |
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| 73 | killagreg | 377 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
| 41 | ingob | 378 | { |
| 73 | killagreg | 379 | double temp1, temp2; |
| 41 | ingob | 380 | // if given pointer is NULL |
| 381 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
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| 382 | // if positions are invalid |
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| 383 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
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| 1 | ingob | 384 | |
| 41 | ingob | 385 | // The deviation from the current to the target position along north and east direction is |
| 386 | // simple the lat/lon difference. To convert that angular deviation into an |
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| 387 | // arc length the spherical projection has to be considered. |
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| 388 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
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| 389 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
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| 390 | // The arc length per longitude degree depends on the correspondig latitude and |
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| 391 | // is 111.2km * cos(latitude). |
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| 1 | ingob | 392 | |
| 41 | ingob | 393 | // calculate the shortest longitude deviation from target |
| 394 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
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| 395 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
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| 396 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
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| 397 | if(temp1 > 180.0f) temp1 -= 360.0f; |
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| 398 | else if (temp1 < -180.0f) temp1 += 360.0f; |
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| 73 | killagreg | 399 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
| 41 | ingob | 400 | // calculate latitude deviation from target |
| 401 | // this is allways within -180 deg ... 180 deg |
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| 402 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
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| 403 | // deviation from target position in cm |
||
| 404 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
||
| 405 | |||
| 73 | killagreg | 406 | pDeviationFromTarget->Status = INVALID; |
| 407 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
||
| 408 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
||
| 41 | ingob | 409 | // If the position deviation is small enough to neglect the earth curvature |
| 410 | // (this is for our application always fulfilled) the distance to target |
||
| 411 | // can be calculated by the pythagoras of north and east deviation. |
||
| 102 | killagreg | 412 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
| 73 | killagreg | 413 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
| 414 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
||
| 415 | pDeviationFromTarget->Status = NEWDATA; |
||
| 41 | ingob | 416 | return TRUE; |
| 417 | |||
| 418 | baddata: |
||
| 73 | killagreg | 419 | pDeviationFromTarget->North = 0L; |
| 420 | pDeviationFromTarget->East = 0L; |
||
| 421 | pDeviationFromTarget->Distance = 0L; |
||
| 422 | pDeviationFromTarget->Bearing = 0L; |
||
| 423 | pDeviationFromTarget->Status = INVALID; |
||
| 41 | ingob | 424 | return FALSE; |
| 425 | } |
||
| 426 | |||
| 427 | //------------------------------------------------------------ |
||
| 428 | void GPS_Navigation(void) |
||
| 429 | { |
||
| 430 | static u32 beep_rythm; |
||
| 431 | static u32 GPSDataTimeout = 0; |
||
| 129 | killagreg | 432 | float compassheading, sin_h, cos_h; |
| 41 | ingob | 433 | |
| 434 | // pointer to current target position |
||
| 435 | static GPS_Pos_t * pTargetPositionOld = NULL; |
||
| 436 | |||
| 437 | static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius |
||
| 102 | killagreg | 438 | static s32 OperatingRadiusOld = -1; |
| 41 | ingob | 439 | static u32 WPTime = 0; |
| 440 | |||
| 129 | killagreg | 441 | |
| 442 | |||
| 443 | // get current heading from the FC gyro compass heading |
||
| 444 | if(abs(FC.StickYaw) > 20 || FromFlightCtrl.GyroHeading > 3600) compassheading = (float)I2C_Heading.Heading * M_PI_180; |
||
| 445 | else compassheading = ((float)FromFlightCtrl.GyroHeading * M_PI_180) / 10.0; |
||
| 446 | |||
| 447 | sin_h = sin(compassheading); |
||
| 448 | cos_h = cos(compassheading); |
||
| 449 | |||
| 450 | |||
| 41 | ingob | 451 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 452 | //+ Check for new data from GPS-receiver |
||
| 453 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 454 | switch(GPSData.Status) |
||
| 455 | { |
||
| 456 | case INVALID: // no gps data available |
||
| 457 | // do nothing |
||
| 73 | killagreg | 458 | GPS_Parameter.PID_Limit = 0; // disables PID output |
| 41 | ingob | 459 | break; |
| 460 | |||
| 461 | case PROCESSED: // the current data have been allready processed |
||
| 462 | // if no new data are available within the timeout switch to invalid state. |
||
| 463 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
||
| 464 | // wait for new gps data |
||
| 465 | break; |
||
| 466 | |||
| 467 | case NEWDATA: // handle new gps data |
||
| 468 | |||
| 469 | // update GPS Parameter from FC-Data via SPI interface |
||
| 470 | GPS_UpdateParameter(); |
||
| 471 | |||
| 472 | // wait maximum of 3 times the normal data update time before data timemout |
||
| 473 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
||
| 474 | beep_rythm++; |
||
| 475 | |||
| 476 | // debug |
||
| 92 | killagreg | 477 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
| 478 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
||
| 479 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
||
| 41 | ingob | 480 | |
| 481 | // If GPS signal condition is sufficient for a reliable position measurement |
||
| 482 | if(GPS_IsSignalOK()) |
||
| 483 | { |
||
| 73 | killagreg | 484 | // update home deviation info |
| 485 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
||
| 74 | killagreg | 486 | |
| 41 | ingob | 487 | // if the MK is starting or the home position is invalid then store the home position |
| 488 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
||
| 489 | { // try to update the home position from the current position |
||
| 490 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
||
| 491 | { |
||
| 492 | BeepTime = 700; // beep on success |
||
| 493 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
||
| 494 | } |
||
| 495 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
||
| 152 | killagreg | 496 | if(GPS_pWaypoint != NULL) // if new WP exist |
| 497 | { // update WP hold time stamp immediately! |
||
| 159 | killagreg | 498 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
| 152 | killagreg | 499 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 500 | } |
||
| 41 | ingob | 501 | } |
| 502 | |||
| 503 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
||
| 504 | |||
| 505 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
||
| 103 | killagreg | 506 | switch(GPS_Parameter.FlightMode) |
| 41 | ingob | 507 | { |
| 508 | // the GPS control is deactived |
||
| 509 | case GPS_FLIGHT_MODE_FREE: |
||
| 96 | killagreg | 510 | |
| 73 | killagreg | 511 | GPS_Parameter.PID_Limit = 0; // disables PID output |
| 41 | ingob | 512 | // update hold position |
| 513 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
| 514 | // no target position |
||
| 515 | GPS_pTargetPosition = NULL; |
||
| 92 | killagreg | 516 | GPS_TargetRadius = 0; |
| 41 | ingob | 517 | break; |
| 518 | |||
| 519 | // the GPS supports the position hold, if the pilot takes no action |
||
| 520 | case GPS_FLIGHT_MODE_AID: |
||
| 96 | killagreg | 521 | |
| 41 | ingob | 522 | if(GPS_IsManuallyControlled()) |
| 523 | { |
||
| 73 | killagreg | 524 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
| 129 | killagreg | 525 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 41 | ingob | 526 | GPS_pTargetPosition = NULL; |
| 92 | killagreg | 527 | GPS_TargetRadius = 0; |
| 41 | ingob | 528 | } |
| 529 | else |
||
| 530 | { |
||
| 159 | killagreg | 531 | /* |
| 129 | killagreg | 532 | #define PH_MOVE_THRESHOLD 8 |
| 533 | if( ((abs(FC.StickNick) > PH_MOVE_THRESHOLD) || (abs(FC.StickRoll) > PH_MOVE_THRESHOLD) ) && (FC.RC_Quality > 150)) |
||
| 534 | { // indirect control by moving the hold position with rc sticks |
||
| 535 | // rc sticks have a range of +/-127 counts |
||
| 536 | // GPS Coordinates are in 1-E7 deg, i.e. 1 counts is 1E-7°/360°*40E+8cm = 1.11 cm |
||
| 537 | // normal manual activtion threshold is 8 counts that results in a change of the hold position |
||
| 538 | // of min 8*1.11cm * 5Hz = 8.88 = 44.4cm/s an max 127*1.11cm *5Hz = 705cm/s |
||
| 539 | GPS_HoldPosition.Latitude += (s32)(cos_h*FC.StickNick + sin_h*FC.StickRoll); |
||
| 540 | GPS_HoldPosition.Longitude += (s32)((sin_h*FC.StickNick - cos_h*FC.StickRoll) / cos(RadiansFromGPS(GPS_HoldPosition.Latitude)) ); |
||
| 133 | killagreg | 541 | }*/ |
| 159 | killagreg | 542 | // set target position |
| 41 | ingob | 543 | GPS_pTargetPosition = &GPS_HoldPosition; |
| 92 | killagreg | 544 | GPS_TargetRadius = 100; // 1 meter |
| 41 | ingob | 545 | } |
| 546 | break; |
||
| 547 | |||
| 548 | // the GPS control is directed to a target position |
||
| 549 | // given by a waypoint or by the home position |
||
| 550 | case GPS_FLIGHT_MODE_WAYPOINT: |
||
| 74 | killagreg | 551 | |
| 73 | killagreg | 552 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
| 41 | ingob | 553 | { |
| 73 | killagreg | 554 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
| 555 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
||
| 556 | GPS_pTargetPosition = NULL; // set target position invalid |
||
| 92 | killagreg | 557 | GPS_TargetRadius = 0; |
| 73 | killagreg | 558 | } |
| 559 | else // no manual control -> gps position hold active |
||
| 560 | { |
||
| 561 | // waypoint trigger logic |
||
| 130 | killagreg | 562 | if(GPS_pWaypoint != NULL) // pointer to waypoint exist |
| 41 | ingob | 563 | { |
| 73 | killagreg | 564 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
| 41 | ingob | 565 | { |
| 73 | killagreg | 566 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
| 152 | killagreg | 567 | if(GPS_pWaypoint != NULL) // if new WP exist |
| 568 | { // update WP hold time stamp immediately! |
||
| 159 | killagreg | 569 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
| 152 | killagreg | 570 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 571 | } |
||
| 73 | killagreg | 572 | BeepTime = 255; |
| 41 | ingob | 573 | } |
| 73 | killagreg | 574 | else // waypoint position is valid |
| 575 | { |
||
| 576 | // if WP has been reached once, wait hold time before trigger to next one |
||
| 92 | killagreg | 577 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
| 73 | killagreg | 578 | { |
| 579 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
||
| 580 | if(CheckDelay(WPTime)) |
||
| 581 | { |
||
| 582 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
||
| 151 | killagreg | 583 | if(GPS_pWaypoint == NULL) GPS_pWaypoint = WPList_End(); // goto last WP if next one not exist |
| 584 | if(GPS_pWaypoint != NULL) // if new WP exist |
||
| 585 | { // update WP hold time stamp immediately! |
||
| 159 | killagreg | 586 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
| 152 | killagreg | 587 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 151 | killagreg | 588 | } |
| 73 | killagreg | 589 | } |
| 152 | killagreg | 590 | } // EOF target reached |
| 92 | killagreg | 591 | else |
| 592 | { |
||
| 593 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
||
| 594 | } |
||
| 41 | ingob | 595 | } |
| 159 | killagreg | 596 | } |
| 130 | killagreg | 597 | else // pointer to waypoint does not exist |
| 598 | { |
||
| 599 | // try to catch the first waypoint from the list |
||
| 152 | killagreg | 600 | GPS_pWaypoint = WPList_Begin(); |
| 601 | if(GPS_pWaypoint != NULL) // if new WP exist |
||
| 602 | { // update WP hold time stamp immediately! |
||
| 159 | killagreg | 603 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
| 152 | killagreg | 604 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 159 | killagreg | 605 | } |
| 130 | killagreg | 606 | } |
| 607 | // EOF waypoint trigger logic |
||
| 74 | killagreg | 608 | |
| 73 | killagreg | 609 | if(GPS_pWaypoint != NULL) // Waypoint exist |
| 41 | ingob | 610 | { |
| 159 | killagreg | 611 | // possible new data have been put into wp-list |
| 612 | if(GPS_pWaypoint->Position.Status == NEWDATA) |
||
| 613 | { |
||
| 614 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
||
| 615 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
| 616 | } |
||
| 41 | ingob | 617 | // update the hold position |
| 618 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
| 159 | killagreg | 619 | // set target to the waypoint |
| 620 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
||
| 621 | // update target radius |
||
| 102 | killagreg | 622 | GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
| 92 | killagreg | 623 | |
| 41 | ingob | 624 | } |
| 73 | killagreg | 625 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
| 626 | { |
||
| 627 | // fly back to home postion |
||
| 628 | if(GPS_HomePosition.Status == INVALID) |
||
| 629 | { |
||
| 630 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
||
| 92 | killagreg | 631 | GPS_TargetRadius = 100; |
| 73 | killagreg | 632 | BeepTime = 255; // beep to indicate missin home position |
| 633 | } |
||
| 634 | else // the home position is valid |
||
| 635 | { |
||
| 636 | // update the hold position |
||
| 637 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
| 638 | // set target to home position |
||
| 639 | GPS_pTargetPosition = &GPS_HomePosition; |
||
| 92 | killagreg | 640 | GPS_TargetRadius = 100; |
| 73 | killagreg | 641 | } |
| 642 | } |
||
| 643 | } // EOF no manual control |
||
| 41 | ingob | 644 | break; |
| 645 | |||
| 646 | case GPS_FLIGHT_MODE_UNDEF: |
||
| 647 | default: |
||
| 73 | killagreg | 648 | GPS_Parameter.PID_Limit = 0; // disables PID output |
| 41 | ingob | 649 | // update hold position |
| 650 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
| 651 | // no target position |
||
| 652 | GPS_pTargetPosition = NULL; |
||
| 92 | killagreg | 653 | GPS_TargetRadius = 0; |
| 41 | ingob | 654 | break; |
| 655 | |||
| 656 | }// EOF GPS Mode Handling |
||
| 657 | |||
| 658 | |||
| 659 | /* Calculation of range target based on the real target */ |
||
| 660 | |||
| 661 | // if no target position exist clear the ranged target position |
||
| 662 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
||
| 663 | else |
||
| 664 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
||
| 665 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
||
| 666 | { |
||
| 73 | killagreg | 667 | BeepTime = 255; // beep to indicate setting of a new target position |
| 92 | killagreg | 668 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
| 41 | ingob | 669 | // calculate deviation of new target position from home position |
| 73 | killagreg | 670 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
| 41 | ingob | 671 | { |
| 672 | // check distance from home position |
||
| 73 | killagreg | 673 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
| 41 | ingob | 674 | { |
| 675 | //calculate ranged target position to be within the operation radius area |
||
| 92 | killagreg | 676 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
| 41 | ingob | 677 | |
| 102 | killagreg | 678 | TargetHomeDeviation.North = (s32)(((float)TargetHomeDeviation.North * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
| 679 | TargetHomeDeviation.East = (s32)(((float)TargetHomeDeviation.East * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
||
| 680 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
||
| 73 | killagreg | 681 | |
| 41 | ingob | 682 | RangedTargetPosition.Status = INVALID; |
| 683 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
||
| 73 | killagreg | 684 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
| 41 | ingob | 685 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
| 73 | killagreg | 686 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
| 41 | ingob | 687 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
| 103 | killagreg | 688 | RangedTargetPosition.Status = NEWDATA; |
| 41 | ingob | 689 | } |
| 690 | else |
||
| 691 | { // the target is located within the operation radius area |
||
| 692 | // simple copy the loaction to the ranged target position |
||
| 693 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
||
| 92 | killagreg | 694 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
| 41 | ingob | 695 | } |
| 696 | } |
||
| 697 | else |
||
| 698 | { // deviation could not be determined |
||
| 699 | GPS_ClearPosition(&RangedTargetPosition); |
||
| 700 | } |
||
| 701 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
||
| 702 | } |
||
| 703 | } |
||
| 704 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
||
| 705 | // remember last target position pointer |
||
| 706 | pTargetPositionOld = GPS_pTargetPosition; |
||
| 707 | |||
| 708 | /* Calculate position deviation from ranged target */ |
||
| 709 | |||
| 710 | // calculate deviation of current position to ranged target position in cm |
||
| 73 | killagreg | 711 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
| 92 | killagreg | 712 | { // set target reached flag of we once reached the target point |
| 93 | killagreg | 713 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
| 92 | killagreg | 714 | { |
| 93 | killagreg | 715 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
| 92 | killagreg | 716 | } |
| 41 | ingob | 717 | // implement your control code here based |
| 73 | killagreg | 718 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
| 41 | ingob | 719 | GPS_Stick.Nick = 0; |
| 720 | GPS_Stick.Roll = 0; |
||
| 721 | GPS_Stick.Yaw = 0; |
||
| 722 | } |
||
| 723 | else // deviation could not be calculated |
||
| 724 | { // do nothing on gps sticks! |
||
| 725 | GPS_Neutral(); |
||
| 103 | killagreg | 726 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached |
| 41 | ingob | 727 | } |
| 728 | |||
| 729 | }// eof if GPSSignal is OK |
||
| 730 | else // GPSSignal not OK |
||
| 731 | { |
||
| 732 | GPS_Neutral(); |
||
| 733 | // beep if signal is not sufficient |
||
| 734 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
||
| 735 | { |
||
| 736 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
||
| 737 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
||
| 738 | } |
||
| 739 | } |
||
| 103 | killagreg | 740 | GPSData.Status = PROCESSED; // mark as processed |
| 41 | ingob | 741 | break; |
| 1 | ingob | 742 | } |
| 41 | ingob | 743 | |
| 95 | killagreg | 744 | DebugOut.Analog[6] = NCFlags; |
| 73 | killagreg | 745 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
| 746 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
||
| 41 | ingob | 747 | DebugOut.Analog[29] = GPS_Stick.Nick; |
| 748 | DebugOut.Analog[30] = GPS_Stick.Roll; |
||
| 749 | |||
| 750 | // update navi data, send back to ground station |
||
| 73 | killagreg | 751 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
| 41 | ingob | 752 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
| 73 | killagreg | 753 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
| 41 | ingob | 754 | NaviData.SatsInUse = GPSData.NumOfSats; |
| 89 | killagreg | 755 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
| 756 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
||
| 757 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
||
| 758 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
||
| 41 | ingob | 759 | NaviData.UBat = FC.UBat; |
| 760 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
||
| 74 | killagreg | 761 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
| 73 | killagreg | 762 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
| 763 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
||
| 764 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
||
| 125 | killagreg | 765 | NaviData.RC_Quality = FC.RC_Quality; |
| 766 | NaviData.RC_RSSI = FC.RC_RSSI; |
||
| 767 | NaviData.MKFlags = FC.MKFlags; |
||
| 92 | killagreg | 768 | NaviData.NCFlags = NCFlags; |
| 74 | killagreg | 769 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
| 89 | killagreg | 770 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
| 97 | killagreg | 771 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
| 41 | ingob | 772 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 103 | killagreg | 773 | return; |
| 1 | ingob | 774 | } |
| 775 |