Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <inttypes.h>

#include <stdlib.h>

#include "ubx.h"

#include "mymath.h"

#include "timer0.h"

#include "uart0.h"

#include "rc.h"

#include "eeprom.h"

typedef enum

  {

    GPS_FLIGHT_MODE_UNDEF,

    GPS_FLIGHT_MODE_FREE,

    GPS_FLIGHT_MODE_AID,

    GPS_FLIGHT_MODE_HOME,

  } FlightMode_t;

#define GPS_POSINTEGRAL_LIMIT 32000

#define GPS_STICK_LIMIT         45              // limit of gps stick control to avoid critical flight attitudes

#define GPS_P_LIMIT                     25

typedef struct

{

  int32_t Longitude;

  int32_t Latitude;

  int32_t Altitude;

  Status_t Status;

} GPS_Pos_t;

// GPS coordinates for hold position

GPS_Pos_t HoldPosition  = {0,0,0,INVALID};

// GPS coordinates for home position

GPS_Pos_t HomePosition  = {0,0,0,INVALID};

// the current flight mode

FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;

// ---------------------------------------------------------------------------------

void GPS_UpdateParameter(void)

{

  static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;

  if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING))

    {

      FlightMode = GPS_FLIGHT_MODE_FREE;

    }

  else

    {

      if     (dynamicParams.NaviGpsModeControl <  50) FlightMode = GPS_FLIGHT_MODE_AID;

      else if(dynamicParams.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;

      else                                                FlightMode = GPS_FLIGHT_MODE_HOME;

    }

  if (FlightMode != FlightModeOld)

    {

      BeepTime = 100;

    }

  FlightModeOld = FlightMode;

}

// ---------------------------------------------------------------------------------

// This function defines a good GPS signal condition

uint8_t GPS_IsSignalOK(void)

{

  static uint8_t GPSFix = 0;

  if( (GPSInfo.status != INVALID)  && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= staticParams.NaviGpsMinSat) || GPSFix))

    {

      GPSFix = 1;

      return(1);

    }

  else return (0);

}

// ---------------------------------------------------------------------------------

// rescale xy-vector length to  limit

uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit)

{

  uint8_t retval = 0;

  int32_t len;

  len = (int32_t)c_sqrt(*x * *x + *y * *y);

  if (len > limit)

    {

      // normalize control vector components to the limit

      *x  = (*x  * limit) / len;

      *y  = (*y  * limit) / len;

      retval = 1;

    }

  return(retval);

}

// checks nick and roll sticks for manual control

uint8_t GPS_IsManualControlled(void)

{

  if ( (abs(PPM_in[staticParams.ChannelAssignment[CH_NICK]]) < staticParams.NaviStickThreshold) && (abs(PPM_in[staticParams.ChannelAssignment[CH_ROLL]]) < staticParams.NaviStickThreshold)) return 0;

  else return 1;

}

// set given position to current gps position

uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos)

{

  uint8_t retval = 0;

  if(pGPSPos == NULL) return(retval);   // bad pointer

  if(GPS_IsSignalOK())

    {   // is GPS signal condition is fine

      pGPSPos->Longitude        = GPSInfo.longitude;

      pGPSPos->Latitude = GPSInfo.latitude;

      pGPSPos->Altitude = GPSInfo.altitude;

      pGPSPos->Status   = NEWDATA;

      retval = 1;

    }

  else

    {   // bad GPS signal condition

      pGPSPos->Status = INVALID;

      retval = 0;

    }

  return(retval);

}

// clear position

uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos)

{

  uint8_t retval = 0;

  if(pGPSPos == NULL) return(retval);   // bad pointer

  else

    {

      pGPSPos->Longitude        = 0;

      pGPSPos->Latitude = 0;

      pGPSPos->Altitude = 0;

      pGPSPos->Status   = INVALID;

      retval = 1;

    }

  return (retval);

}

// disable GPS control sticks

void GPS_Neutral(void)

{

  GPSStickNick = 0;

  GPSStickRoll = 0;

}

// calculates the GPS control stick values from the deviation to target position

// if the pointer to the target positin is NULL or is the target position invalid

// then the P part of the controller is deactivated.

void GPS_PIDController(GPS_Pos_t *pTargetPos)

{

  static int32_t PID_Nick, PID_Roll;

  int32_t coscompass, sincompass;

  int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm

  int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;

  int32_t PID_North = 0, PID_East = 0;

  static int32_t cos_target_latitude = 1;

  static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;

  static GPS_Pos_t *pLastTargetPos = 0;

  // if GPS data and Compass are ok

  if( GPS_IsSignalOK() && (CompassHeading >= 0) )

    {

      if(pTargetPos != NULL) // if there is a target position

        {

          if(pTargetPos->Status != INVALID) // and the position data are valid

            {

              // if the target data are updated or the target pointer has changed

              if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) )

                {

                  // reset error integral

                  GPSPosDevIntegral_North = 0;

                  GPSPosDevIntegral_East = 0;

                  // recalculate latitude projection

                  cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));

                  // remember last target pointer

                  pLastTargetPos = pTargetPos;

                  // mark data as processed

                  pTargetPos->Status = PROCESSED;

                }

              // calculate position deviation from latitude and longitude differences

              GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally

              GPSPosDev_East  = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally

              // calculate latitude projection

              GPSPosDev_East  *= cos_target_latitude;

              GPSPosDev_East /= 8192;

            }

          else // no valid target position available

            {

              // reset error

              GPSPosDev_North = 0;

              GPSPosDev_East = 0;

              // reset error integral

              GPSPosDevIntegral_North = 0;

              GPSPosDevIntegral_East = 0;

            }

        }

      else // no target position available

        {

          // reset error

          GPSPosDev_North = 0;

          GPSPosDev_East = 0;

          // reset error integral

          GPSPosDevIntegral_North = 0;

          GPSPosDevIntegral_East = 0;

        }

      //Calculate PID-components of the controller

      // D-Part

      D_North = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.velnorth)/512;

      D_East =  ((int32_t)dynamicParams.NaviGpsD * GPSInfo.veleast)/512;

      // P-Part

      P_North = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_North)/2048;

      P_East =  ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_East)/2048;

      // I-Part

      I_North = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_North)/8192;

      I_East =  ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_East)/8192;

      // combine P & I

      PID_North = P_North + I_North;

      PID_East  = P_East  + I_East;

      if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))

        {

          GPSPosDevIntegral_North += GPSPosDev_North/16;

          GPSPosDevIntegral_East  += GPSPosDev_East/16;

          GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);

        }

      // combine PI- and D-Part

      PID_North += D_North;

      PID_East  += D_East;

      // scale combination with gain.

      PID_North = (PID_North * (int32_t)dynamicParams.NaviGpsGain) / 100;

      PID_East  = (PID_East  * (int32_t)dynamicParams.NaviGpsGain) / 100;

      // GPS to nick and roll settings

      // A positive nick angle moves head downwards (flying forward).

      // A positive roll angle tilts left side downwards (flying left).

      // If compass heading is 0 the head of the copter is in north direction.

      // A positive nick angle will fly to north and a positive roll angle will fly to west.

      // In case of a positive north deviation/velocity the

      // copter should fly to south (negative nick).

      // In case of a positive east position deviation and a positive east velocity the

      // copter should fly to west (positive roll).

      // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values

      // in the flight.c. Therefore a positive north deviation/velocity should result in a positive

      // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll.

      coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR);

      sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR);

      PID_Nick =   (coscompass * PID_North + sincompass * PID_East) / 8192;

      PID_Roll  =  (sincompass * PID_North - coscompass * PID_East) / 8192;

      // limit resulting GPS control vector

      GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);

      GPSStickNick = (int16_t)PID_Nick;

      GPSStickRoll = (int16_t)PID_Roll;

    }

  else // invalid GPS data or bad compass reading

    {

      GPS_Neutral(); // do nothing

      // reset error integral

      GPSPosDevIntegral_North = 0;

      GPSPosDevIntegral_East = 0;

    }

}

void GPS_Main(void)

{

  static uint8_t GPS_P_Delay = 0;

  static uint16_t beep_rythm = 0;

  GPS_UpdateParameter();

  // store home position if start of flight flag is set

  if(MKFlags & MKFLAG_CALIBRATE)

    {

      if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;

    }

  switch(GPSInfo.status)

    {

    case INVALID:  // invalid gps data

      GPS_Neutral();

      if(FlightMode != GPS_FLIGHT_MODE_FREE)

        {

          BeepTime = 100; // beep if signal is neccesary

        }

      break;

    case PROCESSED: // if gps data are already processed do nothing

      // downcount timeout

      if(GPSTimeout) GPSTimeout--;

      // if no new data arrived within timeout set current data invalid

      // and therefore disable GPS

      else

        {

          GPS_Neutral();

          GPSInfo.status = INVALID;

        }

      break;

    case NEWDATA: // new valid data from gps device

      // if the gps data quality is good

      beep_rythm++;

      if (GPS_IsSignalOK())

        {

          switch(FlightMode) // check what's to do

            {

            case GPS_FLIGHT_MODE_FREE:

              // update hold position to current gps position

              GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad

              // disable gps control

              GPS_Neutral();

              break;

            case GPS_FLIGHT_MODE_AID:

              if(HoldPosition.Status != INVALID)

                {

                  if( GPS_IsManualControlled() ) // MK controlled by user

                    {

                      // update hold point to current gps position

                      GPS_SetCurrPosition(&HoldPosition);

                      // disable gps control

                      GPS_Neutral();

                      GPS_P_Delay = 0;

                    }

                  else // GPS control active

                    {

                      if(GPS_P_Delay < 7)

                        { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)

                          GPS_P_Delay++;

                          GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position

                          GPS_PIDController(NULL); // activates only the D-Part

                        }

                      else GPS_PIDController(&HoldPosition);// activates the P&D-Part

                    }

                }

              else // invalid Hold Position

                {  // try to catch a valid hold position from gps data input

                  GPS_SetCurrPosition(&HoldPosition);

                  GPS_Neutral();

                }

              break;

            case GPS_FLIGHT_MODE_HOME:

              if(HomePosition.Status != INVALID)

                {

                  // update hold point to current gps position

                  // to avoid a flight back if home comming is deactivated

                  GPS_SetCurrPosition(&HoldPosition);

                  if( GPS_IsManualControlled() ) // MK controlled by user

                    {

                      GPS_Neutral();

                    }

                  else // GPS control active

                    {

                      GPS_PIDController(&HomePosition);

                    }

                }

              else // bad home position

                {

                  BeepTime = 50; // signal invalid home position

                  // try to hold at least the position as a fallback option

                  if (HoldPosition.Status != INVALID)

                    {

                      if( GPS_IsManualControlled() ) // MK controlled by user

                        {

                          GPS_Neutral();

                        }

                      else // GPS control active

                        {

                          GPS_PIDController(&HoldPosition);

                        }

                    }

                  else

                    { // try to catch a valid hold position

                      GPS_SetCurrPosition(&HoldPosition);

                      GPS_Neutral();

                    }

                }

              break; // eof TSK_HOME

            default: // unhandled task

              GPS_Neutral();

              break; // eof default

            } // eof switch GPS_Task

        } // eof gps data quality is good

      else // gps data quality is bad

        {       // disable gps control

          GPS_Neutral();

          if(FlightMode != GPS_FLIGHT_MODE_FREE)

            {

              // beep if signal is not sufficient

              if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;

              else if (GPSInfo.satnum < staticParams.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;

            }

        }

      // set current data as processed to avoid further calculations on the same gps data

      GPSInfo.status = PROCESSED;

      break;

    } // eof GPSInfo.status

}