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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 |
| 138 | static u32 SwitchDelay = 0; |
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| 41 | ingob | 139 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
| 133 | killagreg | 140 | |
| 41 | ingob | 141 | // in case of bad receiving conditions |
| 142 | if(FC.RC_Quality < 100) |
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| 143 | { // set fixed parameter |
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| 97 | killagreg | 144 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
| 41 | ingob | 145 | GPS_Parameter.Gain = (float) 100; |
| 146 | GPS_Parameter.P = (float) 90; |
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| 147 | GPS_Parameter.I = (float) 90; |
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| 148 | GPS_Parameter.D = (float) 90; |
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| 149 | GPS_Parameter.A = (float) 90; |
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| 150 | GPS_Parameter.ACC = (float) 0; |
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| 73 | killagreg | 151 | GPS_Parameter.P_Limit = 90; |
| 152 | GPS_Parameter.I_Limit = 90; |
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| 153 | GPS_Parameter.D_Limit = 90; |
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| 154 | GPS_Parameter.PID_Limit = 200; |
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| 155 | GPS_Parameter.BrakingDuration = 0; |
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| 89 | killagreg | 156 | GPS_Parameter.SpeedCompensation = (float) 30; |
| 41 | ingob | 157 | GPS_Parameter.MinSat = 6; |
| 158 | GPS_Parameter.StickThreshold = 8; |
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| 159 | GPS_Parameter.WindCorrection = 0.0; |
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| 160 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
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| 73 | killagreg | 161 | |
| 41 | ingob | 162 | } |
| 163 | else |
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| 164 | { |
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| 165 | // update parameter from FC |
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| 166 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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| 167 | else |
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| 168 | { |
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| 96 | killagreg | 169 | if(Parameter.NaviGpsModeControl < 50) |
| 170 | { |
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| 159 | killagreg | 171 | if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY); |
| 133 | killagreg | 172 | if(CheckDelay(SwitchDelay)) |
| 159 | killagreg | 173 | { |
| 133 | killagreg | 174 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| 175 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
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| 176 | NCFlags |= NC_FLAG_FREE; |
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| 177 | } |
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| 96 | killagreg | 178 | } |
| 179 | else if(Parameter.NaviGpsModeControl < 180) |
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| 180 | { |
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| 133 | killagreg | 181 | if(FlightMode_Old == GPS_FLIGHT_MODE_AID) SetDelay(SWITCH_DELAY); |
| 182 | if(CheckDelay(SwitchDelay)) |
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| 183 | { |
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| 184 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
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| 185 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
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| 186 | NCFlags |= NC_FLAG_PH; |
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| 187 | } |
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| 96 | killagreg | 188 | } |
| 189 | else |
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| 190 | { |
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| 133 | killagreg | 191 | if(FlightMode_Old == GPS_FLIGHT_MODE_WAYPOINT) SetDelay(SWITCH_DELAY); |
| 192 | if(CheckDelay(SwitchDelay)) |
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| 193 | { |
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| 194 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
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| 195 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
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| 196 | NCFlags |= NC_FLAG_CH; |
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| 197 | } |
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| 96 | killagreg | 198 | } |
| 41 | ingob | 199 | } |
| 200 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
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| 201 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
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| 202 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
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| 203 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
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| 204 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
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| 205 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
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| 102 | killagreg | 206 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
| 207 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
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| 208 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
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| 92 | killagreg | 209 | GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation; |
| 73 | killagreg | 210 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
| 89 | killagreg | 211 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
| 41 | ingob | 212 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
| 213 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
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| 214 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
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| 102 | killagreg | 215 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
| 41 | ingob | 216 | } |
| 217 | // FlightMode changed? |
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| 103 | killagreg | 218 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
| 219 | { |
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| 133 | killagreg | 220 | BeepTime = 200; // beep to indicate that mode has been switched |
| 103 | killagreg | 221 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 128 | killagreg | 222 | // if the mode has changed to free |
| 223 | if(GPS_Parameter.FlightMode == GPS_FLIGHT_MODE_FREE) WPList_Clear(); // clear WPList if mode has changed to Free |
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| 103 | killagreg | 224 | } |
| 41 | ingob | 225 | FlightMode_Old = GPS_Parameter.FlightMode; |
| 226 | } |
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| 227 | |||
| 228 | //------------------------------------------------------------- |
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| 229 | // This function defines a good GPS signal condition |
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| 230 | u8 GPS_IsSignalOK(void) |
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| 231 | { |
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| 232 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
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| 233 | else return(0); |
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| 234 | } |
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| 235 | |||
| 1 | ingob | 236 | //------------------------------------------------------------ |
| 41 | ingob | 237 | // Checks for manual control action |
| 238 | u8 GPS_IsManuallyControlled(void) |
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| 239 | { |
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| 102 | killagreg | 240 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0) && (FC.RC_Quality > 150) ) |
| 241 | { |
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| 242 | NCFlags |= NC_FLAG_MANUAL_CONTROL; |
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| 243 | return(1); |
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| 244 | } |
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| 245 | else |
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| 246 | { |
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| 247 | NCFlags &= ~NC_FLAG_MANUAL_CONTROL; |
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| 248 | return(0); |
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| 103 | killagreg | 249 | } |
| 41 | ingob | 250 | } |
| 251 | |||
| 252 | //------------------------------------------------------------ |
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| 253 | // copy GPS position from source position to target position |
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| 254 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
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| 255 | { |
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| 256 | u8 retval = 0; |
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| 257 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
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| 258 | // copy only valid positions |
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| 259 | if(pGPSPosSrc->Status != INVALID) |
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| 260 | { |
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| 261 | // if the source GPS position is not invalid |
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| 262 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
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| 263 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
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| 264 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
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| 265 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
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| 266 | retval = 1; |
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| 267 | } |
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| 268 | return(retval); |
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| 269 | } |
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| 270 | |||
| 271 | //------------------------------------------------------------ |
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| 272 | // clear position data |
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| 273 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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| 274 | { |
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| 275 | u8 retval = FALSE; |
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| 276 | if(pGPSPos == NULL) return(retval); // bad pointer |
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| 277 | else |
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| 278 | { |
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| 279 | pGPSPos->Longitude = 0; |
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| 280 | pGPSPos->Latitude = 0; |
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| 281 | pGPSPos->Altitude = 0; |
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| 282 | pGPSPos->Status = INVALID; |
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| 283 | retval = TRUE; |
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| 284 | } |
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| 285 | return (retval); |
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| 286 | } |
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| 287 | |||
| 288 | |||
| 289 | //------------------------------------------------------------ |
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| 97 | killagreg | 290 | void GPS_Neutral(void) |
| 41 | ingob | 291 | { |
| 292 | GPS_Stick.Nick = 0; |
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| 293 | GPS_Stick.Roll = 0; |
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| 294 | GPS_Stick.Yaw = 0; |
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| 295 | } |
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| 296 | |||
| 297 | //------------------------------------------------------------ |
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| 1 | ingob | 298 | void GPS_Init(void) |
| 299 | { |
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| 110 | killagreg | 300 | UART1_PutString("\r\n GPS init..."); |
| 41 | ingob | 301 | UBX_Init(); |
| 302 | GPS_Neutral(); |
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| 303 | GPS_ClearPosition(&GPS_HoldPosition); |
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| 304 | GPS_ClearPosition(&GPS_HomePosition); |
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| 305 | GPS_pTargetPosition = NULL; |
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| 306 | WPList_Init(); |
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| 152 | killagreg | 307 | GPS_pWaypoint = NULL; |
| 41 | ingob | 308 | GPS_UpdateParameter(); |
| 110 | killagreg | 309 | UART1_PutString("ok"); |
| 41 | ingob | 310 | } |
| 1 | ingob | 311 | |
| 41 | ingob | 312 | //------------------------------------------------------------ |
| 313 | // calculate the bearing to target position from its deviation |
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| 314 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
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| 315 | { |
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| 316 | s32 bearing; |
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| 317 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
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| 318 | bearing = (270L - bearing)%360L; |
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| 319 | return(bearing); |
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| 1 | ingob | 320 | } |
| 41 | ingob | 321 | |
| 322 | |||
| 1 | ingob | 323 | //------------------------------------------------------------ |
| 41 | ingob | 324 | // Rescale xy-vector length if length limit is violated |
| 102 | killagreg | 325 | // returns vector len after scaling |
| 326 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
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| 41 | ingob | 327 | { |
| 102 | killagreg | 328 | s32 dist; |
| 98 | killagreg | 329 | |
| 102 | killagreg | 330 | dist = (s32)hypot(*x,*y); // the length of the vector |
| 99 | killagreg | 331 | if (dist > limit) |
| 41 | ingob | 332 | // if vector length is larger than the given limit |
| 103 | killagreg | 333 | { // scale vector compontents so that the length is cut off to limit |
| 102 | killagreg | 334 | *x = (s32)(( (double)(*x) * (double)limit ) / (double)dist); |
| 335 | *y = (s32)(( (double)(*y) * (double)limit ) / (double)dist); |
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| 99 | killagreg | 336 | dist = limit; |
| 41 | ingob | 337 | } |
| 99 | killagreg | 338 | return(dist); |
| 41 | ingob | 339 | } |
| 1 | ingob | 340 | |
| 41 | ingob | 341 | //------------------------------------------------------------ |
| 342 | // transform the integer deg into float radians |
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| 343 | inline double RadiansFromGPS(s32 deg) |
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| 1 | ingob | 344 | { |
| 41 | ingob | 345 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
| 346 | } |
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| 1 | ingob | 347 | |
| 41 | ingob | 348 | //------------------------------------------------------------ |
| 349 | // transform the integer deg into float deg |
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| 350 | inline double DegFromGPS(s32 deg) |
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| 351 | { |
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| 352 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
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| 353 | } |
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| 1 | ingob | 354 | |
| 41 | ingob | 355 | //------------------------------------------------------------ |
| 356 | // calculate the deviation from the current position to the target position |
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| 73 | killagreg | 357 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
| 41 | ingob | 358 | { |
| 73 | killagreg | 359 | double temp1, temp2; |
| 41 | ingob | 360 | // if given pointer is NULL |
| 361 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
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| 362 | // if positions are invalid |
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| 363 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
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| 1 | ingob | 364 | |
| 41 | ingob | 365 | // The deviation from the current to the target position along north and east direction is |
| 366 | // simple the lat/lon difference. To convert that angular deviation into an |
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| 367 | // arc length the spherical projection has to be considered. |
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| 368 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
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| 369 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
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| 370 | // The arc length per longitude degree depends on the correspondig latitude and |
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| 371 | // is 111.2km * cos(latitude). |
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| 1 | ingob | 372 | |
| 41 | ingob | 373 | // calculate the shortest longitude deviation from target |
| 374 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
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| 375 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
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| 376 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
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| 377 | if(temp1 > 180.0f) temp1 -= 360.0f; |
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| 378 | else if (temp1 < -180.0f) temp1 += 360.0f; |
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| 73 | killagreg | 379 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
| 41 | ingob | 380 | // calculate latitude deviation from target |
| 381 | // this is allways within -180 deg ... 180 deg |
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| 382 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
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| 383 | // deviation from target position in cm |
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| 384 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
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| 385 | |||
| 73 | killagreg | 386 | pDeviationFromTarget->Status = INVALID; |
| 387 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
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| 388 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
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| 41 | ingob | 389 | // If the position deviation is small enough to neglect the earth curvature |
| 390 | // (this is for our application always fulfilled) the distance to target |
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| 391 | // can be calculated by the pythagoras of north and east deviation. |
||
| 102 | killagreg | 392 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
| 73 | killagreg | 393 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
| 394 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
||
| 395 | pDeviationFromTarget->Status = NEWDATA; |
||
| 41 | ingob | 396 | return TRUE; |
| 397 | |||
| 398 | baddata: |
||
| 73 | killagreg | 399 | pDeviationFromTarget->North = 0L; |
| 400 | pDeviationFromTarget->East = 0L; |
||
| 401 | pDeviationFromTarget->Distance = 0L; |
||
| 402 | pDeviationFromTarget->Bearing = 0L; |
||
| 403 | pDeviationFromTarget->Status = INVALID; |
||
| 41 | ingob | 404 | return FALSE; |
| 405 | } |
||
| 406 | |||
| 407 | //------------------------------------------------------------ |
||
| 408 | void GPS_Navigation(void) |
||
| 409 | { |
||
| 410 | static u32 beep_rythm; |
||
| 411 | static u32 GPSDataTimeout = 0; |
||
| 129 | killagreg | 412 | float compassheading, sin_h, cos_h; |
| 41 | ingob | 413 | |
| 414 | // pointer to current target position |
||
| 415 | static GPS_Pos_t * pTargetPositionOld = NULL; |
||
| 416 | |||
| 417 | 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 | 418 | static s32 OperatingRadiusOld = -1; |
| 41 | ingob | 419 | static u32 WPTime = 0; |
| 420 | |||
| 129 | killagreg | 421 | |
| 422 | |||
| 423 | // get current heading from the FC gyro compass heading |
||
| 424 | if(abs(FC.StickYaw) > 20 || FromFlightCtrl.GyroHeading > 3600) compassheading = (float)I2C_Heading.Heading * M_PI_180; |
||
| 425 | else compassheading = ((float)FromFlightCtrl.GyroHeading * M_PI_180) / 10.0; |
||
| 426 | |||
| 427 | sin_h = sin(compassheading); |
||
| 428 | cos_h = cos(compassheading); |
||
| 429 | |||
| 430 | |||
| 41 | ingob | 431 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 432 | //+ Check for new data from GPS-receiver |
||
| 433 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 434 | switch(GPSData.Status) |
||
| 435 | { |
||
| 436 | case INVALID: // no gps data available |
||
| 437 | // do nothing |
||
| 73 | killagreg | 438 | GPS_Parameter.PID_Limit = 0; // disables PID output |
| 41 | ingob | 439 | break; |
| 440 | |||
| 441 | case PROCESSED: // the current data have been allready processed |
||
| 442 | // if no new data are available within the timeout switch to invalid state. |
||
| 443 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
||
| 444 | // wait for new gps data |
||
| 445 | break; |
||
| 446 | |||
| 447 | case NEWDATA: // handle new gps data |
||
| 448 | |||
| 449 | // update GPS Parameter from FC-Data via SPI interface |
||
| 450 | GPS_UpdateParameter(); |
||
| 451 | |||
| 452 | // wait maximum of 3 times the normal data update time before data timemout |
||
| 453 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
||
| 454 | beep_rythm++; |
||
| 455 | |||
| 456 | // debug |
||
| 92 | killagreg | 457 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
| 458 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
||
| 459 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
||
| 41 | ingob | 460 | |
| 461 | // If GPS signal condition is sufficient for a reliable position measurement |
||
| 462 | if(GPS_IsSignalOK()) |
||
| 463 | { |
||
| 73 | killagreg | 464 | // update home deviation info |
| 465 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
||
| 74 | killagreg | 466 | |
| 41 | ingob | 467 | // if the MK is starting or the home position is invalid then store the home position |
| 468 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
||
| 469 | { // try to update the home position from the current position |
||
| 470 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
||
| 471 | { |
||
| 472 | BeepTime = 700; // beep on success |
||
| 473 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
||
| 474 | } |
||
| 475 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
||
| 152 | killagreg | 476 | if(GPS_pWaypoint != NULL) // if new WP exist |
| 477 | { // update WP hold time stamp immediately! |
||
| 159 | killagreg | 478 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
| 152 | killagreg | 479 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 480 | } |
||
| 41 | ingob | 481 | } |
| 482 | |||
| 483 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
||
| 484 | |||
| 485 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
||
| 103 | killagreg | 486 | switch(GPS_Parameter.FlightMode) |
| 41 | ingob | 487 | { |
| 488 | // the GPS control is deactived |
||
| 489 | case GPS_FLIGHT_MODE_FREE: |
||
| 96 | killagreg | 490 | |
| 73 | killagreg | 491 | GPS_Parameter.PID_Limit = 0; // disables PID output |
| 41 | ingob | 492 | // update hold position |
| 493 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
| 494 | // no target position |
||
| 495 | GPS_pTargetPosition = NULL; |
||
| 92 | killagreg | 496 | GPS_TargetRadius = 0; |
| 41 | ingob | 497 | break; |
| 498 | |||
| 499 | // the GPS supports the position hold, if the pilot takes no action |
||
| 500 | case GPS_FLIGHT_MODE_AID: |
||
| 96 | killagreg | 501 | |
| 41 | ingob | 502 | if(GPS_IsManuallyControlled()) |
| 503 | { |
||
| 73 | killagreg | 504 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
| 129 | killagreg | 505 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 41 | ingob | 506 | GPS_pTargetPosition = NULL; |
| 92 | killagreg | 507 | GPS_TargetRadius = 0; |
| 41 | ingob | 508 | } |
| 509 | else |
||
| 510 | { |
||
| 159 | killagreg | 511 | /* |
| 129 | killagreg | 512 | #define PH_MOVE_THRESHOLD 8 |
| 513 | if( ((abs(FC.StickNick) > PH_MOVE_THRESHOLD) || (abs(FC.StickRoll) > PH_MOVE_THRESHOLD) ) && (FC.RC_Quality > 150)) |
||
| 514 | { // indirect control by moving the hold position with rc sticks |
||
| 515 | // rc sticks have a range of +/-127 counts |
||
| 516 | // GPS Coordinates are in 1-E7 deg, i.e. 1 counts is 1E-7°/360°*40E+8cm = 1.11 cm |
||
| 517 | // normal manual activtion threshold is 8 counts that results in a change of the hold position |
||
| 518 | // of min 8*1.11cm * 5Hz = 8.88 = 44.4cm/s an max 127*1.11cm *5Hz = 705cm/s |
||
| 519 | GPS_HoldPosition.Latitude += (s32)(cos_h*FC.StickNick + sin_h*FC.StickRoll); |
||
| 520 | GPS_HoldPosition.Longitude += (s32)((sin_h*FC.StickNick - cos_h*FC.StickRoll) / cos(RadiansFromGPS(GPS_HoldPosition.Latitude)) ); |
||
| 133 | killagreg | 521 | }*/ |
| 159 | killagreg | 522 | // set target position |
| 41 | ingob | 523 | GPS_pTargetPosition = &GPS_HoldPosition; |
| 92 | killagreg | 524 | GPS_TargetRadius = 100; // 1 meter |
| 41 | ingob | 525 | } |
| 526 | break; |
||
| 527 | |||
| 528 | // the GPS control is directed to a target position |
||
| 529 | // given by a waypoint or by the home position |
||
| 530 | case GPS_FLIGHT_MODE_WAYPOINT: |
||
| 74 | killagreg | 531 | |
| 73 | killagreg | 532 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
| 41 | ingob | 533 | { |
| 73 | killagreg | 534 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
| 535 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
||
| 536 | GPS_pTargetPosition = NULL; // set target position invalid |
||
| 92 | killagreg | 537 | GPS_TargetRadius = 0; |
| 73 | killagreg | 538 | } |
| 539 | else // no manual control -> gps position hold active |
||
| 540 | { |
||
| 541 | // waypoint trigger logic |
||
| 130 | killagreg | 542 | if(GPS_pWaypoint != NULL) // pointer to waypoint exist |
| 41 | ingob | 543 | { |
| 73 | killagreg | 544 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
| 41 | ingob | 545 | { |
| 73 | killagreg | 546 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
| 152 | killagreg | 547 | if(GPS_pWaypoint != NULL) // if new WP exist |
| 548 | { // update WP hold time stamp immediately! |
||
| 159 | killagreg | 549 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
| 152 | killagreg | 550 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 551 | } |
||
| 73 | killagreg | 552 | BeepTime = 255; |
| 41 | ingob | 553 | } |
| 73 | killagreg | 554 | else // waypoint position is valid |
| 555 | { |
||
| 556 | // if WP has been reached once, wait hold time before trigger to next one |
||
| 92 | killagreg | 557 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
| 73 | killagreg | 558 | { |
| 559 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
||
| 560 | if(CheckDelay(WPTime)) |
||
| 561 | { |
||
| 562 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
||
| 151 | killagreg | 563 | if(GPS_pWaypoint == NULL) GPS_pWaypoint = WPList_End(); // goto last WP if next one not exist |
| 564 | if(GPS_pWaypoint != NULL) // if new WP exist |
||
| 565 | { // update WP hold time stamp immediately! |
||
| 159 | killagreg | 566 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
| 152 | killagreg | 567 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 151 | killagreg | 568 | } |
| 73 | killagreg | 569 | } |
| 152 | killagreg | 570 | } // EOF target reached |
| 92 | killagreg | 571 | else |
| 572 | { |
||
| 573 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
||
| 574 | } |
||
| 41 | ingob | 575 | } |
| 159 | killagreg | 576 | } |
| 130 | killagreg | 577 | else // pointer to waypoint does not exist |
| 578 | { |
||
| 579 | // try to catch the first waypoint from the list |
||
| 152 | killagreg | 580 | GPS_pWaypoint = WPList_Begin(); |
| 581 | if(GPS_pWaypoint != NULL) // if new WP exist |
||
| 582 | { // update WP hold time stamp immediately! |
||
| 159 | killagreg | 583 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
| 152 | killagreg | 584 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 159 | killagreg | 585 | } |
| 130 | killagreg | 586 | } |
| 587 | // EOF waypoint trigger logic |
||
| 74 | killagreg | 588 | |
| 73 | killagreg | 589 | if(GPS_pWaypoint != NULL) // Waypoint exist |
| 41 | ingob | 590 | { |
| 159 | killagreg | 591 | // possible new data have been put into wp-list |
| 592 | if(GPS_pWaypoint->Position.Status == NEWDATA) |
||
| 593 | { |
||
| 594 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
||
| 595 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
| 596 | } |
||
| 41 | ingob | 597 | // update the hold position |
| 598 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
| 159 | killagreg | 599 | // set target to the waypoint |
| 600 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
||
| 601 | // update target radius |
||
| 102 | killagreg | 602 | GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
| 92 | killagreg | 603 | |
| 41 | ingob | 604 | } |
| 73 | killagreg | 605 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
| 606 | { |
||
| 607 | // fly back to home postion |
||
| 608 | if(GPS_HomePosition.Status == INVALID) |
||
| 609 | { |
||
| 610 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
||
| 92 | killagreg | 611 | GPS_TargetRadius = 100; |
| 73 | killagreg | 612 | BeepTime = 255; // beep to indicate missin home position |
| 613 | } |
||
| 614 | else // the home position is valid |
||
| 615 | { |
||
| 616 | // update the hold position |
||
| 617 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
| 618 | // set target to home position |
||
| 619 | GPS_pTargetPosition = &GPS_HomePosition; |
||
| 92 | killagreg | 620 | GPS_TargetRadius = 100; |
| 73 | killagreg | 621 | } |
| 622 | } |
||
| 623 | } // EOF no manual control |
||
| 41 | ingob | 624 | break; |
| 625 | |||
| 626 | case GPS_FLIGHT_MODE_UNDEF: |
||
| 627 | default: |
||
| 73 | killagreg | 628 | GPS_Parameter.PID_Limit = 0; // disables PID output |
| 41 | ingob | 629 | // update hold position |
| 630 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
| 631 | // no target position |
||
| 632 | GPS_pTargetPosition = NULL; |
||
| 92 | killagreg | 633 | GPS_TargetRadius = 0; |
| 41 | ingob | 634 | break; |
| 635 | |||
| 636 | }// EOF GPS Mode Handling |
||
| 637 | |||
| 638 | |||
| 639 | /* Calculation of range target based on the real target */ |
||
| 640 | |||
| 641 | // if no target position exist clear the ranged target position |
||
| 642 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
||
| 643 | else |
||
| 644 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
||
| 645 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
||
| 646 | { |
||
| 73 | killagreg | 647 | BeepTime = 255; // beep to indicate setting of a new target position |
| 92 | killagreg | 648 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
| 41 | ingob | 649 | // calculate deviation of new target position from home position |
| 73 | killagreg | 650 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
| 41 | ingob | 651 | { |
| 652 | // check distance from home position |
||
| 73 | killagreg | 653 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
| 41 | ingob | 654 | { |
| 655 | //calculate ranged target position to be within the operation radius area |
||
| 92 | killagreg | 656 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
| 41 | ingob | 657 | |
| 102 | killagreg | 658 | TargetHomeDeviation.North = (s32)(((float)TargetHomeDeviation.North * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
| 659 | TargetHomeDeviation.East = (s32)(((float)TargetHomeDeviation.East * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
||
| 660 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
||
| 73 | killagreg | 661 | |
| 41 | ingob | 662 | RangedTargetPosition.Status = INVALID; |
| 663 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
||
| 73 | killagreg | 664 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
| 41 | ingob | 665 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
| 73 | killagreg | 666 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
| 41 | ingob | 667 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
| 103 | killagreg | 668 | RangedTargetPosition.Status = NEWDATA; |
| 41 | ingob | 669 | } |
| 670 | else |
||
| 671 | { // the target is located within the operation radius area |
||
| 672 | // simple copy the loaction to the ranged target position |
||
| 673 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
||
| 92 | killagreg | 674 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
| 41 | ingob | 675 | } |
| 676 | } |
||
| 677 | else |
||
| 678 | { // deviation could not be determined |
||
| 679 | GPS_ClearPosition(&RangedTargetPosition); |
||
| 680 | } |
||
| 681 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
||
| 682 | } |
||
| 683 | } |
||
| 684 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
||
| 685 | // remember last target position pointer |
||
| 686 | pTargetPositionOld = GPS_pTargetPosition; |
||
| 687 | |||
| 688 | /* Calculate position deviation from ranged target */ |
||
| 689 | |||
| 690 | // calculate deviation of current position to ranged target position in cm |
||
| 73 | killagreg | 691 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
| 92 | killagreg | 692 | { // set target reached flag of we once reached the target point |
| 93 | killagreg | 693 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
| 92 | killagreg | 694 | { |
| 93 | killagreg | 695 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
| 92 | killagreg | 696 | } |
| 41 | ingob | 697 | // implement your control code here based |
| 73 | killagreg | 698 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
| 41 | ingob | 699 | GPS_Stick.Nick = 0; |
| 700 | GPS_Stick.Roll = 0; |
||
| 701 | GPS_Stick.Yaw = 0; |
||
| 702 | } |
||
| 703 | else // deviation could not be calculated |
||
| 704 | { // do nothing on gps sticks! |
||
| 705 | GPS_Neutral(); |
||
| 103 | killagreg | 706 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached |
| 41 | ingob | 707 | } |
| 708 | |||
| 709 | }// eof if GPSSignal is OK |
||
| 710 | else // GPSSignal not OK |
||
| 711 | { |
||
| 712 | GPS_Neutral(); |
||
| 713 | // beep if signal is not sufficient |
||
| 714 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
||
| 715 | { |
||
| 716 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
||
| 717 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
||
| 718 | } |
||
| 719 | } |
||
| 103 | killagreg | 720 | GPSData.Status = PROCESSED; // mark as processed |
| 41 | ingob | 721 | break; |
| 1 | ingob | 722 | } |
| 41 | ingob | 723 | |
| 95 | killagreg | 724 | DebugOut.Analog[6] = NCFlags; |
| 73 | killagreg | 725 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
| 726 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
||
| 41 | ingob | 727 | DebugOut.Analog[29] = GPS_Stick.Nick; |
| 728 | DebugOut.Analog[30] = GPS_Stick.Roll; |
||
| 729 | |||
| 730 | // update navi data, send back to ground station |
||
| 73 | killagreg | 731 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
| 41 | ingob | 732 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
| 73 | killagreg | 733 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
| 41 | ingob | 734 | NaviData.SatsInUse = GPSData.NumOfSats; |
| 89 | killagreg | 735 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
| 736 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
||
| 737 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
||
| 738 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
||
| 41 | ingob | 739 | NaviData.UBat = FC.UBat; |
| 740 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
||
| 74 | killagreg | 741 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
| 73 | killagreg | 742 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
| 743 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
||
| 744 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
||
| 125 | killagreg | 745 | NaviData.RC_Quality = FC.RC_Quality; |
| 746 | NaviData.RC_RSSI = FC.RC_RSSI; |
||
| 747 | NaviData.MKFlags = FC.MKFlags; |
||
| 92 | killagreg | 748 | NaviData.NCFlags = NCFlags; |
| 74 | killagreg | 749 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
| 89 | killagreg | 750 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
| 97 | killagreg | 751 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
| 41 | ingob | 752 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 103 | killagreg | 753 | return; |
| 1 | ingob | 754 | } |
| 755 |