8,26 → 8,25 |
#include "rc.h" |
#include "eeprom.h" |
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#define TSK_IDLE 0 |
#define TSK_HOLD 1 |
#define TSK_HOME 2 |
typedef enum |
{ |
GPS_FLIGHT_MODE_UNDEF, |
GPS_FLIGHT_MODE_FREE, |
GPS_FLIGHT_MODE_AID, |
GPS_FLIGHT_MODE_HOME, |
} FlightMode_t; |
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#define GPS_STICK_SENSE 15 // must be at least in a range where 90% of the trimming does not switch of the GPS function |
#define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
#define GPS_STICK_LIMIT 200 // limit of gps stick control to avoid critical flight attitudes |
#define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
#define GPS_P_LIMIT 25 |
#define GPS_P_LIMIT 3200 |
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uint8_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0; |
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typedef struct |
{ |
int32_t Longitude; |
int32_t Latitude; |
int32_t Altitude; |
uint8_t Status; |
Status_t Status; |
} GPS_Pos_t; |
|
// GPS coordinates for hold position |
34,56 → 33,110 |
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; |
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// --------------------------------------------------------------------------------- |
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// checks nick and roll sticks for manual control |
uint8_t IsManualControlled(void) |
void GPS_UpdateParameter(void) |
{ |
if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0; |
else return 1; |
} |
static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF; |
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// set home position to current positon |
void GPS_SetHomePosition(void) |
{ |
if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) |
{ |
HomePosition.Longitude = GPSInfo.longitude; |
HomePosition.Latitude = GPSInfo.latitude; |
HomePosition.Altitude = GPSInfo.altitude; |
HomePosition.Status = VALID; |
BeepTime = 1000; // signal if new home position was set |
FlightMode = GPS_FLIGHT_MODE_FREE; |
} |
else |
{ |
HomePosition.Status = INVALID; |
if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID; |
else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE; |
else FlightMode = GPS_FLIGHT_MODE_HOME; |
} |
if (FlightMode != FlightModeOld) |
{ |
BeepTime = 100; |
} |
FlightModeOld = FlightMode; |
} |
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// set hold position to current positon |
void GPS_SetHoldPosition(void) |
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// --------------------------------------------------------------------------------- |
// This function defines a good GPS signal condition |
uint8_t GPS_IsSignalOK(void) |
{ |
if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
static uint8_t GPSFix = 0; |
if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) || GPSFix)) |
{ |
HoldPosition.Longitude = GPSInfo.longitude; |
HoldPosition.Latitude = GPSInfo.latitude; |
HoldPosition.Altitude = GPSInfo.altitude; |
HoldPosition.Status = VALID; |
GPSFix = 1; |
return(1); |
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} |
else |
else return (0); |
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} |
// --------------------------------------------------------------------------------- |
// 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) |
{ |
HoldPosition.Status = INVALID; |
// normalize control vector components to the limit |
*x = (*x * limit) / len; |
*y = (*y * limit) / len; |
retval = 1; |
} |
return(retval); |
} |
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// clear home position |
void GPS_ClearHomePosition(void) |
// checks nick and roll sticks for manual control |
uint8_t GPS_IsManualControlled(void) |
{ |
HomePosition.Status = INVALID; |
if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < ParamSet.NaviStickThreshold) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < ParamSet.NaviStickThreshold)) return 0; |
else return 1; |
} |
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// 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 |
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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); |
} |
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// 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); |
} |
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// disable GPS control sticks |
void GPS_Neutral(void) |
{ |
96,7 → 149,7 |
// then the P part of the controller is deactivated. |
void GPS_PIDController(GPS_Pos_t *pTargetPos) |
{ |
int32_t temp, temp1, PID_Nick, PID_Roll; |
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; |
106,7 → 159,7 |
static GPS_Pos_t *pLastTargetPos = 0; |
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// if GPS data and Compass are ok |
if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
if( GPS_IsSignalOK() && (CompassHeading >= 0) ) |
{ |
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if(pTargetPos != NULL) // if there is a target position |
156,28 → 209,21 |
//Calculate PID-components of the controller (negative sign for compensation) |
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// P-Part |
P_North = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048; |
P_East = -((int32_t)GPS_P_Factor * GPSPosDev_East)/2048; |
P_North = -((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/16; |
P_East = -((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/16; |
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// I-Part |
I_North = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
I_East = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_East)/8192; |
I_North = -((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/64; |
I_East = -((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/64; |
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// combine P- & I-Part |
PID_North = P_North + I_North; |
PID_East = P_East + I_East; |
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//limit PI-Part to limit the max velocity |
//temp1 = ((int32_t)GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit |
temp = (int32_t)c_sqrt(PID_North*PID_North + PID_East*PID_East); // the current PI-Part |
if(temp > GPS_P_LIMIT) // P-Part limit is reached |
//limit PI-Part |
if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT)) |
{ |
// normalize P-part components to the P-Part limit |
PID_North = (PID_North * GPS_P_LIMIT)/temp; |
PID_East = (PID_East * GPS_P_LIMIT)/temp; |
} |
else // PI-Part under its limit |
{ |
// P-Part limit is not reached |
// update position error integrals |
GPSPosDevIntegral_North += GPSPosDev_North/16; |
if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
188,14 → 234,17 |
} |
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// D-Part |
D_North = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512; |
D_East = -((int32_t)GPS_D_Factor * GPSInfo.veleast)/512; |
D_North = -((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/4; |
D_East = -((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/4; |
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// combine PI- and D-Part |
PID_North += D_North; |
PID_East += D_East; |
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// scale combination with gain. |
PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / (100 * 32); |
PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / (100 * 32); |
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// GPS to nick and roll settings |
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// A positive nick angle moves head downwards (flying forward). |
210,23 → 259,16 |
// in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
// GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll. |
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coscompass = (int32_t)c_cos_8192(CompassHeading); |
sincompass = (int32_t)c_sin_8192(CompassHeading); |
coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR); |
sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR); |
PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192; |
PID_Nick = -1*((sincompass * PID_East + coscompass * PID_North) / 8192); |
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// limit resulting GPS control vector |
temp = (int32_t)c_sqrt(PID_Roll*PID_Roll + PID_Nick*PID_Nick); |
if (temp > GPS_STICK_LIMIT) |
{ |
// normalize control vector components to the limit |
PID_Roll = (PID_Roll * GPS_STICK_LIMIT)/temp; |
PID_Nick = (PID_Nick * GPS_STICK_LIMIT)/temp; |
} |
GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
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GPS_Roll = (int16_t)PID_Roll; |
GPS_Nick = (int16_t)PID_Nick; |
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GPS_Roll = (int16_t)PID_Roll; |
} |
else // invalid GPS data or bad compass reading |
{ |
240,23 → 282,24 |
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void GPS_Main(uint8_t ctrl) |
void GPS_Main(void) |
{ |
static uint8_t GPS_Task = TSK_IDLE; |
static uint8_t GPS_P_Delay = 0; |
int16_t satbeep; |
uint16_t beep_rythm = 0; |
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// ctrl enables the gps feature |
if(ctrl < 70) GPS_Task = TSK_IDLE; |
else if (ctrl < 160) GPS_Task = TSK_HOLD; |
else GPS_Task = TSK_HOME; // ctrl >= 160 |
GPS_UpdateParameter(); |
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// store home position if start of flight flag is set |
if(MKFlags & MKFLAG_CALIBRATE) |
{ |
GPS_SetCurrPosition(&HomePosition); |
} |
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switch(GPSInfo.status) |
{ |
case INVALID: // invalid gps data |
GPS_Neutral(); |
if(GPS_Task != TSK_IDLE) |
if(FlightMode != GPS_FLIGHT_MODE_FREE) |
{ |
BeepTime = 100; // beep if signal is neccesary |
} |
272,25 → 315,28 |
GPSInfo.status = INVALID; |
} |
break; |
case VALID: // new valid data from gps device |
case NEWDATA: // new valid data from gps device |
// if the gps data quality is good |
if (GPSInfo.satfix == SATFIX_3D) |
beep_rythm++; |
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if (GPS_IsSignalOK()) |
{ |
switch(GPS_Task) // check what's to do |
switch(FlightMode) // check what's to do |
{ |
case TSK_IDLE: |
case GPS_FLIGHT_MODE_FREE: |
// update hold position to current gps position |
GPS_SetHoldPosition(); // can get invalid if gps signal is bad |
GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad |
// disable gps control |
GPS_Neutral(); |
break; // eof TSK_IDLE |
case TSK_HOLD: |
break; |
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case GPS_FLIGHT_MODE_AID: |
if(HoldPosition.Status != INVALID) |
{ |
if( IsManualControlled() ) // MK controlled by user |
if( GPS_IsManualControlled() ) // MK controlled by user |
{ |
// update hold point to current gps position |
GPS_SetHoldPosition(); |
GPS_SetCurrPosition(&HoldPosition); |
// disable gps control |
GPS_Neutral(); |
GPS_P_Delay = 0; |
297,10 → 343,10 |
} |
else // GPS control active |
{ |
if(GPS_P_Delay<7) |
if(GPS_P_Delay < 7) |
{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
GPS_P_Delay++; |
GPS_SetHoldPosition(); // update hold point to current gps position |
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 |
308,17 → 354,18 |
} |
else // invalid Hold Position |
{ // try to catch a valid hold position from gps data input |
GPS_SetHoldPosition(); |
GPS_SetCurrPosition(&HoldPosition); |
GPS_Neutral(); |
} |
break; // eof TSK_HOLD |
case TSK_HOME: |
break; |
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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_SetHoldPosition(); |
if( IsManualControlled() ) // MK controlled by user |
GPS_SetCurrPosition(&HoldPosition); |
if( GPS_IsManualControlled() ) // MK controlled by user |
{ |
GPS_Neutral(); |
} |
334,7 → 381,7 |
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if (HoldPosition.Status != INVALID) |
{ |
if( IsManualControlled() ) // MK controlled by user |
if( GPS_IsManualControlled() ) // MK controlled by user |
{ |
GPS_Neutral(); |
} |
345,7 → 392,7 |
} |
else |
{ // try to catch a valid hold position |
GPS_SetHoldPosition(); |
GPS_SetCurrPosition(&HoldPosition); |
GPS_Neutral(); |
} |
} |
354,16 → 401,13 |
GPS_Neutral(); |
break; // eof default |
} // eof switch GPS_Task |
} // eof 3D-FIX |
else // no 3D-SATFIX |
} // eof gps data quality is good |
else // gps data quality is bad |
{ // disable gps control |
GPS_Neutral(); |
if(GPS_Task != TSK_IDLE) |
{ |
satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats |
if (satbeep < 0) satbeep = 0; |
BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms = |
} |
// beep if signal is not sufficient |
if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10; |
} |
// set current data as processed to avoid further calculations on the same gps data |
GPSInfo.status = PROCESSED; |