| 0,0 → 1,364 |
|---|
| // Navigation with a GPS directly attached to the FC's UART1. |
| |
| #include <inttypes.h> |
| #include <stdlib.h> |
| #include <stddef.h> |
| //#include "mymath.h" |
| //#include "timer0.h" |
| //#include "uart1.h" |
| //#include "rc.h" |
| //#include "eeprom.h" |
| #include "ubx.h" |
| #include "configuration.h" |
| #include "controlMixer.h" |
| #include "output.h" |
| #include "isqrt.h" |
| #include "attitude.h" |
| #include "dongfangMath.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_updateFlightMode(void) { |
| static FlightMode_t flightModeOld = GPS_FLIGHT_MODE_UNDEF; |
| |
| if (controlMixer_getSignalQuality() <= SIGNAL_BAD |
| || MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
| flightMode = GPS_FLIGHT_MODE_FREE; |
| } else { |
| if (dynamicParams.directGPSMode < 50) |
| flightMode = GPS_FLIGHT_MODE_AID; |
| else if (dynamicParams.directGPSMode < 180) |
| flightMode = GPS_FLIGHT_MODE_FREE; |
| else |
| flightMode = GPS_FLIGHT_MODE_HOME; |
| } |
| |
| if (flightMode != flightModeOld) { |
| beep(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.GPSMininumSatellites) || 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) { |
| int32_t len; |
| len = isqrt32(*x * *x + *y * *y); |
| if (len > limit) { |
| // normalize control vector components to the limit |
| *x = (*x * limit) / len; |
| *y = (*y * limit) / len; |
| return 1; |
| } |
| return 0; |
| } |
| |
| // checks nick and roll sticks for manual control |
| uint8_t GPS_isManuallyControlled(int16_t* naviSticks) { |
| if (naviSticks[CONTROL_PITCH] < staticParams.naviStickThreshold |
| && naviSticks[CONTROL_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); |
| } |
| |
| // 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, int16_t* sticks) { |
| 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 = int_cos((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 >>= MATH_UNIT_FACTOR_LOG; |
| } 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) staticParams.naviD * GPSInfo.velnorth) / 512; |
| D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) / 512; |
| |
| // P-Part |
| P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) / 2048; |
| P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) / 2048; |
| |
| // I-Part |
| I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) |
| / 8192; |
| I_East = ((int32_t) staticParams.naviI * 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. |
| // dongfang: Lets not do that. P I and D can be scaled instead. |
| // PID_North = (PID_North * (int32_t) staticParams.NaviGpsGain) / 100; |
| // PID_East = (PID_East * (int32_t) staticParams.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 = int_cos(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
| sincompass = int_sin(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
| PID_Nick = (coscompass * PID_North + sincompass * PID_East) >> MATH_UNIT_FACTOR_LOG; |
| PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> MATH_UNIT_FACTOR_LOG; |
| |
| // limit resulting GPS control vector |
| GPS_limitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
| |
| sticks[CONTROL_PITCH] += (int16_t) PID_Nick; |
| sticks[CONTROL_ROLL] += (int16_t) PID_Roll; |
| } else { // invalid GPS data or bad compass reading |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| } |
| |
| void navigation_periodicTask(int16_t* sticks) { |
| static uint8_t GPS_P_Delay = 0; |
| static uint16_t beep_rythm = 0; |
| |
| GPS_updateFlightMode(); |
| |
| // store home position if start of flight flag is set |
| if (MKFlags & MKFLAG_CALIBRATE) { |
| if (GPS_setCurrPosition(&homePosition)) |
| beep(700); |
| } |
| |
| switch (GPSInfo.status) { |
| case INVALID: // invalid gps data |
| if (flightMode != GPS_FLIGHT_MODE_FREE) { |
| beep(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 { |
| 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 |
| break; |
| |
| case GPS_FLIGHT_MODE_AID: |
| if (holdPosition.status != INVALID) { |
| if (GPS_isManuallyControlled(sticks)) { // MK controlled by user |
| // update hold point to current gps position |
| GPS_setCurrPosition(&holdPosition); |
| // disable gps control |
| 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, sticks); // activates only the D-Part |
| } else |
| GPS_PIDController(&holdPosition, sticks); // activates the P&D-Part |
| } |
| } else // invalid Hold Position |
| { // try to catch a valid hold position from gps data input |
| GPS_setCurrPosition(&holdPosition); |
| } |
| 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_isManuallyControlled(sticks)) // MK controlled by user |
| { |
| } else {// GPS control active |
| GPS_PIDController(&homePosition, sticks); |
| } |
| } else { |
| // bad home position |
| beep(50); // signal invalid home position |
| // try to hold at least the position as a fallback option |
| |
| if (holdPosition.status != INVALID) { |
| if (GPS_isManuallyControlled(sticks)) { |
| // MK controlled by user |
| } else { |
| // GPS control active |
| GPS_PIDController(&holdPosition, sticks); |
| } |
| } else { // try to catch a valid hold position |
| GPS_setCurrPosition(&holdPosition); |
| } |
| } |
| break; // eof TSK_HOME |
| default: // unhandled task |
| break; // eof default |
| } // eof switch GPS_Task |
| } // eof gps data quality is good |
| else // gps data quality is bad |
| { // disable gps control |
| if (flightMode != GPS_FLIGHT_MODE_FREE) { |
| // beep if signal is not sufficient |
| if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
| beep(100); |
| else if (GPSInfo.satnum < staticParams.GPSMininumSatellites |
| && !(beep_rythm % 5)) |
| beep(10); |
| } |
| } |
| // set current data as processed to avoid further calculations on the same gps data |
| GPSInfo.status = PROCESSED; |
| break; |
| } // eof GPSInfo.status |
| } |
| |