| 91,9 → 91,9 |
|---|
| } |
| |
| // 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) |
| uint8_t GPS_isManuallyControlled(int16_t* sticks) { |
| if (sticks[CONTROL_PITCH] < staticParams.naviStickThreshold |
| && sticks[CONTROL_ROLL] < staticParams.naviStickThreshold) |
| return 0; |
| else |
| return 1; |
| 101,9 → 101,8 |
|---|
| |
| // 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 |
| return 0; // bad pointer |
| |
| if (GPS_isSignalOK()) { // is GPS signal condition is fine |
| pGPSPos->longitude = GPSInfo.longitude; |
| 110,27 → 109,24 |
|---|
| pGPSPos->latitude = GPSInfo.latitude; |
| pGPSPos->altitude = GPSInfo.altitude; |
| pGPSPos->status = NEWDATA; |
| retval = 1; |
| return 1; |
| } else { // bad GPS signal condition |
| pGPSPos->status = INVALID; |
| retval = 0; |
| return 0; |
| } |
| return (retval); |
| } |
| |
| // clear position |
| uint8_t GPS_clearPosition(GPS_Pos_t * pGPSPos) { |
| uint8_t retval = 0; |
| if (pGPSPos == NULL) |
| return retval; // bad pointer |
| return 0; // bad pointer |
| else { |
| pGPSPos->longitude = 0; |
| pGPSPos->latitude = 0; |
| pGPSPos->altitude = 0; |
| pGPSPos->status = INVALID; |
| retval = 1; |
| } |
| return (retval); |
| return 1; |
| } |
| |
| // calculates the GPS control stick values from the deviation to target position |
| 140,8 → 136,7 |
|---|
| 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 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; |
| 149,10 → 144,8 |
|---|
| |
| // if GPS data and Compass are ok |
| if (GPS_isSignalOK() && (magneticHeading >= 0)) { |
| if (pTargetPos != NULL) // if there is a target position |
| { |
| if (pTargetPos->status != INVALID) // and the position data are valid |
| { |
| 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)) { |
| 160,7 → 153,7 |
|---|
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| // recalculate latitude projection |
| cos_target_latitude = int_cos((int16_t) (pTargetPos->latitude / 10000000L)); |
| cos_target_latitude = cos_360((int16_t) (pTargetPos->latitude / 10000000L)); |
| // remember last target pointer |
| pLastTargetPos = pTargetPos; |
| // mark data as processed |
| 236,8 → 229,9 |
|---|
| // 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); |
| coscompass = cos_360(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
| sincompass = sin_360(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; |
| |
| 261,8 → 255,9 |
|---|
| |
| // store home position if start of flight flag is set |
| if (MKFlags & MKFLAG_CALIBRATE) { |
| MKFlags &= ~(MKFLAG_CALIBRATE); |
| if (GPS_setCurrPosition(&homePosition)) |
| beep(700); |
| beep(500); |
| } |
| |
| switch (GPSInfo.status) { |
| 360,5 → 355,8 |
|---|
| GPSInfo.status = PROCESSED; |
| break; |
| } // eof GPSInfo.status |
| |
| debugOut.analog[11] = GPSInfo.satnum; |
| } |
| |
| |