| 0,0 → 1,656 |
|---|
| /*#######################################################################################*/ |
| /*#######################################################################################*/ |
| |
| // IMPORTANT NOTE: |
| |
| // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
| |
| // The GPS navigation routines are NOT included ! |
| |
| /*#######################################################################################*/ |
| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + FOR NON COMMERCIAL USE ONLY |
| // + 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 permitted |
| // + 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 this software (or part of it) 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 <stdio.h> |
| #include <stdlib.h> |
| #include <math.h> |
| #include "91x_lib.h" |
| #include "main.h" |
| #include "uart1.h" |
| #include "GPS.h" |
| #include "timer.h" |
| #include "spi_slave.h" |
| #include "waypoints.h" |
| #include "i2c.h" |
| |
| |
| #define M_PI_180 (M_PI / 180.0f) |
| #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
| typedef enum |
| { |
| GPS_FLIGHT_MODE_UNDEF, |
| GPS_FLIGHT_MODE_FREE, |
| GPS_FLIGHT_MODE_AID, |
| GPS_FLIGHT_MODE_WAYPOINT |
| } GPS_FlightMode_t; |
| |
| typedef struct |
| { |
| float Gain; |
| float P; |
| float I; |
| float D; |
| float A; |
| float ACC; |
| s32 P_Limit; |
| s32 I_Limit; |
| s32 D_Limit; |
| s32 PID_Limit; |
| u32 BrakingDuration; |
| u8 MinSat; |
| s8 StickThreshold; |
| float WindCorrection; |
| s32 OperatingRadius; |
| GPS_FlightMode_t FlightMode; |
| } __attribute__((packed)) GPS_Parameter_t; |
| |
| typedef struct |
| { |
| u8 Status; // invalid, newdata, processed |
| s32 North; // in cm |
| s32 East; // in cm |
| s32 Bearing; // in deg |
| s32 Distance; // in cm |
| } __attribute__((packed)) GPS_Deviation_t; |
| GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
| GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
| GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
| |
| GPS_Stick_t GPS_Stick; |
| GPS_Parameter_t GPS_Parameter; |
| |
| // the gps reference positions |
| GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
| GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
| GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
| Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
| |
| //------------------------------------------------------------- |
| // Update GPSParamter |
| void GPS_UpdateParameter(void) |
| { |
| static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
| // in case of bad receiving conditions |
| if(FC.RC_Quality < 100) |
| { // set fixed parameter |
| GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| GPS_Parameter.Gain = (float) 100; |
| GPS_Parameter.P = (float) 90; |
| GPS_Parameter.I = (float) 90; |
| GPS_Parameter.D = (float) 90; |
| GPS_Parameter.A = (float) 90; |
| GPS_Parameter.ACC = (float) 0; |
| GPS_Parameter.P_Limit = 90; |
| GPS_Parameter.I_Limit = 90; |
| GPS_Parameter.D_Limit = 90; |
| GPS_Parameter.PID_Limit = 200; |
| GPS_Parameter.BrakingDuration = 0; |
| GPS_Parameter.MinSat = 6; |
| GPS_Parameter.StickThreshold = 8; |
| GPS_Parameter.WindCorrection = 0.0; |
| GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
| |
| } |
| else |
| { |
| // update parameter from FC |
| if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| else |
| { |
| if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
| else if(Parameter.NaviGpsModeControl < 180) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| else GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
| } |
| GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
| GPS_Parameter.P = (float)Parameter.NaviGpsP; |
| GPS_Parameter.I = (float)Parameter.NaviGpsI; |
| GPS_Parameter.D = (float)Parameter.NaviGpsD; |
| GPS_Parameter.A = (float)Parameter.NaviGpsD; |
| GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
| GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
| GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
| GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
| GPS_Parameter.PID_Limit = 2* (s32)Parameter.NaviAngleLimitation; |
| GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
| GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
| GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
| GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
| GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
| } |
| // FlightMode changed? |
| if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
| FlightMode_Old = GPS_Parameter.FlightMode; |
| } |
| |
| //------------------------------------------------------------- |
| // This function defines a good GPS signal condition |
| u8 GPS_IsSignalOK(void) |
| { |
| if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
| else return(0); |
| } |
| |
| //------------------------------------------------------------ |
| // Checks for manual control action |
| u8 GPS_IsManuallyControlled(void) |
| { |
| if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0)) return 1; |
| else return 0; |
| } |
| |
| //------------------------------------------------------------ |
| // copy GPS position from source position to target position |
| u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
| { |
| u8 retval = 0; |
| if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
| // copy only valid positions |
| if(pGPSPosSrc->Status != INVALID) |
| { |
| // if the source GPS position is not invalid |
| pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
| pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
| pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
| pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
| retval = 1; |
| } |
| return(retval); |
| } |
| |
| //------------------------------------------------------------ |
| // clear position data |
| u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
| { |
| u8 retval = FALSE; |
| if(pGPSPos == NULL) return(retval); // bad pointer |
| else |
| { |
| pGPSPos->Longitude = 0; |
| pGPSPos->Latitude = 0; |
| pGPSPos->Altitude = 0; |
| pGPSPos->Status = INVALID; |
| retval = TRUE; |
| } |
| return (retval); |
| } |
| |
| |
| //------------------------------------------------------------ |
| void GPS_Neutral() |
| { |
| GPS_Stick.Nick = 0; |
| GPS_Stick.Roll = 0; |
| GPS_Stick.Yaw = 0; |
| } |
| |
| //------------------------------------------------------------ |
| void GPS_Init(void) |
| { |
| SerialPutString("\r\n GPS init..."); |
| UBX_Init(); |
| GPS_Neutral(); |
| GPS_ClearPosition(&GPS_HoldPosition); |
| GPS_ClearPosition(&GPS_HomePosition); |
| GPS_pTargetPosition = NULL; |
| WPList_Init(); |
| GPS_pWaypoint = WPList_Begin(); |
| GPS_UpdateParameter(); |
| SerialPutString("ok"); |
| } |
| |
| //------------------------------------------------------------ |
| // calculate the bearing to target position from its deviation |
| s32 DirectionToTarget_N_E(float northdev, float eastdev) |
| { |
| s32 bearing; |
| bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
| bearing = (270L - bearing)%360L; |
| return(bearing); |
| } |
| |
| |
| //------------------------------------------------------------ |
| // Rescale xy-vector length if length limit is violated |
| void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
| { |
| s32 dist; |
| dist = (s32)hypot(*x,*y); // the length of the vector |
| if (dist == 0) |
| { |
| *x = 0; |
| *y = 0; |
| } |
| else if (dist > limit) |
| // if vector length is larger than the given limit |
| { // scale vector compontents so that the length is cut off to limit |
| *x = (*x * limit) / dist; |
| *y = (*y * limit) / dist; |
| } |
| } |
| |
| //------------------------------------------------------------ |
| // transform the integer deg into float radians |
| inline double RadiansFromGPS(s32 deg) |
| { |
| return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
| } |
| |
| //------------------------------------------------------------ |
| // transform the integer deg into float deg |
| inline double DegFromGPS(s32 deg) |
| { |
| return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
| } |
| |
| //------------------------------------------------------------ |
| // calculate the deviation from the current position to the target position |
| u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
| { |
| double temp1, temp2; |
| // if given pointer is NULL |
| if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
| // if positions are invalid |
| if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
| |
| // The deviation from the current to the target position along north and east direction is |
| // simple the lat/lon difference. To convert that angular deviation into an |
| // arc length the spherical projection has to be considered. |
| // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
| // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
| // The arc length per longitude degree depends on the correspondig latitude and |
| // is 111.2km * cos(latitude). |
| |
| // calculate the shortest longitude deviation from target |
| temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
| // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
| // In our application we wont fly more than 20.000 km but along the date line this is important. |
| if(temp1 > 180.0f) temp1 -= 360.0f; |
| else if (temp1 < -180.0f) temp1 += 360.0f; |
| temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
| // calculate latitude deviation from target |
| // this is allways within -180 deg ... 180 deg |
| temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
| // deviation from target position in cm |
| // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
| |
| pDeviationFromTarget->Status = INVALID; |
| pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
| pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
| // If the position deviation is small enough to neglect the earth curvature |
| // (this is for our application always fulfilled) the distance to target |
| // can be calculated by the pythagoras of north and east deviation. |
| pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
| if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
| else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
| pDeviationFromTarget->Status = NEWDATA; |
| return TRUE; |
| |
| baddata: |
| pDeviationFromTarget->North = 0L; |
| pDeviationFromTarget->East = 0L; |
| pDeviationFromTarget->Distance = 0L; |
| pDeviationFromTarget->Bearing = 0L; |
| pDeviationFromTarget->Status = INVALID; |
| return FALSE; |
| } |
| |
| //------------------------------------------------------------ |
| void GPS_Navigation(void) |
| { |
| static u32 beep_rythm; |
| static u32 GPSDataTimeout = 0; |
| |
| // pointer to current target position |
| static GPS_Pos_t * pTargetPositionOld = NULL; |
| static Waypoint_t* GPS_pWaypointOld = NULL; |
| |
| 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 |
| static s32 OperatingRadiusOld = -1; |
| static u8 WPArrived = FALSE; |
| static u32 WPTime = 0; |
| |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Check for new data from GPS-receiver |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| switch(GPSData.Status) |
| { |
| case INVALID: // no gps data available |
| // do nothing |
| GPS_Parameter.PID_Limit = 0; // disables PID output |
| break; |
| |
| case PROCESSED: // the current data have been allready processed |
| // if no new data are available within the timeout switch to invalid state. |
| if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
| // wait for new gps data |
| break; |
| |
| case NEWDATA: // handle new gps data |
| |
| // update GPS Parameter from FC-Data via SPI interface |
| GPS_UpdateParameter(); |
| |
| // wait maximum of 3 times the normal data update time before data timemout |
| GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
| beep_rythm++; |
| |
| // debug |
| DebugOut.Analog[21] = (u16)GPSData.Speed_North; |
| DebugOut.Analog[22] = (u16)GPSData.Speed_East; |
| DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
| |
| // If GPS signal condition is sufficient for a reliable position measurement |
| if(GPS_IsSignalOK()) |
| { |
| // update home deviation info |
| GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
| |
| // if the MK is starting or the home position is invalid then store the home position |
| if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
| { // try to update the home position from the current position |
| if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
| { |
| BeepTime = 700; // beep on success |
| GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
| } |
| GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
| } |
| |
| /* The selected flight mode influences the target position pointer and therefore the behavior */ |
| |
| // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
| switch(GPS_Parameter.FlightMode) |
| { |
| // the GPS control is deactived |
| case GPS_FLIGHT_MODE_FREE: |
| NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
| NaviData.NCFlags |= NC_FLAG_FREE; |
| GPS_Parameter.PID_Limit = 0; // disables PID output |
| // update hold position |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| // no target position |
| GPS_pTargetPosition = NULL; |
| break; |
| |
| // the GPS supports the position hold, if the pilot takes no action |
| case GPS_FLIGHT_MODE_AID: |
| NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
| NaviData.NCFlags |= NC_FLAG_PH; |
| // reset WPList to begin |
| GPS_pWaypoint = WPList_Begin(); |
| |
| if(GPS_IsManuallyControlled()) |
| { |
| GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| GPS_pTargetPosition = NULL; |
| } |
| else |
| { |
| GPS_pTargetPosition = &GPS_HoldPosition; |
| } |
| break; |
| |
| // the GPS control is directed to a target position |
| // given by a waypoint or by the home position |
| case GPS_FLIGHT_MODE_WAYPOINT: |
| NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
| NaviData.NCFlags |= NC_FLAG_CH; |
| |
| if(GPS_IsManuallyControlled()) // the human pilot takes the action |
| { |
| GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
| GPS_pTargetPosition = NULL; // set target position invalid |
| } |
| else // no manual control -> gps position hold active |
| { |
| // waypoint trigger logic |
| if(GPS_pWaypoint != NULL) // waypoint exist |
| { |
| if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
| { |
| GPS_pWaypoint = WPList_Next(); // goto to next WP |
| WPArrived = FALSE; |
| BeepTime = 255; |
| } |
| else // waypoint position is valid |
| { |
| // check if the pointer to the waypoint has been changed or the data have been updated |
| if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
| { |
| GPS_pWaypointOld = GPS_pWaypoint; |
| // reset the arrived bit to break a pending HoldTime of the old WP |
| WPArrived = FALSE; |
| } |
| |
| if(CurrentTargetDeviation.Status != INVALID) |
| { // if the waypoint was not catched and the target area has been reached |
| if(!WPArrived && (CurrentTargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
| { |
| WPArrived = TRUE; |
| WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
| } |
| } |
| // if WP has been reached once, wait hold time before trigger to next one |
| if(WPArrived) |
| { |
| /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
| if(CheckDelay(WPTime)) |
| { |
| GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
| WPArrived = FALSE; // which is not arrived |
| } |
| } // EOF if(WPArrived) |
| } |
| } // EOF waypoint trigger logic |
| |
| if(GPS_pWaypoint != NULL) // Waypoint exist |
| { |
| // update the hold position |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
| } |
| else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
| { |
| // fly back to home postion |
| if(GPS_HomePosition.Status == INVALID) |
| { |
| GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
| BeepTime = 255; // beep to indicate missin home position |
| } |
| else // the home position is valid |
| { |
| // update the hold position |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| // set target to home position |
| GPS_pTargetPosition = &GPS_HomePosition; |
| } |
| } |
| } // EOF no manual control |
| break; |
| |
| case GPS_FLIGHT_MODE_UNDEF: |
| default: |
| GPS_Parameter.PID_Limit = 0; // disables PID output |
| // update hold position |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| // no target position |
| GPS_pTargetPosition = NULL; |
| break; |
| |
| }// EOF GPS Mode Handling |
| |
| |
| /* Calculation of range target based on the real target */ |
| |
| // if no target position exist clear the ranged target position |
| if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
| else |
| { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
| if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
| { |
| BeepTime = 255; // beep to indicate setting of a new target position |
| // calculate deviation of new target position from home position |
| if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
| { |
| // check distance from home position |
| if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
| { |
| //calculate ranged target position to be within the operation radius area |
| NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
| |
| TargetHomeDeviation.North *= GPS_Parameter.OperatingRadius; |
| TargetHomeDeviation.North /= TargetHomeDeviation.Distance; |
| TargetHomeDeviation.East *= GPS_Parameter.OperatingRadius; |
| TargetHomeDeviation.East /= TargetHomeDeviation.Distance; |
| TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
| |
| RangedTargetPosition.Status = INVALID; |
| RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
| RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
| RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
| RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
| RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
| RangedTargetPosition.Status = NEWDATA; |
| } |
| else |
| { // the target is located within the operation radius area |
| // simple copy the loaction to the ranged target position |
| GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
| NaviData.NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
| } |
| } |
| else |
| { // deviation could not be determined |
| GPS_ClearPosition(&RangedTargetPosition); |
| } |
| GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
| } |
| } |
| OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
| // remember last target position pointer |
| pTargetPositionOld = GPS_pTargetPosition; |
| |
| /* Calculate position deviation from ranged target */ |
| |
| // calculate deviation of current position to ranged target position in cm |
| if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
| { |
| // implement your control code here based |
| // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
| GPS_Stick.Nick = 0; |
| GPS_Stick.Roll = 0; |
| GPS_Stick.Yaw = 0; |
| } |
| else // deviation could not be calculated |
| { // do nothing on gps sticks! |
| GPS_Neutral(); |
| } |
| |
| }// eof if GPSSignal is OK |
| else // GPSSignal not OK |
| { |
| GPS_Neutral(); |
| // beep if signal is not sufficient |
| if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
| { |
| if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
| else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
| } |
| } |
| GPSData.Status = PROCESSED; // mark as processed |
| break; |
| } |
| |
| DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
| DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
| DebugOut.Analog[29] = GPS_Stick.Nick; |
| DebugOut.Analog[30] = GPS_Stick.Roll; |
| |
| // update navi data, send back to ground station |
| GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
| GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
| GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
| NaviData.SatsInUse = GPSData.NumOfSats; |
| NaviData.TargetPositionDeviation.Distance = CurrentTargetDeviation.Distance; |
| NaviData.TargetPositionDeviation.Bearing = CurrentTargetDeviation.Bearing; |
| NaviData.HomePositionDeviation.Distance = CurrentHomeDeviation.Distance; |
| NaviData.HomePositionDeviation.Bearing = CurrentHomeDeviation.Bearing; |
| NaviData.UBat = FC.UBat; |
| NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
| NaviData.Heading = (s16)(GPSData.Heading/100000L); |
| NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
| NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
| NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
| NaviData.RC_Quality = (u8) FC.RC_Quality; |
| NaviData.MKFlags = (u8)FC.MKFlags; |
| NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| return; |
| } |
| |