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| Rev 830 | Rev 844 | ||
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| 10 | 10 | ||
| 11 | #define TSK_IDLE 0 |
11 | #define TSK_IDLE 0 |
| 12 | #define TSK_HOLD 1 |
12 | #define TSK_HOLD 1 |
| Line 13... | Line 13... | ||
| 13 | #define TSK_HOME 2 |
13 | #define TSK_HOME 2 |
| 14 | 14 | ||
| 15 | #define GPS_STICK_SENSE 20 // must be at least in a range where 90% of the trimming does not switch of the GPS function |
15 | #define GPS_STICK_SENSE 15 // must be at least in a range where 90% of the trimming does not switch of the GPS function |
| 16 | #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
16 | #define GPS_STICK_LIMIT 35 // limit of gps stick control to avoid critical flight attitudes |
| Line 17... | Line 17... | ||
| 17 | #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
17 | #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
| 18 | #define MAX_VELOCITY 300 // max ground speed in cm/s during position control |
18 | #define MAX_VELOCITY 700 // max ground speed in cm/s during position control |
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| 19 | 19 | ||
| 20 | 20 | ||
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| 160 | } |
160 | } |
| Line 161... | Line 161... | ||
| 161 | 161 | ||
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| 162 | //Calculate PID-components of the controller (negative sign for compensation) |
162 | //Calculate PID-components of the controller (negative sign for compensation) |
| 163 | 163 | ||
| 164 | // P-Part |
164 | // P-Part |
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| 165 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
165 | P_North = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048; |
| 166 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
166 | P_East = -((int32_t)GPS_P_Factor * GPSPosDev_East)/2048; |
| 167 | 167 | ||
| Line 168... | Line 168... | ||
| 168 | // I-Part |
168 | // I-Part |
| 169 | I_North = -(GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
169 | I_North = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
| 170 | I_East = -(GPS_I_Factor * GPSPosDevIntegral_East)/8192; |
170 | I_East = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_East)/8192; |
| Line 171... | Line 171... | ||
| 171 | 171 | ||
| 172 | // combine P- & I-Part |
172 | // combine P- & I-Part |
| 173 | PID_North = P_North + I_North; |
173 | PID_North = P_North + I_North; |
| 174 | PID_East = P_East + I_East; |
174 | PID_East = P_East + I_East; |
| 175 | 175 | ||
| 176 | //limit PI-Part to limit the max velocity |
176 | //limit PI-Part to limit the max velocity |
| 177 | temp1 = (GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit |
177 | temp1 = ((int32_t)GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit |
| 178 | temp = (int32_t)c_sqrt(PID_North*PID_North + PID_East*PID_East); // the current PI-Part |
178 | temp = (int32_t)c_sqrt(PID_North*PID_North + PID_East*PID_East); // the current PI-Part |
| 179 | if(temp > temp1) // P-Part limit is reached |
179 | if(temp > temp1) // P-Part limit is reached |
| 180 | { |
180 | { |
| 181 | // normalize P-part components to the P-Part limit |
181 | // normalize P-part components to the P-Part limit |
| 182 | PID_North = (PID_North * temp1)/temp; |
182 | PID_North = (PID_North * temp1)/temp; |
| 183 | PID_East = (PID_East * temp1)/temp; |
183 | PID_East = (PID_East * temp1) /temp; |
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| 192 | if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
192 | if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
| 193 | else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT; |
193 | else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT; |
| 194 | } |
194 | } |
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| 195 | 195 | ||
| 196 | // D-Part |
196 | // D-Part |
| 197 | D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
197 | D_North = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512; |
| Line 198... | Line 198... | ||
| 198 | D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
198 | D_East = -((int32_t)GPS_D_Factor * GPSInfo.veleast)/512; |
| 199 | 199 | ||
| 200 | 200 | ||