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| Rev 2160 | Rev 2189 | ||
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| 7 | #include "configuration.h" |
7 | #include "configuration.h" |
| 8 | #include "controlMixer.h" |
8 | #include "controlMixer.h" |
| 9 | #include "output.h" |
9 | #include "output.h" |
| 10 | #include "isqrt.h" |
10 | #include "isqrt.h" |
| 11 | #include "attitude.h" |
11 | #include "attitude.h" |
| 12 | #include "dongfangMath.h" |
- | |
| 13 | #include "attitude.h" |
12 | #include "attitude.h" |
| Line 14... | Line 13... | ||
| 14 | 13 | ||
| 15 | typedef enum { |
14 | typedef enum { |
| 16 | NAVI_FLIGHT_MODE_UNDEF, |
15 | NAVI_FLIGHT_MODE_UNDEF, |
| 17 | NAVI_FLIGHT_MODE_FREE, |
16 | NAVI_FLIGHT_MODE_FREE, |
| 18 | NAVI_FLIGHT_MODE_AID, |
17 | NAVI_FLIGHT_MODE_AID, |
| 19 | NAVI_FLIGHT_MODE_HOME, |
18 | NAVI_FLIGHT_MODE_HOME, |
| Line 20... | Line 19... | ||
| 20 | } FlightMode_t; |
19 | } NaviMode_t; |
| 21 | 20 | ||
| 22 | /* |
21 | /* |
| 23 | * This is not read from internally. It only serves to let a pilot/debugger |
22 | * This is not read from internally. It only serves to let a pilot/debugger |
| Line 51... | Line 50... | ||
| 51 | // GPS coordinates for hold position |
50 | // GPS coordinates for hold position |
| 52 | GPS_Pos_t holdPosition = { 0, 0, 0, INVALID }; |
51 | GPS_Pos_t holdPosition = { 0, 0, 0, INVALID }; |
| 53 | // GPS coordinates for home position |
52 | // GPS coordinates for home position |
| 54 | GPS_Pos_t homePosition = { 0, 0, 0, INVALID }; |
53 | GPS_Pos_t homePosition = { 0, 0, 0, INVALID }; |
| 55 | // the current flight mode |
54 | // the current flight mode |
| 56 | FlightMode_t flightMode = NAVI_FLIGHT_MODE_UNDEF; |
55 | NaviMode_t naviMode = NAVI_FLIGHT_MODE_UNDEF; |
| 57 | int16_t naviSticks[2] = {0,0}; |
56 | int16_t naviSticks[2] = {0,0}; |
| Line 58... | Line 57... | ||
| 58 | 57 | ||
| Line 59... | Line 58... | ||
| 59 | int8_t naviStatus; |
58 | int8_t naviStatus; |
| 60 | 59 | ||
| 61 | // --------------------------------------------------------------------------------- |
60 | // --------------------------------------------------------------------------------- |
| Line 62... | Line 61... | ||
| 62 | void navi_updateFlightMode(void) { |
61 | void navi_updateFlightMode(void) { |
| 63 | static FlightMode_t flightModeOld = NAVI_FLIGHT_MODE_UNDEF; |
62 | static NaviMode_t naviModeOld = NAVI_FLIGHT_MODE_UNDEF; |
| 64 | 63 | ||
| 65 | if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
64 | if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
| 66 | flightMode = NAVI_FLIGHT_MODE_FREE; |
65 | naviMode = NAVI_FLIGHT_MODE_FREE; |
| 67 | } else { |
66 | } else { |
| 68 | if (dynamicParams.naviMode < 50) |
67 | if (dynamicParams.naviMode < 50) |
| 69 | flightMode = NAVI_FLIGHT_MODE_FREE; |
68 | naviMode = NAVI_FLIGHT_MODE_FREE; |
| 70 | else if (dynamicParams.naviMode < 180) |
69 | else if (dynamicParams.naviMode < 180) |
| 71 | flightMode = NAVI_FLIGHT_MODE_AID; |
70 | naviMode = NAVI_FLIGHT_MODE_AID; |
| Line 72... | Line 71... | ||
| 72 | else |
71 | else |
| 73 | flightMode = NAVI_FLIGHT_MODE_HOME; |
72 | naviMode = NAVI_FLIGHT_MODE_HOME; |
| 74 | } |
73 | } |
| 75 | 74 | ||
| 76 | if (flightMode != flightModeOld) { |
75 | if (naviMode != naviModeOld) { |
| Line 77... | Line 76... | ||
| 77 | beep(100); |
76 | beep(100); |
| 78 | flightModeOld = flightMode; |
77 | naviModeOld = naviMode; |
| Line 105... | Line 104... | ||
| 105 | } |
104 | } |
| 106 | return 0; |
105 | return 0; |
| 107 | } |
106 | } |
| Line 108... | Line 107... | ||
| 108 | 107 | ||
| 109 | // checks nick and roll sticks for manual control |
108 | // checks nick and roll sticks for manual control |
| 110 | uint8_t navi_isManuallyControlled(int16_t* PRTY) { |
- | |
| 111 | debugOut.analog[26] = PRTY[CONTROL_PITCH]; |
- | |
| 112 | debugOut.analog[27] = PRTY[CONTROL_ROLL]; |
109 | uint8_t navi_isManuallyControlled(int16_t* RPTY) { |
| 113 | if (abs(PRTY[CONTROL_PITCH]) < staticParams.naviStickThreshold |
110 | if (abs(RPTY[CONTROL_PITCH]) < staticParams.naviStickThreshold |
| 114 | && abs(PRTY[CONTROL_ROLL]) < staticParams.naviStickThreshold) |
111 | && abs(RPTY[CONTROL_ROLL]) < staticParams.naviStickThreshold) |
| 115 | return 0; |
112 | return 0; |
| 116 | else |
113 | else |
| 117 | return 1; |
114 | return 1; |
| Line 266... | Line 263... | ||
| 266 | GPSPosDevIntegral_North = 0; |
263 | GPSPosDevIntegral_North = 0; |
| 267 | GPSPosDevIntegral_East = 0; |
264 | GPSPosDevIntegral_East = 0; |
| 268 | } |
265 | } |
| 269 | } |
266 | } |
| Line 270... | Line 267... | ||
| 270 | 267 | ||
| 271 | void navigation_periodicTaskAndPRTY(int16_t* PRTY) { |
268 | void navigation_periodicTaskAndRPTY(int16_t* RPTY) { |
| 272 | static uint8_t GPS_P_Delay = 0; |
269 | static uint8_t GPS_P_Delay = 0; |
| 273 | static uint16_t beep_rythm = 0; |
270 | static uint16_t beep_rythm = 0; |
| 274 | static uint16_t navi_testOscPrescaler = 0; |
271 | static uint16_t navi_testOscPrescaler = 0; |
| Line 278... | Line 275... | ||
| 278 | navi_setNeutral(); |
275 | navi_setNeutral(); |
| 279 | naviStatus = NAVI_STATUS_NO_COMPASS; |
276 | naviStatus = NAVI_STATUS_NO_COMPASS; |
| 280 | return; |
277 | return; |
| 281 | } |
278 | } |
| Line 282... | Line 279... | ||
| 282 | 279 | ||
| Line 283... | Line 280... | ||
| 283 | navi_updateFlightMode(); |
280 | navi_updateNaviMode(); |
| 284 | 281 | ||
| 285 | navi_testOscPrescaler++; |
282 | navi_testOscPrescaler++; |
| 286 | if (navi_testOscPrescaler == 488) { |
283 | if (navi_testOscPrescaler == 488) { |
| Line 312... | Line 309... | ||
| 312 | 309 | ||
| 313 | switch (GPSInfo.status) { |
310 | switch (GPSInfo.status) { |
| 314 | case INVALID: // invalid gps data |
311 | case INVALID: // invalid gps data |
| 315 | navi_setNeutral(); |
312 | navi_setNeutral(); |
| 316 | naviStatus = NAVI_STATUS_INVALID_GPS; |
313 | naviStatus = NAVI_STATUS_INVALID_GPS; |
| 317 | if (flightMode != NAVI_FLIGHT_MODE_FREE) { |
314 | if (naviMode != NAVI_FLIGHT_MODE_FREE) { |
| 318 | beep(1); // beep if signal is neccesary |
315 | beep(1); // beep if signal is neccesary |
| 319 | } |
316 | } |
| 320 | break; |
317 | break; |
| 321 | case PROCESSED: // if gps data are already processed do nothing |
318 | case PROCESSED: // if gps data are already processed do nothing |
| Line 332... | Line 329... | ||
| 332 | break; |
329 | break; |
| 333 | case NEWDATA: // new valid data from gps device |
330 | case NEWDATA: // new valid data from gps device |
| 334 | // if the gps data quality is good |
331 | // if the gps data quality is good |
| 335 | beep_rythm++; |
332 | beep_rythm++; |
| 336 | if (navi_isGPSSignalOK()) { |
333 | if (navi_isGPSSignalOK()) { |
| 337 | switch (flightMode) { // check what's to do |
334 | switch (naviMode) { // check what's to do |
| 338 | case NAVI_FLIGHT_MODE_FREE: |
335 | case NAVI_FLIGHT_MODE_FREE: |
| 339 | // update hold position to current gps position |
336 | // update hold position to current gps position |
| 340 | navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad |
337 | navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad |
| 341 | // disable gps control |
338 | // disable gps control |
| 342 | navi_setNeutral(); |
339 | navi_setNeutral(); |
| 343 | naviStatus = NAVI_STATUS_FREEFLIGHT; |
340 | naviStatus = NAVI_STATUS_FREEFLIGHT; |
| 344 | break; |
341 | break; |
| Line 345... | Line 342... | ||
| 345 | 342 | ||
| 346 | case NAVI_FLIGHT_MODE_AID: |
343 | case NAVI_FLIGHT_MODE_AID: |
| 347 | if (holdPosition.status != INVALID) { |
344 | if (holdPosition.status != INVALID) { |
| 348 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
345 | if (navi_isManuallyControlled(RPTY)) { // MK controlled by user |
| 349 | // update hold point to current gps position |
346 | // update hold point to current gps position |
| 350 | navi_writeCurrPositionTo(&holdPosition); |
347 | navi_writeCurrPositionTo(&holdPosition); |
| 351 | // disable gps control |
348 | // disable gps control |
| 352 | navi_setNeutral(); |
349 | navi_setNeutral(); |
| Line 375... | Line 372... | ||
| 375 | case NAVI_FLIGHT_MODE_HOME: |
372 | case NAVI_FLIGHT_MODE_HOME: |
| 376 | if (homePosition.status != INVALID) { |
373 | if (homePosition.status != INVALID) { |
| 377 | // update hold point to current gps position |
374 | // update hold point to current gps position |
| 378 | // to avoid a flight back if home comming is deactivated |
375 | // to avoid a flight back if home comming is deactivated |
| 379 | navi_writeCurrPositionTo(&holdPosition); |
376 | navi_writeCurrPositionTo(&holdPosition); |
| 380 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
377 | if (navi_isManuallyControlled(RPTY)) { // MK controlled by user |
| 381 | navi_setNeutral(); |
378 | navi_setNeutral(); |
| 382 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
379 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
| 383 | } else {// GPS control active |
380 | } else {// GPS control active |
| 384 | navi_PIDController(&homePosition); |
381 | navi_PIDController(&homePosition); |
| 385 | } |
382 | } |
| Line 387... | Line 384... | ||
| 387 | } else { |
384 | } else { |
| 388 | // bad home position |
385 | // bad home position |
| 389 | beep(50); // signal invalid home position |
386 | beep(50); // signal invalid home position |
| 390 | // try to hold at least the position as a fallback option |
387 | // try to hold at least the position as a fallback option |
| 391 | if (holdPosition.status != INVALID) { |
388 | if (holdPosition.status != INVALID) { |
| 392 | if (navi_isManuallyControlled(PRTY)) { |
389 | if (navi_isManuallyControlled(RPTY)) { |
| 393 | // MK controlled by user |
390 | // MK controlled by user |
| 394 | navi_setNeutral(); |
391 | navi_setNeutral(); |
| 395 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
392 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
| 396 | } else { |
393 | } else { |
| 397 | // GPS control active |
394 | // GPS control active |
| Line 412... | Line 409... | ||
| 412 | } // eof gps data quality is good |
409 | } // eof gps data quality is good |
| 413 | else { // gps data quality is bad |
410 | else { // gps data quality is bad |
| 414 | // disable gps control |
411 | // disable gps control |
| 415 | navi_setNeutral(); |
412 | navi_setNeutral(); |
| 416 | naviStatus = NAVI_STATUS_BAD_GPS_SIGNAL; |
413 | naviStatus = NAVI_STATUS_BAD_GPS_SIGNAL; |
| 417 | if (flightMode != NAVI_FLIGHT_MODE_FREE) { |
414 | if (naviMode != NAVI_FLIGHT_MODE_FREE) { |
| 418 | // beep if signal is not sufficient |
415 | // beep if signal is not sufficient |
| 419 | if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
416 | if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
| 420 | beep(100); |
417 | beep(100); |
| 421 | else if (GPSInfo.satnum < staticParams.GPSMininumSatellites |
418 | else if (GPSInfo.satnum < staticParams.GPSMininumSatellites |
| 422 | && !(beep_rythm % 5)) |
419 | && !(beep_rythm % 5)) |
| Line 426... | Line 423... | ||
| 426 | // set current data as processed to avoid further calculations on the same gps data |
423 | // set current data as processed to avoid further calculations on the same gps data |
| 427 | GPSInfo.status = PROCESSED; |
424 | GPSInfo.status = PROCESSED; |
| 428 | break; |
425 | break; |
| 429 | } // eof GPSInfo.status |
426 | } // eof GPSInfo.status |
| Line 430... | Line 427... | ||
| 430 | 427 | ||
| 431 | PRTY[CONTROL_PITCH] += naviSticks[CONTROL_PITCH]; |
428 | RPTY[CONTROL_PITCH] += naviSticks[CONTROL_PITCH]; |
| 432 | PRTY[CONTROL_ROLL] += naviSticks[CONTROL_ROLL]; |
- | |
| 433 | - | ||
| 434 | //debugOut.analog[16] = flightMode; |
- | |
| 435 | //debugOut.analog[17] = naviStatus; |
- | |
| 436 | - | ||
| 437 | /* |
- | |
| 438 | debugOut.analog[18] = naviSticks[CONTROL_PITCH]; |
- | |
| 439 | debugOut.analog[19] = naviSticks[CONTROL_ROLL]; |
- | |
| 440 | */ |
429 | RPTY[CONTROL_ROLL] += naviSticks[CONTROL_ROLL]; |