WebSVN - NaviCtrl - Diff - Rev 1 and 41

 /*#######################################################################################*/
+/*#######################################################################################*/
+// 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
 // +  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;
+        u8 MinSat;
+        s8 StickThreshold;
+        float WindCorrection;
+        s32 OperatingRadius;
+        u32 NaviAngleLimitation;
+        GPS_FlightMode_t  FlightMode;
+} __attribute__((packed)) GPS_Parameter_t;
+typedef struct
+{
+        Status_t 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 TargetDeviation;
+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.MinSat = 6;
+                GPS_Parameter.StickThreshold = 8;
+                GPS_Parameter.WindCorrection = 0.0;
+                GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon
+                GPS_Parameter.NaviAngleLimitation = 125;
+        }
+        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.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
+                GPS_Parameter.NaviAngleLimitation = (u32) Parameter.NaviAngleLimitation * 2;
+        }
+        // FlightMode changed?
+        if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched
+        FlightMode_Old = GPS_Parameter.FlightMode;
+}
-u8  OsdBar;       // Direction home for OSD
+//-------------------------------------------------------------
-s16 OsdDistance;  // Distance home
+// This function defines a good GPS signal condition
+u8 GPS_IsSignalOK(void)
+{
-s16 GPS_Nick;
+        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)
+        {
-s16 GPS_Roll;
+                // 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;
+        }
-struct str_GPSParameter   GPSParameter;
-#define GPS_MODE_FREE  0
-#define GPS_MODE_AID   1
-#define GPS_MODE_HOLD  2
+        return (retval);
+}
+//------------------------------------------------------------
+void GPS_Neutral()
+{
+        GPS_Stick.Nick  = 0;
-#define GPS_MODE_HOME  3
+        GPS_Stick.Roll  = 0;
-u32 GpsFlightMode = GPS_MODE_FREE;
+        GPS_Stick.Yaw   = 0;
+}
-        else if (GPS_Data.Used_Sat < GPS_SAT_MIN && !(beep_rythm % 5)) BeepTime = 10;
+        NaviData.MKFlags = (u8)FC.MKFlags;

Subversion Repositories NaviCtrl

(root)/tags/V2.14c/GPS.c @ 811 - Rev 1 → 41