Rev 806 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 806 | Rev 812 | ||
|---|---|---|---|
| Line 12... | Line 12... | ||
| 12 | #define TSK_HOLD 1 |
12 | #define TSK_HOLD 1 |
| 13 | #define TSK_HOME 2 |
13 | #define TSK_HOME 2 |
| Line 14... | Line 14... | ||
| 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 20 // 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 |
- | |
| 17 | #define GPS_D_LIMIT_DIST 500 // for position deviations greater than 500cm the D-Part of the PD-Controller is limited |
16 | #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
| Line 18... | Line -... | ||
| 18 | #define GPS_D_LIMIT 50 // PD-Controntroller D-Limit. |
- | |
| 19 | - | ||
| Line -... | Line 17... | ||
| - | 17 | #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
|
| 20 | int16_t GPS_Pitch = 0; |
18 | |
| Line 21... | Line 19... | ||
| 21 | int16_t GPS_Roll = 0; |
19 | |
| 22 | 20 | int16_t GPS_Pitch = 0, GPS_Roll = 0; |
|
| Line 94... | Line 92... | ||
| 94 | } |
92 | } |
| Line 95... | Line 93... | ||
| 95 | 93 | ||
| 96 | // calculates the GPS control stick values from the deviation to target position |
94 | // calculates the GPS control stick values from the deviation to target position |
| 97 | // if the pointer to the target positin is NULL or is the target position invalid |
95 | // if the pointer to the target positin is NULL or is the target position invalid |
| 98 | // then the P part of the controller is deactivated. |
96 | // then the P part of the controller is deactivated. |
| 99 | void GPS_PDController(GPS_Pos_t *pTargetPos) |
97 | void GPS_PIDController(GPS_Pos_t *pTargetPos) |
| 100 | { |
98 | { |
| 101 | int32_t coscompass, sincompass; |
99 | int32_t coscompass, sincompass; |
| 102 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
100 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
| 103 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0; |
101 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
| - | 102 | int32_t PID_North = 0, PID_East = 0; |
|
| 104 | int32_t PD_North = 0, PD_East = 0; |
103 | uint8_t GPS_Stick_Limited = 0; |
| - | 104 | static int32_t cos_target_latitude = 1; |
|
| - | 105 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
|
| Line 105... | Line 106... | ||
| 105 | static int32_t cos_target_latitude = 1; |
106 | static GPS_Pos_t *pLastTargetPos = 0; |
| 106 | 107 | ||
| 107 | // if GPS data and Compass are ok |
108 | // if GPS data and Compass are ok |
| Line 108... | Line 109... | ||
| 108 | if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
109 | if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
| 109 | { |
110 | { |
| 110 | 111 | ||
| 111 | if(pTargetPos != NULL) // if there is a target position |
- | |
| 112 | { |
- | |
| 113 | if(pTargetPos->Status != INVALID) // and the position data are valid |
- | |
| - | 112 | if(pTargetPos != NULL) // if there is a target position |
|
| 114 | { // calculate position deviation from latitude and longitude differences |
113 | { |
| 115 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
- | |
| 116 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
114 | if(pTargetPos->Status != INVALID) // and the position data are valid |
| 117 | // recalculate the target latitude projection only if the target data are updated |
115 | { |
| - | 116 | // if the target data are updated or the target pointer has changed |
|
| - | 117 | if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
|
| - | 118 | { |
|
| - | 119 | // reset error integral |
|
| 118 | // to save time |
120 | GPSPosDevIntegral_North = 0; |
| - | 121 | GPSPosDevIntegral_East = 0; |
|
| - | 122 | // recalculate latitude projection |
|
| - | 123 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
|
| 119 | if (pTargetPos->Status != PROCESSED) |
124 | // remember last target pointer |
| 120 | { |
125 | pLastTargetPos = pTargetPos; |
| - | 126 | // mark data as processed |
|
| - | 127 | pTargetPos->Status = PROCESSED; |
|
| - | 128 | } |
|
| 121 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
129 | // calculate position deviation from latitude and longitude differences |
| 122 | pTargetPos->Status = PROCESSED; |
130 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
| 123 | } |
131 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
| Line 124... | Line 132... | ||
| 124 | // calculate latitude projection |
132 | // calculate latitude projection |
| 125 | GPSPosDev_East *= cos_target_latitude; |
133 | GPSPosDev_East *= cos_target_latitude; |
| 126 | GPSPosDev_East /= 8192; |
134 | GPSPosDev_East /= 8192; |
| 127 | 135 | ||
| 128 | DebugOut.Analog[12] = GPSPosDev_North; |
- | |
| 129 | DebugOut.Analog[13] = GPSPosDev_East; |
- | |
| 130 | //DebugOut.Analog[12] = GPSInfo.velnorth; |
- | |
| 131 | //DebugOut.Analog[13] = GPSInfo.veleast; |
- | |
| 132 | 136 | DebugOut.Analog[12] = GPSPosDev_North; |
|
| 133 | //Calculate P-components of the controller (negative sign for compensation) |
137 | DebugOut.Analog[13] = GPSPosDev_East; |
| 134 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
138 | //DebugOut.Analog[12] = GPSInfo.velnorth; |
| - | 139 | //DebugOut.Analog[13] = GPSInfo.veleast; |
|
| 135 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
140 | } |
| 136 | } |
141 | else // no valid target position available |
| - | 142 | { |
|
| - | 143 | // reset error |
|
| - | 144 | GPSPosDev_North = 0; |
|
| 137 | else // not valid target position available |
145 | GPSPosDev_East = 0; |
| 138 | { |
146 | // reset error integral |
| 139 | GPSPosDev_North = 0; |
147 | GPSPosDevIntegral_North = 0; |
| 140 | GPSPosDev_East = 0; |
148 | GPSPosDevIntegral_East = 0; |
| - | 149 | } |
|
| 141 | } |
150 | } |
| 142 | } |
151 | else // no target position available |
| - | 152 | { |
|
| - | 153 | // reset error |
|
| - | 154 | GPSPosDev_North = 0; |
|
| 143 | else // not target position available |
155 | GPSPosDev_East = 0; |
| Line 144... | Line 156... | ||
| 144 | { |
156 | // reset error integral |
| 145 | GPSPosDev_North = 0; |
157 | GPSPosDevIntegral_North = 0; |
| 146 | GPSPosDev_East = 0; |
158 | GPSPosDevIntegral_East = 0; |
| - | 159 | } |
|
| - | 160 | ||
| 147 | } |
161 | //Calculate PID-components of the controller (negative sign for compensation) |
| 148 | 162 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
|
| 149 | //Calculate PD-components of the controller (negative sign for compensation) |
- | |
| 150 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
- | |
| 151 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
- | |
| 152 | D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
- | |
| 153 | D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
- | |
| 154 | // limit D-Part if position deviation is significant of the target position |
- | |
| 155 | // this accelerates flying to the target position |
- | |
| 156 | if( (abs(GPSPosDev_North) > GPS_D_LIMIT_DIST) || (abs(GPSPosDev_East) > GPS_D_LIMIT_DIST) ) |
- | |
| 157 | { |
- | |
| 158 | if (D_North > GPS_D_LIMIT) D_North = GPS_D_LIMIT; |
163 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
| 159 | else if (D_North < -GPS_D_LIMIT) D_North = -GPS_D_LIMIT; |
164 | I_North = -(GPS_I_Factor * GPSPosDevIntegral_North)/2048; |
| 160 | if (D_East > GPS_D_LIMIT) D_East = GPS_D_LIMIT; |
165 | I_East = -(GPS_I_Factor * GPSPosDevIntegral_East)/2048; |
| Line 161... | Line 166... | ||
| 161 | else if (D_East < -GPS_D_LIMIT) D_East = -GPS_D_LIMIT; |
166 | D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
| Line 162... | Line 167... | ||
| 162 | } |
167 | D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
| 163 | // PD-controller |
168 | // PD-controller |
| Line 178... | Line 183... | ||
| 178 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
183 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
| 179 | // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
184 | // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
| Line 180... | Line 185... | ||
| 180 | 185 | ||
| 181 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
186 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
| 182 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
187 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
| 183 | GPS_Roll = (int16_t)((coscompass * PD_East - sincompass * PD_North) / 8192); |
188 | GPS_Roll = (int16_t)((coscompass * PID_East - sincompass * PID_North) / 8192); |
| Line 184... | Line 189... | ||
| 184 | GPS_Pitch = -1*(int16_t)((sincompass * PD_East + coscompass * PD_North) / 8192); |
189 | GPS_Pitch = -1*(int16_t)((sincompass * PID_East + coscompass * PID_North) / 8192); |
| 185 | 190 | ||
| - | 191 | // limit GPS controls |
|
| - | 192 | if (GPS_Pitch > GPS_STICK_LIMIT) |
|
| - | 193 | { |
|
| - | 194 | GPS_Pitch = GPS_STICK_LIMIT; |
|
| 186 | // limit GPS controls |
195 | GPS_Stick_Limited = 1; |
| - | 196 | } |
|
| - | 197 | else if (GPS_Pitch < -GPS_STICK_LIMIT) |
|
| - | 198 | { |
|
| - | 199 | GPS_Pitch = -GPS_STICK_LIMIT; |
|
| 187 | if (GPS_Pitch > GPS_STICK_LIMIT) GPS_Pitch = GPS_STICK_LIMIT; |
200 | GPS_Stick_Limited = 1; |
| - | 201 | } |
|
| - | 202 | if (GPS_Roll > GPS_STICK_LIMIT) |
|
| - | 203 | { |
|
| - | 204 | GPS_Roll = GPS_STICK_LIMIT; |
|
| 188 | else if (GPS_Pitch < -GPS_STICK_LIMIT) GPS_Pitch = -GPS_STICK_LIMIT; |
205 | GPS_Stick_Limited = 1; |
| - | 206 | } |
|
| - | 207 | else if (GPS_Roll < -GPS_STICK_LIMIT) |
|
| - | 208 | { |
|
| - | 209 | GPS_Roll = -GPS_STICK_LIMIT; |
|
| - | 210 | GPS_Stick_Limited = 1; |
|
| - | 211 | } |
|
| - | 212 | ||
| - | 213 | if(!GPS_Stick_Limited) // prevent further growing if error integrals if control limit is reached |
|
| - | 214 | { |
|
| - | 215 | // calculate position error integrals |
|
| - | 216 | GPSPosDevIntegral_North += GPSPosDev_North/4; |
|
| - | 217 | if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
|
| - | 218 | else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT; |
|
| - | 219 | GPSPosDevIntegral_East += GPSPosDev_East/4; |
|
| - | 220 | if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
|
| - | 221 | else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT; |
|
| 189 | if (GPS_Roll > GPS_STICK_LIMIT) GPS_Roll = GPS_STICK_LIMIT; |
222 | } |
| 190 | else if (GPS_Roll < -GPS_STICK_LIMIT) GPS_Roll = -GPS_STICK_LIMIT; |
223 | |
| 191 | } |
224 | } |
| 192 | else // invalid GPS data |
225 | else // invalid GPS data |
| - | 226 | { |
|
| - | 227 | GPS_Neutral(); // do nothing |
|
| - | 228 | // reset error integral |
|
| 193 | { |
229 | GPSPosDevIntegral_North = 0; |
| 194 | GPS_Neutral(); // do nothing |
230 | GPSPosDevIntegral_East = 0; |
| Line -... | Line 231... | ||
| - | 231 | } |
|
| - | 232 | } |
|
| 195 | } |
233 | |
| 196 | } |
234 | |
| 197 | 235 | ||
| 198 | 236 | ||
| 199 | void GPS_Main(uint8_t ctrl) |
237 | void GPS_Main(uint8_t ctrl) |
| Line 255... | Line 293... | ||
| 255 | { |
293 | { |
| 256 | if(GPS_P_Delay<7) |
294 | if(GPS_P_Delay<7) |
| 257 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
295 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
| 258 | GPS_P_Delay++; |
296 | GPS_P_Delay++; |
| 259 | GPS_SetHoldPosition(); // update hold point to current gps position |
297 | GPS_SetHoldPosition(); // update hold point to current gps position |
| 260 | GPS_PDController(NULL); // activates only the D-Part |
298 | GPS_PIDController(NULL); // activates only the D-Part |
| 261 | } |
299 | } |
| 262 | else GPS_PDController(&HoldPosition);// activates the P&D-Part |
300 | else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
| 263 | } |
301 | } |
| 264 | } |
302 | } |
| 265 | else // invalid Hold Position |
303 | else // invalid Hold Position |
| 266 | { // try to catch a valid hold position from gps data input |
304 | { // try to catch a valid hold position from gps data input |
| 267 | GPS_SetHoldPosition(); |
305 | GPS_SetHoldPosition(); |
| Line 278... | Line 316... | ||
| 278 | { |
316 | { |
| 279 | GPS_Neutral(); |
317 | GPS_Neutral(); |
| 280 | } |
318 | } |
| 281 | else // GPS control active |
319 | else // GPS control active |
| 282 | { |
320 | { |
| 283 | GPS_PDController(&HomePosition); |
321 | GPS_PIDController(&HomePosition); |
| 284 | } |
322 | } |
| 285 | } |
323 | } |
| 286 | else // bad home position |
324 | else // bad home position |
| 287 | { |
325 | { |
| 288 | BeepTime = 50; // signal invalid home position |
326 | BeepTime = 50; // signal invalid home position |
| Line 294... | Line 332... | ||
| 294 | { |
332 | { |
| 295 | GPS_Neutral(); |
333 | GPS_Neutral(); |
| 296 | } |
334 | } |
| 297 | else // GPS control active |
335 | else // GPS control active |
| 298 | { |
336 | { |
| 299 | GPS_PDController(&HoldPosition); |
337 | GPS_PIDController(&HoldPosition); |
| 300 | } |
338 | } |
| 301 | } |
339 | } |
| 302 | else |
340 | else |
| 303 | { // try to catch a valid hold position |
341 | { // try to catch a valid hold position |
| 304 | GPS_SetHoldPosition(); |
342 | GPS_SetHoldPosition(); |