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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 716 | Nick666 | 1 | #include "main.h" |
| 2 | |||
| 740 | Nick666 | 3 | int16_t GPS_Nick = 0; |
| 4 | int16_t GPS_Roll = 0; |
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| 5 | |||
| 6 | uint8_t GPS_P_Factor = 0; |
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| 7 | uint8_t GPS_D_Factor = 0; |
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| 8 | |||
| 9 | uint8_t flashtimer; |
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| 10 | |||
| 11 | typedef struct |
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| 716 | Nick666 | 12 | { |
| 740 | Nick666 | 13 | int32_t Northing; |
| 14 | int32_t Easting; |
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| 15 | uint8_t Status; |
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| 716 | Nick666 | 16 | |
| 740 | Nick666 | 17 | } GPS_Pos_t; |
| 18 | |||
| 19 | // GPS coordinates for hold position |
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| 20 | GPS_Pos_t GPSHoldPoint = {0,0, INVALID}; |
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| 21 | |||
| 22 | |||
| 23 | |||
| 24 | // --------------------------------------------------------------------------------- |
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| 25 | |||
| 26 | |||
| 27 | void GPS_Main(void) |
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| 716 | Nick666 | 28 | { |
| 740 | Nick666 | 29 | int32_t coscompass, sincompass; |
| 30 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0; |
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| 31 | int32_t PD_North = 0, PD_East = 0; |
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| 32 | int32_t GPSPosDev_North = 0, GPSPosDev_East = 0; |
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| 716 | Nick666 | 33 | |
| 740 | Nick666 | 34 | // poti2 enables the gps feature |
| 35 | if((Poti3 > 70) && (!Notlandung)) // run GPS function only if Poti 2 is larger than 70 (switch on) |
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| 36 | { |
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| 37 | switch(GPSInfo.status) |
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| 38 | { |
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| 39 | case INVALID: // invalid gps data |
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| 40 | GPS_Nick = 0; |
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| 41 | GPS_Roll = 0; |
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| 42 | GRN_OFF; |
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| 43 | break; |
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| 44 | case PROCESSED: // if gps data are already processed |
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| 45 | // downcount timeout |
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| 46 | if(GPSTimeout) GPSTimeout--; |
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| 47 | // if no new data arrived within timeout set current data invalid |
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| 48 | // and therefore disable GPS |
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| 49 | else |
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| 50 | { |
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| 51 | GPS_Nick = 0; |
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| 52 | GPS_Roll = 0; |
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| 53 | GPSInfo.status = INVALID; |
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| 54 | } |
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| 55 | break; |
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| 56 | case VALID: // new valid data from gps device |
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| 57 | // if the gps data quality is sufficient |
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| 58 | if (GPSInfo.satfix == SATFIX_3D) |
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| 59 | { |
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| 60 | GRN_ON; |
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| 61 | // if sticks are centered and hold position is valid enable position hold control |
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| 62 | if ((MaxStickNick < 20) && (MaxStickRoll < 20) && (GPSHoldPoint.Status == VALID)) |
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| 63 | { |
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| 64 | // Calculate deviation from hold position |
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| 65 | GPSPosDev_North = GPSInfo.utmnorth - GPSHoldPoint.Northing; |
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| 66 | GPSPosDev_East = GPSInfo.utmeast - GPSHoldPoint.Easting; |
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| 716 | Nick666 | 67 | |
| 740 | Nick666 | 68 | //Calculate PD-components of the controller (negative sign for compensation) |
| 69 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
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| 70 | D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
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| 71 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
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| 72 | D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
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| 716 | Nick666 | 73 | |
| 740 | Nick666 | 74 | // PD-controller |
| 75 | PD_North = P_North + D_North; |
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| 76 | PD_East = P_East + D_East; |
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| 716 | Nick666 | 77 | |
| 740 | Nick666 | 78 | // GPS to pitch and roll settings |
| 79 | |||
| 80 | //A positive pitch angle moves head downwards (flying forward). |
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| 81 | //A positive roll angle tilts left side downwards (flying left). |
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| 82 | |||
| 83 | // If compass heading is 0 the head of the copter is in north direction. |
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| 84 | // A positive pitch angle will fly to north and a positive roll angle will fly to west. |
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| 85 | // In case of a positive north deviation/velocity the |
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| 86 | // copter should fly to south (negative pitch). |
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| 87 | // In case of a positive east position deviation and a positive east velocity the |
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| 88 | // copter should fly to west (positive roll). |
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| 89 | |||
| 90 | // The influence of the GPS_Nick and GPS_Roll variable is contrarily to the stick values |
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| 91 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
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| 92 | // GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll. |
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| 93 | |||
| 94 | // rotation transformation to compass heading to match any copter orientation |
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| 95 | coscompass = (int32_t)cos_i(KompassValue); |
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| 96 | sincompass = (int32_t)sin_i(KompassValue); |
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| 97 | |||
| 98 | GPS_Roll = (int16_t)((PD_East * coscompass - PD_North * sincompass) / 1024); |
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| 99 | GPS_Nick = -1*(int16_t)((PD_East * sincompass + PD_North * coscompass) / 1024); |
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| 100 | |||
| 101 | // limit GPS controls |
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| 102 | #define GPS_CTRL_LIMIT 35 |
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| 103 | if (GPS_Nick > GPS_CTRL_LIMIT) GPS_Nick = GPS_CTRL_LIMIT; |
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| 104 | if (GPS_Nick < -GPS_CTRL_LIMIT) GPS_Nick = -GPS_CTRL_LIMIT; |
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| 105 | if (GPS_Roll > GPS_CTRL_LIMIT) GPS_Roll = GPS_CTRL_LIMIT; |
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| 106 | if (GPS_Roll < -GPS_CTRL_LIMIT) GPS_Roll = -GPS_CTRL_LIMIT; |
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| 107 | } |
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| 108 | else // MK controlled by user |
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| 109 | { |
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| 110 | // update hold point to current gps position |
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| 111 | GPSHoldPoint.Northing = GPSInfo.utmnorth; |
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| 112 | GPSHoldPoint.Easting = GPSInfo.utmeast; |
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| 113 | GPSHoldPoint.Status = VALID; |
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| 114 | // disable gps control |
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| 115 | GPS_Nick = 0; |
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| 116 | GPS_Roll = 0; |
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| 117 | } |
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| 118 | } // eof 3D-FIX |
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| 119 | else // no 3D-SATFIX |
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| 120 | { // diable gps control |
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| 121 | GPS_Nick = 0; |
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| 122 | GPS_Roll = 0; |
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| 123 | if (!flashtimer--) |
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| 124 | { |
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| 125 | GRN_FLASH; |
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| 126 | flashtimer=5; |
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| 127 | } |
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| 128 | } |
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| 129 | // set current data as processed to avoid further calculations on the same gps data |
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| 130 | GPSInfo.status = PROCESSED; |
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| 131 | break; |
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| 132 | } // eof GPSInfo.status |
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| 133 | } |
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| 134 | else GRN_OFF; |
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| 135 | |||
| 136 | return; |
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| 137 | } |
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| 138 |