Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 726 | killagreg | 1 | #include <inttypes.h> |
| 1 | ingob | 2 | |
| 726 | killagreg | 3 | #include "fc.h" |
| 4 | #include "ubx.h" |
||
| 5 | #include "mymath.h" |
||
| 701 | killagreg | 6 | |
| 726 | killagreg | 7 | int16_t GPS_Pitch = 0; |
| 8 | int16_t GPS_Roll = 0; |
||
| 9 | |||
| 10 | uint8_t GPS_P_Factor = 0; |
||
| 11 | uint8_t GPS_D_Factor = 0; |
||
| 12 | |||
| 13 | typedef struct |
||
| 1 | ingob | 14 | { |
| 726 | killagreg | 15 | int32_t Northing; |
| 16 | int32_t Easting; |
||
| 17 | uint8_t Status; |
||
| 1 | ingob | 18 | |
| 726 | killagreg | 19 | } GPS_Pos_t; |
| 20 | |||
| 21 | // GPS coordinates for hold position |
||
| 22 | GPS_Pos_t GPSHoldPoint = {0,0, INVALID}; |
||
| 23 | // GPS coordinates for flying home |
||
| 24 | GPS_Pos_t GPSHomePoint = {0,0, INVALID};; |
||
| 25 | |||
| 26 | |||
| 27 | |||
| 28 | // --------------------------------------------------------------------------------- |
||
| 29 | |||
| 30 | |||
| 31 | void GPS_Main(void) |
||
| 1 | ingob | 32 | { |
| 726 | killagreg | 33 | int32_t coscompass, sincompass; |
| 34 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0; |
||
| 35 | int32_t PD_North = 0, PD_East = 0; |
||
| 36 | int32_t GPSPosDev_North = 0, GPSPosDev_East = 0; |
||
| 1 | ingob | 37 | |
| 726 | killagreg | 38 | // poti2 enables the gps feature |
| 39 | if(Poti2 > 70) // run GPS function only if Poti 2 is larger than 70 (switch on) |
||
| 40 | { |
||
| 41 | switch(GPSInfo.status) |
||
| 42 | { |
||
| 43 | case INVALID: // invalid gps data |
||
| 44 | GPS_Pitch = 0; |
||
| 45 | GPS_Roll = 0; |
||
| 46 | break; |
||
| 47 | case PROCESSED: // if gps data are already processed |
||
| 48 | // downcount timeout |
||
| 49 | if(GPSTimeout) GPSTimeout--; |
||
| 50 | // if no new data arrived within timeout set current data invalid |
||
| 51 | // and therefore disable GPS |
||
| 52 | else |
||
| 53 | { |
||
| 54 | GPS_Pitch = 0; |
||
| 55 | GPS_Roll = 0; |
||
| 56 | GPSInfo.status = INVALID; |
||
| 57 | } |
||
| 58 | break; |
||
| 59 | case VALID: // new valid data from gps device |
||
| 60 | // if the gps data quality is sufficient |
||
| 61 | if (GPSInfo.satfix == SATFIX_3D) |
||
| 62 | { |
||
| 63 | // if sticks are centered and hold position is valid enable position hold |
||
| 64 | if ((MaxStickPitch < 20) && (MaxStickRoll < 20) && (GPSHoldPoint.Status == VALID)) |
||
| 65 | { |
||
| 66 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
||
| 67 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
||
| 1 | ingob | 68 | |
| 726 | killagreg | 69 | // Calculate deviation from hold position |
| 70 | GPSPosDev_North = GPSInfo.utmnorth - GPSHoldPoint.Northing; |
||
| 71 | GPSPosDev_East = GPSInfo.utmeast - GPSHoldPoint.Easting; |
||
| 1 | ingob | 72 | |
| 726 | killagreg | 73 | //Calculate PD-components of the controller |
| 74 | P_North = (GPS_P_Factor * GPSPosDev_North)/2048; |
||
| 75 | D_North = (GPS_D_Factor * GPSInfo.velnorth)/255; |
||
| 76 | P_East = (GPS_P_Factor * GPSPosDev_East)/2048; |
||
| 77 | D_East = (GPS_D_Factor * GPSInfo.veleast)/255; |
||
| 1 | ingob | 78 | |
| 726 | killagreg | 79 | // PD-controller |
| 80 | PD_North = (-P_North + D_North); |
||
| 81 | PD_East = (P_East - D_East); |
||
| 82 | |||
| 83 | // GPS to pitch and roll |
||
| 84 | GPS_Pitch = (int16_t)((coscompass * PD_North - sincompass * PD_East) / 8192); |
||
| 85 | GPS_Roll = (int16_t)((sincompass * PD_North + coscompass * PD_East) / 8192); |
||
| 86 | |||
| 87 | // limit GPS controls |
||
| 88 | if (GPS_Pitch > 35) GPS_Pitch = 35; |
||
| 89 | if (GPS_Pitch < -35) GPS_Pitch = -35; |
||
| 90 | if (GPS_Roll > 35) GPS_Roll = 35; |
||
| 91 | if (GPS_Roll < -35) GPS_Roll = -35; |
||
| 92 | } |
||
| 93 | else // MK controlled by user |
||
| 94 | { |
||
| 95 | // update hold point to current gps position |
||
| 96 | GPSHoldPoint.Northing = GPSInfo.utmnorth; |
||
| 97 | GPSHoldPoint.Easting = GPSInfo.utmeast; |
||
| 98 | GPSHoldPoint.Status = VALID; |
||
| 99 | // disable gps control |
||
| 100 | GPS_Pitch = 0; |
||
| 101 | GPS_Roll = 0; |
||
| 102 | } |
||
| 103 | } // eof 3D-FIX |
||
| 104 | else // no 3D-SATFIX |
||
| 105 | { // diable gps control |
||
| 106 | GPS_Pitch = 0; |
||
| 107 | GPS_Roll = 0; |
||
| 108 | } |
||
| 109 | // set current data as processed to avoid further calculations on the same gps data |
||
| 110 | GPSInfo.status = PROCESSED; |
||
| 111 | break; |
||
| 112 | } // eof GPSInfo.status |
||
| 113 | } |
||
| 114 | return; |
||
| 115 | } |
||
| 116 |