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