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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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| 727 | killagreg | 6 | #include "timer0.h" |
| 701 | killagreg | 7 | |
| 726 | killagreg | 8 | int16_t GPS_Pitch = 0; |
| 9 | int16_t GPS_Roll = 0; |
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| 10 | |||
| 727 | killagreg | 11 | int32_t GPS_P_Factor = 0; |
| 12 | int32_t GPS_D_Factor = 0; |
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| 726 | killagreg | 13 | |
| 14 | typedef struct |
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| 1 | ingob | 15 | { |
| 726 | killagreg | 16 | int32_t Northing; |
| 17 | int32_t Easting; |
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| 18 | uint8_t Status; |
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| 1 | ingob | 19 | |
| 726 | killagreg | 20 | } GPS_Pos_t; |
| 21 | |||
| 22 | // GPS coordinates for hold position |
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| 23 | GPS_Pos_t GPSHoldPoint = {0,0, INVALID}; |
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| 24 | |||
| 25 | |||
| 26 | |||
| 27 | // --------------------------------------------------------------------------------- |
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| 28 | |||
| 29 | |||
| 30 | void GPS_Main(void) |
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| 1 | ingob | 31 | { |
| 726 | killagreg | 32 | int32_t coscompass, sincompass; |
| 33 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0; |
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| 34 | int32_t PD_North = 0, PD_East = 0; |
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| 35 | int32_t GPSPosDev_North = 0, GPSPosDev_East = 0; |
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| 1 | ingob | 36 | |
| 726 | killagreg | 37 | // poti2 enables the gps feature |
| 733 | killagreg | 38 | if((Poti2 > 70) && (!EmergencyLanding)) // run GPS function only if Poti 2 is larger than 70 (switch on) |
| 726 | killagreg | 39 | { |
| 40 | switch(GPSInfo.status) |
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| 41 | { |
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| 42 | case INVALID: // invalid gps data |
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| 43 | GPS_Pitch = 0; |
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| 44 | GPS_Roll = 0; |
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| 727 | killagreg | 45 | BeepTime = 50; |
| 726 | killagreg | 46 | break; |
| 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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| 727 | killagreg | 63 | // if sticks are centered and hold position is valid enable position hold control |
| 726 | killagreg | 64 | if ((MaxStickPitch < 20) && (MaxStickRoll < 20) && (GPSHoldPoint.Status == VALID)) |
| 65 | { |
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| 66 | // Calculate deviation from hold position |
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| 67 | GPSPosDev_North = GPSInfo.utmnorth - GPSHoldPoint.Northing; |
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| 68 | GPSPosDev_East = GPSInfo.utmeast - GPSHoldPoint.Easting; |
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| 1 | ingob | 69 | |
| 727 | killagreg | 70 | //Calculate PD-components of the controller (negative sign for compensation) |
| 71 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
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| 72 | D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
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| 73 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
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| 74 | D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
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| 1 | ingob | 75 | |
| 726 | killagreg | 76 | // PD-controller |
| 727 | killagreg | 77 | PD_North = P_North + D_North; |
| 78 | PD_East = P_East + D_East; |
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| 726 | killagreg | 79 | |
| 727 | killagreg | 80 | // GPS to pitch and roll settings |
| 726 | killagreg | 81 | |
| 727 | killagreg | 82 | //A positive pitch angle moves head downwards (flying forward). |
| 83 | //A positive roll angle tilts left side downwards (flying left). |
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| 84 | |||
| 85 | // If compass heading is 0 the head of the copter is in north direction. |
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| 86 | // A positive pitch angle will fly to north and a positive roll angle will fly to west. |
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| 87 | // In case of a positive north deviation/velocity the |
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| 88 | // copter should fly to south (negative pitch). |
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| 89 | // In case of a positive east position deviation and a positive east velocity the |
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| 90 | // copter should fly to west (positive roll). |
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| 91 | |||
| 92 | // The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values |
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| 93 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
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| 94 | // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
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| 95 | |||
| 96 | // rotation transformation to compass heading to match any copter orientation |
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| 97 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
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| 98 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
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| 99 | |||
| 100 | GPS_Roll = (int16_t)((coscompass * PD_East - sincompass * PD_North) / 8192); |
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| 101 | GPS_Pitch = -1*(int16_t)((sincompass * PD_East + coscompass * PD_North) / 8192); |
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| 102 | |||
| 726 | killagreg | 103 | // limit GPS controls |
| 727 | killagreg | 104 | #define GPS_CTRL_LIMIT 35 |
| 105 | if (GPS_Pitch > GPS_CTRL_LIMIT) GPS_Pitch = GPS_CTRL_LIMIT; |
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| 106 | if (GPS_Pitch < -GPS_CTRL_LIMIT) GPS_Pitch = -GPS_CTRL_LIMIT; |
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| 107 | if (GPS_Roll > GPS_CTRL_LIMIT) GPS_Roll = GPS_CTRL_LIMIT; |
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| 108 | if (GPS_Roll < -GPS_CTRL_LIMIT) GPS_Roll = -GPS_CTRL_LIMIT; |
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| 726 | killagreg | 109 | } |
| 110 | else // MK controlled by user |
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| 111 | { |
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| 112 | // update hold point to current gps position |
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| 113 | GPSHoldPoint.Northing = GPSInfo.utmnorth; |
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| 114 | GPSHoldPoint.Easting = GPSInfo.utmeast; |
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| 115 | GPSHoldPoint.Status = VALID; |
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| 116 | // disable gps control |
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| 117 | GPS_Pitch = 0; |
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| 118 | GPS_Roll = 0; |
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| 119 | } |
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| 120 | } // eof 3D-FIX |
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| 121 | else // no 3D-SATFIX |
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| 122 | { // diable gps control |
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| 123 | GPS_Pitch = 0; |
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| 124 | GPS_Roll = 0; |
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| 727 | killagreg | 125 | BeepTime = 50; |
| 726 | killagreg | 126 | } |
| 127 | // set current data as processed to avoid further calculations on the same gps data |
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| 128 | GPSInfo.status = PROCESSED; |
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| 129 | break; |
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| 130 | } // eof GPSInfo.status |
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| 131 | } |
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| 132 | return; |
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| 133 | } |
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| 134 |