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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" |
| 741 | killagreg | 7 | #include "uart.h" |
| 701 | killagreg | 8 | |
| 741 | killagreg | 9 | #define TSK_IDLE 0 |
| 10 | #define TSK_HOLD 1 |
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| 11 | #define TSK_HOME 2 |
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| 12 | |||
| 13 | |||
| 726 | killagreg | 14 | int16_t GPS_Pitch = 0; |
| 15 | int16_t GPS_Roll = 0; |
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| 16 | |||
| 727 | killagreg | 17 | int32_t GPS_P_Factor = 0; |
| 18 | int32_t GPS_D_Factor = 0; |
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| 726 | killagreg | 19 | |
| 20 | typedef struct |
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| 1 | ingob | 21 | { |
| 726 | killagreg | 22 | int32_t Northing; |
| 23 | int32_t Easting; |
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| 24 | uint8_t Status; |
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| 1 | ingob | 25 | |
| 726 | killagreg | 26 | } GPS_Pos_t; |
| 27 | |||
| 28 | // GPS coordinates for hold position |
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| 741 | killagreg | 29 | GPS_Pos_t HoldPosition = {0,0, INVALID}; |
| 30 | // GPS coordinates for home position |
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| 31 | GPS_Pos_t HomePosition = {0,0, INVALID}; |
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| 726 | killagreg | 32 | |
| 33 | |||
| 34 | // --------------------------------------------------------------------------------- |
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| 35 | |||
| 36 | |||
| 37 | void GPS_Main(void) |
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| 1 | ingob | 38 | { |
| 726 | killagreg | 39 | int32_t coscompass, sincompass; |
| 40 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0; |
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| 41 | int32_t PD_North = 0, PD_East = 0; |
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| 42 | int32_t GPSPosDev_North = 0, GPSPosDev_East = 0; |
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| 741 | killagreg | 43 | static uint8_t GPS_Task = TSK_IDLE; |
| 1 | ingob | 44 | |
| 741 | killagreg | 45 | |
| 726 | killagreg | 46 | // poti2 enables the gps feature |
| 741 | killagreg | 47 | if(Poti2 < 70) GPS_Task = TSK_IDLE; |
| 48 | else if (Poti2 < 160) GPS_Task = TSK_HOLD; |
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| 49 | //else GPS_Task = TSK_HOME; |
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| 50 | |||
| 51 | |||
| 52 | switch(GPSInfo.status) |
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| 726 | killagreg | 53 | { |
| 741 | killagreg | 54 | case INVALID: // invalid gps data |
| 55 | GPS_Pitch = 0; |
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| 56 | GPS_Roll = 0; |
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| 57 | if(GPS_Task != TSK_IDLE) BeepTime = 50; // beep if signal is neccesary |
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| 58 | break; |
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| 59 | case PROCESSED: // if gps data are already processed |
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| 60 | // downcount timeout |
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| 61 | if(GPSTimeout) GPSTimeout--; |
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| 62 | // if no new data arrived within timeout set current data invalid |
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| 63 | // and therefore disable GPS |
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| 64 | else |
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| 726 | killagreg | 65 | { |
| 66 | GPS_Pitch = 0; |
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| 67 | GPS_Roll = 0; |
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| 741 | killagreg | 68 | GPSInfo.status = INVALID; |
| 69 | } |
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| 70 | break; |
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| 71 | case VALID: // new valid data from gps device |
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| 72 | // if the gps data quality is sufficient |
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| 73 | if (GPSInfo.satfix == SATFIX_3D) |
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| 74 | { |
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| 75 | switch(GPS_Task) // check what's to do |
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| 726 | killagreg | 76 | { |
| 741 | killagreg | 77 | case TSK_IDLE: |
| 78 | // update hold point to current gps position |
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| 79 | HoldPosition.Northing = GPSInfo.utmnorth; |
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| 80 | HoldPosition.Easting = GPSInfo.utmeast; |
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| 81 | HoldPosition.Status = VALID; |
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| 82 | // disable gps control |
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| 83 | GPS_Pitch = 0; |
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| 84 | GPS_Roll = 0; |
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| 85 | break; // eof TSK_IDLE |
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| 86 | case TSK_HOLD: |
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| 87 | // if sticks are centered and hold position is valid enable position hold control |
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| 88 | if ((MaxStickPitch < 20) && (MaxStickRoll < 20) && (HoldPosition.Status == VALID)) |
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| 89 | { |
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| 90 | // Calculate deviation from hold position |
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| 91 | GPSPosDev_North = GPSInfo.utmnorth - HoldPosition.Northing; |
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| 92 | GPSPosDev_East = GPSInfo.utmeast - HoldPosition.Easting; |
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| 93 | DebugOut.Analog[12] = GPSPosDev_North; |
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| 94 | DebugOut.Analog[13] = GPSPosDev_East; |
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| 1 | ingob | 95 | |
| 741 | killagreg | 96 | //Calculate PD-components of the controller (negative sign for compensation) |
| 97 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
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| 98 | D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
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| 99 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
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| 100 | D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
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| 1 | ingob | 101 | |
| 741 | killagreg | 102 | // PD-controller |
| 103 | PD_North = P_North + D_North; |
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| 104 | PD_East = P_East + D_East; |
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| 726 | killagreg | 105 | |
| 741 | killagreg | 106 | // GPS to pitch and roll settings |
| 726 | killagreg | 107 | |
| 741 | killagreg | 108 | //A positive pitch angle moves head downwards (flying forward). |
| 109 | //A positive roll angle tilts left side downwards (flying left). |
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| 727 | killagreg | 110 | |
| 741 | killagreg | 111 | // If compass heading is 0 the head of the copter is in north direction. |
| 112 | // A positive pitch angle will fly to north and a positive roll angle will fly to west. |
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| 113 | // In case of a positive north deviation/velocity the |
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| 114 | // copter should fly to south (negative pitch). |
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| 115 | // In case of a positive east position deviation and a positive east velocity the |
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| 116 | // copter should fly to west (positive roll). |
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| 727 | killagreg | 117 | |
| 741 | killagreg | 118 | // The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values |
| 119 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
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| 120 | // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
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| 727 | killagreg | 121 | |
| 741 | killagreg | 122 | // rotation transformation to compass heading to match any copter orientation |
| 123 | if (CompassHeading < 0) // no valid compass data |
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| 124 | { // disable GPS |
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| 125 | GPS_Task = TSK_IDLE; |
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| 126 | GPS_Pitch = 0; |
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| 127 | GPS_Roll = 0; |
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| 128 | } |
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| 129 | else |
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| 130 | { |
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| 131 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
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| 132 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
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| 133 | GPS_Roll = (int16_t)((coscompass * PD_East - sincompass * PD_North) / 8192); |
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| 134 | GPS_Pitch = -1*(int16_t)((sincompass * PD_East + coscompass * PD_North) / 8192); |
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| 135 | } |
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| 136 | } |
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| 137 | else // MK controlled by user |
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| 138 | { |
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| 139 | // update hold point to current gps position |
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| 140 | HoldPosition.Northing = GPSInfo.utmnorth; |
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| 141 | HoldPosition.Easting = GPSInfo.utmeast; |
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| 142 | HoldPosition.Status = VALID; |
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| 143 | // disable gps control |
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| 144 | GPS_Pitch = 0; |
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| 145 | GPS_Roll = 0; |
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| 146 | } |
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| 147 | break; // eof TSK_HOLD |
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| 148 | default: // unhandled task |
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| 149 | GPS_Task = TSK_IDLE; |
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| 150 | GPS_Pitch = 0; |
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| 151 | GPS_Roll = 0; |
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| 152 | break; // eof default |
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| 153 | } // eof switch GPS_Task |
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| 727 | killagreg | 154 | |
| 741 | killagreg | 155 | // limit GPS controls |
| 156 | #define GPS_CTRL_LIMIT 35 |
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| 157 | if (GPS_Pitch > GPS_CTRL_LIMIT) GPS_Pitch = GPS_CTRL_LIMIT; |
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| 158 | if (GPS_Pitch < -GPS_CTRL_LIMIT) GPS_Pitch = -GPS_CTRL_LIMIT; |
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| 159 | if (GPS_Roll > GPS_CTRL_LIMIT) GPS_Roll = GPS_CTRL_LIMIT; |
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| 160 | if (GPS_Roll < -GPS_CTRL_LIMIT) GPS_Roll = -GPS_CTRL_LIMIT; |
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| 161 | } // eof 3D-FIX |
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| 727 | killagreg | 162 | |
| 741 | killagreg | 163 | else // no 3D-SATFIX |
| 164 | { // disable gps control |
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| 165 | GPS_Pitch = 0; |
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| 166 | GPS_Roll = 0; |
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| 167 | if(GPS_Task != TSK_IDLE) BeepTime = 50; |
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| 168 | } |
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| 169 | |||
| 170 | // set current data as processed to avoid further calculations on the same gps data |
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| 171 | GPSInfo.status = PROCESSED; |
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| 172 | break; |
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| 173 | } // eof GPSInfo.status |
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| 174 | DebugOut.Analog[14] = GPS_Pitch; |
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| 175 | DebugOut.Analog[15] = GPS_Roll; |
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| 726 | killagreg | 176 | } |
| 177 |