Rev 903 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 886 | killagreg | 1 | #include <inttypes.h> |
| 2 | #include <stdlib.h> |
||
| 3 | #include "fc.h" |
||
| 4 | #include "ubx.h" |
||
| 5 | #include "mymath.h" |
||
| 6 | #include "timer0.h" |
||
| 909 | pangu | 7 | //#include "uart.h" |
| 886 | killagreg | 8 | #include "rc.h" |
| 9 | #include "eeprom.h" |
||
| 10 | |||
| 11 | #define TSK_IDLE 0 |
||
| 12 | #define TSK_HOLD 1 |
||
| 13 | #define TSK_HOME 2 |
||
| 14 | |||
| 15 | #define GPS_STICK_SENSE 15 // must be at least in a range where 90% of the trimming does not switch of the GPS function |
||
| 16 | #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
||
| 17 | #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
||
| 18 | #define GPS_P_LIMIT 25 |
||
| 19 | |||
| 20 | |||
| 21 | uint8_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0; |
||
| 22 | |||
| 23 | |||
| 24 | |||
| 25 | typedef struct |
||
| 26 | { |
||
| 27 | int32_t Longitude; |
||
| 28 | int32_t Latitude; |
||
| 29 | int32_t Altitude; |
||
| 30 | uint8_t Status; |
||
| 31 | } GPS_Pos_t; |
||
| 32 | |||
| 33 | // GPS coordinates for hold position |
||
| 34 | GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
||
| 35 | // GPS coordinates for home position |
||
| 36 | GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
||
| 37 | |||
| 38 | |||
| 39 | // --------------------------------------------------------------------------------- |
||
| 40 | |||
| 41 | // checks pitch and roll sticks for manual control |
||
| 42 | uint8_t IsManualControlled(void) |
||
| 43 | { |
||
| 44 | if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0; |
||
| 45 | else return 1; |
||
| 46 | } |
||
| 47 | |||
| 48 | // set home position to current positon |
||
| 49 | void GPS_SetHomePosition(void) |
||
| 50 | { |
||
| 51 | if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
||
| 52 | { |
||
| 53 | HomePosition.Longitude = GPSInfo.longitude; |
||
| 54 | HomePosition.Latitude = GPSInfo.latitude; |
||
| 55 | HomePosition.Altitude = GPSInfo.altitude; |
||
| 56 | HomePosition.Status = VALID; |
||
| 57 | BeepTime = 1000; // signal if new home position was set |
||
| 58 | } |
||
| 59 | else |
||
| 60 | { |
||
| 61 | HomePosition.Status = INVALID; |
||
| 62 | } |
||
| 63 | } |
||
| 64 | |||
| 65 | // set hold position to current positon |
||
| 66 | void GPS_SetHoldPosition(void) |
||
| 67 | { |
||
| 68 | if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
||
| 69 | { |
||
| 70 | HoldPosition.Longitude = GPSInfo.longitude; |
||
| 71 | HoldPosition.Latitude = GPSInfo.latitude; |
||
| 72 | HoldPosition.Altitude = GPSInfo.altitude; |
||
| 73 | HoldPosition.Status = VALID; |
||
| 74 | } |
||
| 75 | else |
||
| 76 | { |
||
| 77 | HoldPosition.Status = INVALID; |
||
| 78 | } |
||
| 79 | } |
||
| 80 | |||
| 81 | // clear home position |
||
| 82 | void GPS_ClearHomePosition(void) |
||
| 83 | { |
||
| 84 | HomePosition.Status = INVALID; |
||
| 85 | } |
||
| 86 | |||
| 87 | // disable GPS control sticks |
||
| 88 | void GPS_Neutral(void) |
||
| 89 | { |
||
| 90 | GPS_Pitch = 0; |
||
| 91 | GPS_Roll = 0; |
||
| 92 | } |
||
| 93 | |||
| 94 | // calculates the GPS control stick values from the deviation to target position |
||
| 95 | // if the pointer to the target positin is NULL or is the target position invalid |
||
| 96 | // then the P part of the controller is deactivated. |
||
| 97 | void GPS_PIDController(GPS_Pos_t *pTargetPos) |
||
| 98 | { |
||
| 99 | int32_t temp, temp1, PID_Pitch, PID_Roll; |
||
| 100 | int32_t coscompass, sincompass; |
||
| 101 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
||
| 102 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
||
| 103 | int32_t PID_North = 0, PID_East = 0; |
||
| 104 | static int32_t cos_target_latitude = 1; |
||
| 105 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
||
| 106 | static GPS_Pos_t *pLastTargetPos = 0; |
||
| 107 | |||
| 108 | // if GPS data and Compass are ok |
||
| 109 | if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
||
| 110 | { |
||
| 111 | |||
| 112 | if(pTargetPos != NULL) // if there is a target position |
||
| 113 | { |
||
| 114 | if(pTargetPos->Status != INVALID) // and the position data are valid |
||
| 115 | { |
||
| 116 | // if the target data are updated or the target pointer has changed |
||
| 117 | if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
||
| 118 | { |
||
| 119 | // reset error integral |
||
| 120 | GPSPosDevIntegral_North = 0; |
||
| 121 | GPSPosDevIntegral_East = 0; |
||
| 122 | // recalculate latitude projection |
||
| 123 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
||
| 124 | // remember last target pointer |
||
| 125 | pLastTargetPos = pTargetPos; |
||
| 126 | // mark data as processed |
||
| 127 | pTargetPos->Status = PROCESSED; |
||
| 128 | } |
||
| 129 | // calculate position deviation from latitude and longitude differences |
||
| 130 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
||
| 131 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
||
| 132 | // calculate latitude projection |
||
| 133 | GPSPosDev_East *= cos_target_latitude; |
||
| 134 | GPSPosDev_East /= 8192; |
||
| 135 | } |
||
| 136 | else // no valid target position available |
||
| 137 | { |
||
| 138 | // reset error |
||
| 139 | GPSPosDev_North = 0; |
||
| 140 | GPSPosDev_East = 0; |
||
| 141 | // reset error integral |
||
| 142 | GPSPosDevIntegral_North = 0; |
||
| 143 | GPSPosDevIntegral_East = 0; |
||
| 144 | } |
||
| 145 | } |
||
| 146 | else // no target position available |
||
| 147 | { |
||
| 148 | // reset error |
||
| 149 | GPSPosDev_North = 0; |
||
| 150 | GPSPosDev_East = 0; |
||
| 151 | // reset error integral |
||
| 152 | GPSPosDevIntegral_North = 0; |
||
| 153 | GPSPosDevIntegral_East = 0; |
||
| 154 | } |
||
| 155 | |||
| 156 | //Calculate PID-components of the controller (negative sign for compensation) |
||
| 157 | |||
| 158 | // P-Part |
||
| 159 | P_North = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048; |
||
| 160 | P_East = -((int32_t)GPS_P_Factor * GPSPosDev_East)/2048; |
||
| 161 | |||
| 162 | // I-Part |
||
| 163 | I_North = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
||
| 164 | I_East = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_East)/8192; |
||
| 165 | |||
| 166 | // combine P- & I-Part |
||
| 167 | PID_North = P_North + I_North; |
||
| 168 | PID_East = P_East + I_East; |
||
| 169 | |||
| 170 | //limit PI-Part to limit the max velocity |
||
| 171 | //temp1 = ((int32_t)GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit |
||
| 172 | temp = (int32_t)c_sqrt(PID_North*PID_North + PID_East*PID_East); // the current PI-Part |
||
| 173 | if(temp > GPS_P_LIMIT) // P-Part limit is reached |
||
| 174 | { |
||
| 175 | // normalize P-part components to the P-Part limit |
||
| 176 | PID_North = (PID_North * GPS_P_LIMIT)/temp; |
||
| 177 | PID_East = (PID_East * GPS_P_LIMIT)/temp; |
||
| 178 | } |
||
| 179 | else // PI-Part under its limit |
||
| 180 | { |
||
| 181 | // update position error integrals |
||
| 182 | GPSPosDevIntegral_North += GPSPosDev_North/16; |
||
| 183 | if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
||
| 184 | else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT; |
||
| 185 | GPSPosDevIntegral_East += GPSPosDev_East/16; |
||
| 186 | if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
||
| 187 | else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT; |
||
| 188 | } |
||
| 189 | |||
| 190 | // D-Part |
||
| 191 | D_North = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512; |
||
| 192 | D_East = -((int32_t)GPS_D_Factor * GPSInfo.veleast)/512; |
||
| 193 | |||
| 194 | |||
| 195 | // combine PI- and D-Part |
||
| 196 | PID_North += D_North; |
||
| 197 | PID_East += D_East; |
||
| 198 | |||
| 199 | // GPS to pitch and roll settings |
||
| 200 | |||
| 201 | // A positive pitch angle moves head downwards (flying forward). |
||
| 202 | // A positive roll angle tilts left side downwards (flying left). |
||
| 203 | // If compass heading is 0 the head of the copter is in north direction. |
||
| 204 | // A positive pitch angle will fly to north and a positive roll angle will fly to west. |
||
| 205 | // In case of a positive north deviation/velocity the |
||
| 206 | // copter should fly to south (negative pitch). |
||
| 207 | // In case of a positive east position deviation and a positive east velocity the |
||
| 208 | // copter should fly to west (positive roll). |
||
| 209 | // The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values |
||
| 210 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
||
| 211 | // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
||
| 212 | |||
| 213 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
||
| 214 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
||
| 215 | PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192; |
||
| 216 | PID_Pitch = -1*((sincompass * PID_East + coscompass * PID_North) / 8192); |
||
| 217 | |||
| 218 | // limit resulting GPS control vector |
||
| 219 | temp = (int32_t)c_sqrt(PID_Roll*PID_Roll + PID_Pitch*PID_Pitch); |
||
| 220 | if (temp > GPS_STICK_LIMIT) |
||
| 221 | { |
||
| 222 | // normalize control vector components to the limit |
||
| 223 | PID_Roll = (PID_Roll * GPS_STICK_LIMIT)/temp; |
||
| 224 | PID_Pitch = (PID_Pitch * GPS_STICK_LIMIT)/temp; |
||
| 225 | } |
||
| 226 | |||
| 227 | GPS_Roll = (int16_t)PID_Roll; |
||
| 228 | GPS_Pitch = (int16_t)PID_Pitch; |
||
| 229 | |||
| 230 | } |
||
| 231 | else // invalid GPS data or bad compass reading |
||
| 232 | { |
||
| 233 | GPS_Neutral(); // do nothing |
||
| 234 | // reset error integral |
||
| 235 | GPSPosDevIntegral_North = 0; |
||
| 236 | GPSPosDevIntegral_East = 0; |
||
| 237 | } |
||
| 238 | } |
||
| 239 | |||
| 240 | |||
| 241 | |||
| 242 | |||
| 243 | void GPS_Main(uint8_t ctrl) |
||
| 244 | { |
||
| 245 | static uint8_t GPS_Task = TSK_IDLE; |
||
| 246 | static uint8_t GPS_P_Delay = 0; |
||
| 247 | int16_t satbeep; |
||
| 248 | |||
| 249 | // ctrl enables the gps feature |
||
| 250 | if(ctrl < 70) GPS_Task = TSK_IDLE; |
||
| 251 | else if (ctrl < 160) GPS_Task = TSK_HOLD; |
||
| 252 | else GPS_Task = TSK_HOME; // ctrl >= 160 |
||
| 253 | |||
| 254 | |||
| 255 | switch(GPSInfo.status) |
||
| 256 | { |
||
| 257 | case INVALID: // invalid gps data |
||
| 258 | GPS_Neutral(); |
||
| 259 | if(GPS_Task != TSK_IDLE) |
||
| 260 | { |
||
| 261 | BeepTime = 100; // beep if signal is neccesary |
||
| 262 | } |
||
| 263 | break; |
||
| 264 | case PROCESSED: // if gps data are already processed do nothing |
||
| 265 | // downcount timeout |
||
| 266 | if(GPSTimeout) GPSTimeout--; |
||
| 267 | // if no new data arrived within timeout set current data invalid |
||
| 268 | // and therefore disable GPS |
||
| 269 | else |
||
| 270 | { |
||
| 271 | GPS_Neutral(); |
||
| 272 | GPSInfo.status = INVALID; |
||
| 273 | } |
||
| 274 | break; |
||
| 275 | case VALID: // new valid data from gps device |
||
| 276 | // if the gps data quality is good |
||
| 277 | if (GPSInfo.satfix == SATFIX_3D) |
||
| 278 | { |
||
| 279 | switch(GPS_Task) // check what's to do |
||
| 280 | { |
||
| 281 | case TSK_IDLE: |
||
| 282 | // update hold position to current gps position |
||
| 283 | GPS_SetHoldPosition(); // can get invalid if gps signal is bad |
||
| 284 | // disable gps control |
||
| 285 | GPS_Neutral(); |
||
| 286 | break; // eof TSK_IDLE |
||
| 287 | case TSK_HOLD: |
||
| 288 | if(HoldPosition.Status != INVALID) |
||
| 289 | { |
||
| 290 | if( IsManualControlled() ) // MK controlled by user |
||
| 291 | { |
||
| 292 | // update hold point to current gps position |
||
| 293 | GPS_SetHoldPosition(); |
||
| 294 | // disable gps control |
||
| 295 | GPS_Neutral(); |
||
| 296 | GPS_P_Delay = 0; |
||
| 297 | } |
||
| 298 | else // GPS control active |
||
| 299 | { |
||
| 300 | if(GPS_P_Delay<7) |
||
| 301 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
||
| 302 | GPS_P_Delay++; |
||
| 303 | GPS_SetHoldPosition(); // update hold point to current gps position |
||
| 304 | GPS_PIDController(NULL); // activates only the D-Part |
||
| 305 | } |
||
| 306 | else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
||
| 307 | } |
||
| 308 | } |
||
| 309 | else // invalid Hold Position |
||
| 310 | { // try to catch a valid hold position from gps data input |
||
| 311 | GPS_SetHoldPosition(); |
||
| 312 | GPS_Neutral(); |
||
| 313 | } |
||
| 314 | break; // eof TSK_HOLD |
||
| 315 | case TSK_HOME: |
||
| 316 | if(HomePosition.Status != INVALID) |
||
| 317 | { |
||
| 318 | // update hold point to current gps position |
||
| 319 | // to avoid a flight back if home comming is deactivated |
||
| 320 | GPS_SetHoldPosition(); |
||
| 321 | if( IsManualControlled() ) // MK controlled by user |
||
| 322 | { |
||
| 323 | GPS_Neutral(); |
||
| 324 | } |
||
| 325 | else // GPS control active |
||
| 326 | { |
||
| 327 | GPS_PIDController(&HomePosition); |
||
| 328 | } |
||
| 329 | } |
||
| 330 | else // bad home position |
||
| 331 | { |
||
| 332 | BeepTime = 50; // signal invalid home position |
||
| 333 | // try to hold at least the position as a fallback option |
||
| 334 | |||
| 335 | if (HoldPosition.Status != INVALID) |
||
| 336 | { |
||
| 337 | if( IsManualControlled() ) // MK controlled by user |
||
| 338 | { |
||
| 339 | GPS_Neutral(); |
||
| 340 | } |
||
| 341 | else // GPS control active |
||
| 342 | { |
||
| 343 | GPS_PIDController(&HoldPosition); |
||
| 344 | } |
||
| 345 | } |
||
| 346 | else |
||
| 347 | { // try to catch a valid hold position |
||
| 348 | GPS_SetHoldPosition(); |
||
| 349 | GPS_Neutral(); |
||
| 350 | } |
||
| 351 | } |
||
| 352 | break; // eof TSK_HOME |
||
| 353 | default: // unhandled task |
||
| 354 | GPS_Neutral(); |
||
| 355 | break; // eof default |
||
| 356 | } // eof switch GPS_Task |
||
| 357 | } // eof 3D-FIX |
||
| 358 | else // no 3D-SATFIX |
||
| 359 | { // disable gps control |
||
| 360 | GPS_Neutral(); |
||
| 361 | if(GPS_Task != TSK_IDLE) |
||
| 362 | { |
||
| 363 | satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats |
||
| 364 | if (satbeep < 0) satbeep = 0; |
||
| 365 | BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms = |
||
| 366 | } |
||
| 367 | } |
||
| 368 | // set current data as processed to avoid further calculations on the same gps data |
||
| 369 | GPSInfo.status = PROCESSED; |
||
| 370 | break; |
||
| 371 | } // eof GPSInfo.status |
||
| 372 | } |
||
| 373 |