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Rev | Author | Line No. | Line |
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886 | killagreg | 1 | #include <inttypes.h> |
2 | #include <stdlib.h> |
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3 | #include "fc.h" |
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4 | #include "ubx.h" |
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5 | #include "mymath.h" |
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6 | #include "timer0.h" |
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938 | killagreg | 7 | #include "uart.h" |
886 | killagreg | 8 | #include "rc.h" |
9 | #include "eeprom.h" |
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10 | |||
936 | killagreg | 11 | typedef enum |
12 | { |
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13 | GPS_FLIGHT_MODE_UNDEF, |
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14 | GPS_FLIGHT_MODE_FREE, |
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15 | GPS_FLIGHT_MODE_AID, |
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16 | GPS_FLIGHT_MODE_HOME, |
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17 | } FlightMode_t; |
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886 | killagreg | 18 | |
939 | killagreg | 19 | #define GPS_POSINTEGRAL_LIMIT 3000 |
938 | killagreg | 20 | #define GPS_STICK_LIMIT 500 // limit of gps stick control to avoid critical flight attitudes |
939 | killagreg | 21 | #define GPS_I_LIMIT 156 // limit for the position error integral |
22 | #define GPS_D_LIMIT 625 |
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23 | #define GPS_P_LIMIT 312 |
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886 | killagreg | 24 | |
25 | |||
26 | typedef struct |
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27 | { |
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28 | int32_t Longitude; |
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29 | int32_t Latitude; |
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30 | int32_t Altitude; |
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936 | killagreg | 31 | Status_t Status; |
886 | killagreg | 32 | } GPS_Pos_t; |
33 | |||
34 | // GPS coordinates for hold position |
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35 | GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
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36 | // GPS coordinates for home position |
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37 | GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
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936 | killagreg | 38 | // the current flight mode |
39 | FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF; |
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886 | killagreg | 40 | |
41 | |||
42 | // --------------------------------------------------------------------------------- |
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936 | killagreg | 43 | void GPS_UpdateParameter(void) |
886 | killagreg | 44 | { |
936 | killagreg | 45 | static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF; |
886 | killagreg | 46 | |
936 | killagreg | 47 | if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) |
886 | killagreg | 48 | { |
936 | killagreg | 49 | FlightMode = GPS_FLIGHT_MODE_FREE; |
886 | killagreg | 50 | } |
51 | else |
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52 | { |
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936 | killagreg | 53 | if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID; |
54 | else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE; |
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55 | else FlightMode = GPS_FLIGHT_MODE_HOME; |
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886 | killagreg | 56 | } |
936 | killagreg | 57 | if (FlightMode != FlightModeOld) |
58 | { |
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59 | BeepTime = 100; |
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60 | } |
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61 | FlightModeOld = FlightMode; |
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886 | killagreg | 62 | } |
63 | |||
936 | killagreg | 64 | |
65 | |||
66 | // --------------------------------------------------------------------------------- |
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67 | // This function defines a good GPS signal condition |
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68 | uint8_t GPS_IsSignalOK(void) |
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886 | killagreg | 69 | { |
936 | killagreg | 70 | static uint8_t GPSFix = 0; |
71 | if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) || GPSFix)) |
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886 | killagreg | 72 | { |
936 | killagreg | 73 | GPSFix = 1; |
74 | return(1); |
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75 | |||
886 | killagreg | 76 | } |
936 | killagreg | 77 | else return (0); |
78 | |||
79 | } |
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80 | // --------------------------------------------------------------------------------- |
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81 | // rescale xy-vector length to limit |
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82 | uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit) |
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83 | { |
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84 | uint8_t retval = 0; |
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85 | int32_t len; |
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86 | len = (int32_t)c_sqrt(*x * *x + *y * *y); |
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87 | if (len > limit) |
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886 | killagreg | 88 | { |
936 | killagreg | 89 | // normalize control vector components to the limit |
90 | *x = (*x * limit) / len; |
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91 | *y = (*y * limit) / len; |
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92 | retval = 1; |
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886 | killagreg | 93 | } |
936 | killagreg | 94 | return(retval); |
886 | killagreg | 95 | } |
96 | |||
936 | killagreg | 97 | // checks nick and roll sticks for manual control |
98 | uint8_t GPS_IsManualControlled(void) |
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886 | killagreg | 99 | { |
936 | killagreg | 100 | if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < ParamSet.NaviStickThreshold) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < ParamSet.NaviStickThreshold)) return 0; |
101 | else return 1; |
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886 | killagreg | 102 | } |
103 | |||
936 | killagreg | 104 | // set given position to current gps position |
105 | uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) |
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106 | { |
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107 | uint8_t retval = 0; |
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108 | if(pGPSPos == NULL) return(retval); // bad pointer |
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109 | |||
110 | if(GPS_IsSignalOK()) |
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111 | { // is GPS signal condition is fine |
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112 | pGPSPos->Longitude = GPSInfo.longitude; |
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113 | pGPSPos->Latitude = GPSInfo.latitude; |
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114 | pGPSPos->Altitude = GPSInfo.altitude; |
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115 | pGPSPos->Status = NEWDATA; |
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116 | retval = 1; |
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117 | } |
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118 | else |
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119 | { // bad GPS signal condition |
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120 | pGPSPos->Status = INVALID; |
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121 | retval = 0; |
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122 | } |
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123 | return(retval); |
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124 | } |
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125 | |||
126 | // clear position |
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127 | uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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128 | { |
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129 | uint8_t retval = 0; |
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130 | if(pGPSPos == NULL) return(retval); // bad pointer |
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131 | else |
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132 | { |
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133 | pGPSPos->Longitude = 0; |
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134 | pGPSPos->Latitude = 0; |
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135 | pGPSPos->Altitude = 0; |
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136 | pGPSPos->Status = INVALID; |
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137 | retval = 1; |
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138 | } |
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139 | return (retval); |
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140 | } |
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141 | |||
886 | killagreg | 142 | // disable GPS control sticks |
143 | void GPS_Neutral(void) |
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144 | { |
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911 | killagreg | 145 | GPS_Nick = 0; |
886 | killagreg | 146 | GPS_Roll = 0; |
147 | } |
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148 | |||
149 | // calculates the GPS control stick values from the deviation to target position |
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150 | // if the pointer to the target positin is NULL or is the target position invalid |
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151 | // then the P part of the controller is deactivated. |
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152 | void GPS_PIDController(GPS_Pos_t *pTargetPos) |
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153 | { |
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938 | killagreg | 154 | static int32_t PID_Nick, PID_Roll; |
886 | killagreg | 155 | int32_t coscompass, sincompass; |
156 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
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157 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
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158 | int32_t PID_North = 0, PID_East = 0; |
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159 | static int32_t cos_target_latitude = 1; |
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160 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
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161 | static GPS_Pos_t *pLastTargetPos = 0; |
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162 | |||
163 | // if GPS data and Compass are ok |
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936 | killagreg | 164 | if( GPS_IsSignalOK() && (CompassHeading >= 0) ) |
886 | killagreg | 165 | { |
166 | |||
167 | if(pTargetPos != NULL) // if there is a target position |
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168 | { |
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169 | if(pTargetPos->Status != INVALID) // and the position data are valid |
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170 | { |
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171 | // if the target data are updated or the target pointer has changed |
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172 | if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
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173 | { |
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174 | // reset error integral |
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175 | GPSPosDevIntegral_North = 0; |
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176 | GPSPosDevIntegral_East = 0; |
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177 | // recalculate latitude projection |
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178 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
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179 | // remember last target pointer |
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180 | pLastTargetPos = pTargetPos; |
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181 | // mark data as processed |
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182 | pTargetPos->Status = PROCESSED; |
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183 | } |
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184 | // calculate position deviation from latitude and longitude differences |
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185 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
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186 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
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187 | // calculate latitude projection |
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188 | GPSPosDev_East *= cos_target_latitude; |
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189 | GPSPosDev_East /= 8192; |
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190 | } |
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191 | else // no valid target position available |
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192 | { |
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193 | // reset error |
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194 | GPSPosDev_North = 0; |
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195 | GPSPosDev_East = 0; |
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196 | // reset error integral |
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197 | GPSPosDevIntegral_North = 0; |
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198 | GPSPosDevIntegral_East = 0; |
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199 | } |
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200 | } |
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201 | else // no target position available |
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202 | { |
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203 | // reset error |
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204 | GPSPosDev_North = 0; |
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205 | GPSPosDev_East = 0; |
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206 | // reset error integral |
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207 | GPSPosDevIntegral_North = 0; |
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208 | GPSPosDevIntegral_East = 0; |
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209 | } |
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210 | |||
939 | killagreg | 211 | GPSPosDevIntegral_North += GPSPosDev_North; |
212 | GPSPosDevIntegral_East += GPSPosDev_East; |
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213 | GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
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214 | |||
938 | killagreg | 215 | //Calculate PID-components of the controller |
886 | killagreg | 216 | |
939 | killagreg | 217 | // D-Part |
218 | D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/256; |
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219 | D_East = ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/256; |
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220 | GPS_LimitXY(&D_North, &D_East, GPS_D_LIMIT); |
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221 | |||
886 | killagreg | 222 | // P-Part |
939 | killagreg | 223 | P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/1024; |
224 | P_East = ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/1024; |
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225 | GPS_LimitXY(&P_North, &P_East, GPS_P_LIMIT); |
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886 | killagreg | 226 | |
227 | // I-Part |
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939 | killagreg | 228 | I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/8192; |
229 | I_East = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/8192; |
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230 | GPS_LimitXY(&I_North, &I_East, GPS_I_LIMIT); |
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886 | killagreg | 231 | |
939 | killagreg | 232 | // combine P & I & D-Part |
233 | PID_North = P_North + I_North + D_North; |
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234 | PID_East = P_East + I_East + D_East; |
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886 | killagreg | 235 | |
936 | killagreg | 236 | // scale combination with gain. |
937 | killagreg | 237 | PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100; |
238 | PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / 100; |
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936 | killagreg | 239 | |
911 | killagreg | 240 | // GPS to nick and roll settings |
886 | killagreg | 241 | |
911 | killagreg | 242 | // A positive nick angle moves head downwards (flying forward). |
886 | killagreg | 243 | // A positive roll angle tilts left side downwards (flying left). |
244 | // If compass heading is 0 the head of the copter is in north direction. |
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911 | killagreg | 245 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
886 | killagreg | 246 | // In case of a positive north deviation/velocity the |
911 | killagreg | 247 | // copter should fly to south (negative nick). |
886 | killagreg | 248 | // In case of a positive east position deviation and a positive east velocity the |
249 | // copter should fly to west (positive roll). |
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911 | killagreg | 250 | // The influence of the GPS_Nick and GPS_Roll variable is contrarily to the stick values |
886 | killagreg | 251 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
911 | killagreg | 252 | // GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll. |
886 | killagreg | 253 | |
936 | killagreg | 254 | coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR); |
255 | sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR); |
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938 | killagreg | 256 | PID_Nick = (PID_Nick + (coscompass * PID_North + sincompass * PID_East) / 8192)/2; |
257 | PID_Roll = (PID_Roll + (sincompass * PID_North - coscompass * PID_East) / 8192)/2; |
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886 | killagreg | 258 | |
938 | killagreg | 259 | |
886 | killagreg | 260 | // limit resulting GPS control vector |
936 | killagreg | 261 | GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
886 | killagreg | 262 | |
911 | killagreg | 263 | GPS_Nick = (int16_t)PID_Nick; |
936 | killagreg | 264 | GPS_Roll = (int16_t)PID_Roll; |
886 | killagreg | 265 | } |
266 | else // invalid GPS data or bad compass reading |
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267 | { |
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268 | GPS_Neutral(); // do nothing |
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269 | // reset error integral |
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270 | GPSPosDevIntegral_North = 0; |
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271 | GPSPosDevIntegral_East = 0; |
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272 | } |
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273 | } |
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274 | |||
275 | |||
276 | |||
277 | |||
936 | killagreg | 278 | void GPS_Main(void) |
886 | killagreg | 279 | { |
280 | static uint8_t GPS_P_Delay = 0; |
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938 | killagreg | 281 | static uint16_t beep_rythm = 0; |
886 | killagreg | 282 | |
936 | killagreg | 283 | GPS_UpdateParameter(); |
886 | killagreg | 284 | |
936 | killagreg | 285 | // store home position if start of flight flag is set |
286 | if(MKFlags & MKFLAG_CALIBRATE) |
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287 | { |
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938 | killagreg | 288 | if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700; |
936 | killagreg | 289 | } |
886 | killagreg | 290 | |
291 | switch(GPSInfo.status) |
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292 | { |
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293 | case INVALID: // invalid gps data |
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294 | GPS_Neutral(); |
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936 | killagreg | 295 | if(FlightMode != GPS_FLIGHT_MODE_FREE) |
886 | killagreg | 296 | { |
297 | BeepTime = 100; // beep if signal is neccesary |
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298 | } |
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299 | break; |
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300 | case PROCESSED: // if gps data are already processed do nothing |
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301 | // downcount timeout |
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302 | if(GPSTimeout) GPSTimeout--; |
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303 | // if no new data arrived within timeout set current data invalid |
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304 | // and therefore disable GPS |
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305 | else |
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306 | { |
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307 | GPS_Neutral(); |
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308 | GPSInfo.status = INVALID; |
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309 | } |
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310 | break; |
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936 | killagreg | 311 | case NEWDATA: // new valid data from gps device |
886 | killagreg | 312 | // if the gps data quality is good |
936 | killagreg | 313 | beep_rythm++; |
314 | |||
315 | if (GPS_IsSignalOK()) |
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886 | killagreg | 316 | { |
936 | killagreg | 317 | switch(FlightMode) // check what's to do |
886 | killagreg | 318 | { |
936 | killagreg | 319 | case GPS_FLIGHT_MODE_FREE: |
886 | killagreg | 320 | // update hold position to current gps position |
936 | killagreg | 321 | GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad |
886 | killagreg | 322 | // disable gps control |
323 | GPS_Neutral(); |
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936 | killagreg | 324 | break; |
325 | |||
326 | case GPS_FLIGHT_MODE_AID: |
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886 | killagreg | 327 | if(HoldPosition.Status != INVALID) |
328 | { |
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936 | killagreg | 329 | if( GPS_IsManualControlled() ) // MK controlled by user |
886 | killagreg | 330 | { |
331 | // update hold point to current gps position |
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936 | killagreg | 332 | GPS_SetCurrPosition(&HoldPosition); |
886 | killagreg | 333 | // disable gps control |
334 | GPS_Neutral(); |
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335 | GPS_P_Delay = 0; |
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336 | } |
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337 | else // GPS control active |
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338 | { |
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936 | killagreg | 339 | if(GPS_P_Delay < 7) |
886 | killagreg | 340 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
341 | GPS_P_Delay++; |
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936 | killagreg | 342 | GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position |
886 | killagreg | 343 | GPS_PIDController(NULL); // activates only the D-Part |
344 | } |
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345 | else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
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346 | } |
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347 | } |
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348 | else // invalid Hold Position |
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349 | { // try to catch a valid hold position from gps data input |
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936 | killagreg | 350 | GPS_SetCurrPosition(&HoldPosition); |
886 | killagreg | 351 | GPS_Neutral(); |
352 | } |
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936 | killagreg | 353 | break; |
354 | |||
355 | case GPS_FLIGHT_MODE_HOME: |
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886 | killagreg | 356 | if(HomePosition.Status != INVALID) |
357 | { |
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358 | // update hold point to current gps position |
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359 | // to avoid a flight back if home comming is deactivated |
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936 | killagreg | 360 | GPS_SetCurrPosition(&HoldPosition); |
361 | if( GPS_IsManualControlled() ) // MK controlled by user |
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886 | killagreg | 362 | { |
363 | GPS_Neutral(); |
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364 | } |
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365 | else // GPS control active |
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366 | { |
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367 | GPS_PIDController(&HomePosition); |
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368 | } |
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369 | } |
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370 | else // bad home position |
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371 | { |
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372 | BeepTime = 50; // signal invalid home position |
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373 | // try to hold at least the position as a fallback option |
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374 | |||
375 | if (HoldPosition.Status != INVALID) |
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376 | { |
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936 | killagreg | 377 | if( GPS_IsManualControlled() ) // MK controlled by user |
886 | killagreg | 378 | { |
379 | GPS_Neutral(); |
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380 | } |
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381 | else // GPS control active |
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382 | { |
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383 | GPS_PIDController(&HoldPosition); |
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384 | } |
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385 | } |
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386 | else |
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387 | { // try to catch a valid hold position |
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936 | killagreg | 388 | GPS_SetCurrPosition(&HoldPosition); |
886 | killagreg | 389 | GPS_Neutral(); |
390 | } |
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391 | } |
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392 | break; // eof TSK_HOME |
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393 | default: // unhandled task |
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394 | GPS_Neutral(); |
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395 | break; // eof default |
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396 | } // eof switch GPS_Task |
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936 | killagreg | 397 | } // eof gps data quality is good |
398 | else // gps data quality is bad |
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886 | killagreg | 399 | { // disable gps control |
400 | GPS_Neutral(); |
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939 | killagreg | 401 | if(FlightMode != GPS_FLIGHT_MODE_FREE) |
402 | { |
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403 | // beep if signal is not sufficient |
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404 | if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
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405 | else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10; |
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406 | } |
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886 | killagreg | 407 | } |
408 | // set current data as processed to avoid further calculations on the same gps data |
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409 | GPSInfo.status = PROCESSED; |
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410 | break; |
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411 | } // eof GPSInfo.status |
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412 | } |
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413 |