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Rev | Author | Line No. | Line |
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2039 | - | 1 | // Navigation with a GPS directly attached to the FC's UART1. |
2 | |||
3 | #include <inttypes.h> |
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4 | #include <stdlib.h> |
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5 | #include <stddef.h> |
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6 | #include "ubx.h" |
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7 | #include "configuration.h" |
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8 | #include "controlMixer.h" |
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9 | #include "output.h" |
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10 | #include "isqrt.h" |
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11 | #include "attitude.h" |
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12 | #include "dongfangMath.h" |
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2048 | - | 13 | #include "attitude.h" |
2039 | - | 14 | |
15 | typedef enum { |
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16 | GPS_FLIGHT_MODE_UNDEF, |
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17 | GPS_FLIGHT_MODE_FREE, |
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18 | GPS_FLIGHT_MODE_AID, |
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19 | GPS_FLIGHT_MODE_HOME, |
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20 | } FlightMode_t; |
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21 | |||
22 | #define GPS_POSINTEGRAL_LIMIT 32000 |
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2047 | - | 23 | #define LOG_NAVI_STICK_GAIN 2 |
2046 | - | 24 | #define GPS_P_LIMIT 100 |
2039 | - | 25 | |
26 | typedef struct { |
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27 | int32_t longitude; |
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28 | int32_t latitude; |
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29 | int32_t altitude; |
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30 | Status_t status; |
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31 | } GPS_Pos_t; |
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32 | |||
33 | // GPS coordinates for hold position |
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34 | GPS_Pos_t holdPosition = { 0, 0, 0, INVALID }; |
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35 | // GPS coordinates for home position |
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36 | GPS_Pos_t homePosition = { 0, 0, 0, INVALID }; |
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37 | // the current flight mode |
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38 | FlightMode_t flightMode = GPS_FLIGHT_MODE_UNDEF; |
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39 | |||
40 | // --------------------------------------------------------------------------------- |
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2046 | - | 41 | void navi_updateFlightMode(void) { |
2039 | - | 42 | static FlightMode_t flightModeOld = GPS_FLIGHT_MODE_UNDEF; |
43 | |||
2052 | - | 44 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD || (MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
2045 | - | 45 | flightMode = GPS_FLIGHT_MODE_HOME; |
2039 | - | 46 | } else { |
2045 | - | 47 | if (dynamicParams.naviMode < 50) |
2052 | - | 48 | flightMode = GPS_FLIGHT_MODE_FREE; |
2045 | - | 49 | else if (dynamicParams.naviMode < 180) |
2039 | - | 50 | flightMode = GPS_FLIGHT_MODE_AID; |
51 | else |
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2052 | - | 52 | flightMode = GPS_FLIGHT_MODE_HOME; |
2039 | - | 53 | } |
54 | |||
55 | if (flightMode != flightModeOld) { |
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56 | beep(100); |
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57 | flightModeOld = flightMode; |
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58 | } |
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59 | } |
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60 | |||
61 | // --------------------------------------------------------------------------------- |
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62 | // This function defines a good GPS signal condition |
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2046 | - | 63 | uint8_t navi_isGPSSignalOK(void) { |
2039 | - | 64 | static uint8_t GPSFix = 0; |
65 | if ((GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) |
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66 | && (GPSInfo.flags & FLAG_GPSFIXOK) |
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67 | && ((GPSInfo.satnum >= staticParams.GPSMininumSatellites) || GPSFix)) { |
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68 | GPSFix = 1; |
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69 | return 1; |
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70 | } else |
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71 | return (0); |
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72 | } |
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73 | |||
74 | // --------------------------------------------------------------------------------- |
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75 | // rescale xy-vector length to limit |
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2046 | - | 76 | uint8_t navi_limitXY(int32_t *x, int32_t *y, int32_t limit) { |
2039 | - | 77 | int32_t len; |
78 | len = isqrt32(*x * *x + *y * *y); |
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79 | if (len > limit) { |
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80 | // normalize control vector components to the limit |
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81 | *x = (*x * limit) / len; |
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82 | *y = (*y * limit) / len; |
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83 | return 1; |
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84 | } |
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85 | return 0; |
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86 | } |
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87 | |||
88 | // checks nick and roll sticks for manual control |
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2048 | - | 89 | uint8_t navi_isManuallyControlled(int16_t* PRTY) { |
90 | if (PRTY[CONTROL_PITCH] < staticParams.naviStickThreshold |
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91 | && PRTY[CONTROL_ROLL] < staticParams.naviStickThreshold) |
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2039 | - | 92 | return 0; |
93 | else |
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94 | return 1; |
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95 | } |
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96 | |||
97 | // set given position to current gps position |
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2046 | - | 98 | uint8_t navi_writeCurrPositionTo(GPS_Pos_t * pGPSPos) { |
2039 | - | 99 | if (pGPSPos == NULL) |
2044 | - | 100 | return 0; // bad pointer |
2039 | - | 101 | |
2046 | - | 102 | if (navi_isGPSSignalOK()) { // is GPS signal condition is fine |
2039 | - | 103 | pGPSPos->longitude = GPSInfo.longitude; |
104 | pGPSPos->latitude = GPSInfo.latitude; |
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105 | pGPSPos->altitude = GPSInfo.altitude; |
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106 | pGPSPos->status = NEWDATA; |
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2044 | - | 107 | return 1; |
2039 | - | 108 | } else { // bad GPS signal condition |
109 | pGPSPos->status = INVALID; |
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2044 | - | 110 | return 0; |
2039 | - | 111 | } |
112 | } |
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113 | |||
114 | // clear position |
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2046 | - | 115 | uint8_t navi_clearPosition(GPS_Pos_t * pGPSPos) { |
2039 | - | 116 | if (pGPSPos == NULL) |
2044 | - | 117 | return 0; // bad pointer |
2039 | - | 118 | else { |
119 | pGPSPos->longitude = 0; |
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120 | pGPSPos->latitude = 0; |
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121 | pGPSPos->altitude = 0; |
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122 | pGPSPos->status = INVALID; |
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123 | } |
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2044 | - | 124 | return 1; |
2039 | - | 125 | } |
126 | |||
127 | // calculates the GPS control stick values from the deviation to target position |
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128 | // if the pointer to the target positin is NULL or is the target position invalid |
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129 | // then the P part of the controller is deactivated. |
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2048 | - | 130 | void navi_PIDController(GPS_Pos_t *pTargetPos, int16_t *PRTY) { |
2039 | - | 131 | static int32_t PID_Nick, PID_Roll; |
132 | int32_t coscompass, sincompass; |
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133 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
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2044 | - | 134 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
2039 | - | 135 | int32_t PID_North = 0, PID_East = 0; |
136 | static int32_t cos_target_latitude = 1; |
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137 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
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138 | static GPS_Pos_t *pLastTargetPos = 0; |
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139 | |||
140 | // if GPS data and Compass are ok |
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2046 | - | 141 | if (navi_isGPSSignalOK() && (magneticHeading >= 0)) { |
2044 | - | 142 | if (pTargetPos != NULL) { // if there is a target position |
143 | if (pTargetPos->status != INVALID) { // and the position data are valid |
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2039 | - | 144 | // if the target data are updated or the target pointer has changed |
145 | if ((pTargetPos->status != PROCESSED) |
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146 | || (pTargetPos != pLastTargetPos)) { |
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147 | // reset error integral |
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148 | GPSPosDevIntegral_North = 0; |
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149 | GPSPosDevIntegral_East = 0; |
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150 | // recalculate latitude projection |
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2045 | - | 151 | cos_target_latitude = cos_360(pTargetPos->latitude / 10000000L); |
2039 | - | 152 | // remember last target pointer |
153 | pLastTargetPos = pTargetPos; |
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154 | // mark data as processed |
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155 | pTargetPos->status = PROCESSED; |
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156 | } |
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157 | // calculate position deviation from latitude and longitude differences |
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158 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->latitude); // to calculate real cm we would need *111/100 additionally |
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159 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->longitude); // to calculate real cm we would need *111/100 additionally |
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160 | // calculate latitude projection |
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161 | GPSPosDev_East *= cos_target_latitude; |
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2047 | - | 162 | GPSPosDev_East >>= LOG_MATH_UNIT_FACTOR; |
2039 | - | 163 | } else { // no valid target position available |
164 | // reset error |
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165 | GPSPosDev_North = 0; |
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166 | GPSPosDev_East = 0; |
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167 | // reset error integral |
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168 | GPSPosDevIntegral_North = 0; |
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169 | GPSPosDevIntegral_East = 0; |
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170 | } |
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171 | } else { // no target position available |
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172 | // reset error |
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173 | GPSPosDev_North = 0; |
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174 | GPSPosDev_East = 0; |
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175 | // reset error integral |
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176 | GPSPosDevIntegral_North = 0; |
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177 | GPSPosDevIntegral_East = 0; |
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178 | } |
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179 | |||
180 | //Calculate PID-components of the controller |
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181 | |||
182 | // D-Part |
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2046 | - | 183 | D_North = ((int32_t) staticParams.naviD * GPSInfo.velnorth) >> 9; |
184 | D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) >> 9; |
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2039 | - | 185 | |
186 | // P-Part |
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2046 | - | 187 | P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) >> 11; |
188 | P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) >> 11; |
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2039 | - | 189 | |
190 | // I-Part |
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2046 | - | 191 | I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) >> 13; |
192 | I_East = ((int32_t) staticParams.naviI * GPSPosDevIntegral_East) >> 13; |
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2039 | - | 193 | |
194 | // combine P & I |
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195 | PID_North = P_North + I_North; |
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196 | PID_East = P_East + I_East; |
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2046 | - | 197 | if (!navi_limitXY(&PID_North, &PID_East, GPS_P_LIMIT)) { |
198 | // within limit |
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199 | GPSPosDevIntegral_North += GPSPosDev_North >> 4; |
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200 | GPSPosDevIntegral_East += GPSPosDev_East >> 4; |
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201 | navi_limitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
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2039 | - | 202 | } |
203 | |||
204 | // combine PI- and D-Part |
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205 | PID_North += D_North; |
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206 | PID_East += D_East; |
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207 | |||
208 | // scale combination with gain. |
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209 | // dongfang: Lets not do that. P I and D can be scaled instead. |
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210 | // PID_North = (PID_North * (int32_t) staticParams.NaviGpsGain) / 100; |
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211 | // PID_East = (PID_East * (int32_t) staticParams.NaviGpsGain) / 100; |
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212 | |||
213 | // GPS to nick and roll settings |
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214 | // A positive nick angle moves head downwards (flying forward). |
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215 | // A positive roll angle tilts left side downwards (flying left). |
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216 | // If compass heading is 0 the head of the copter is in north direction. |
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217 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
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218 | // In case of a positive north deviation/velocity the |
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219 | // copter should fly to south (negative nick). |
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220 | // In case of a positive east position deviation and a positive east velocity the |
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221 | // copter should fly to west (positive roll). |
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222 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
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223 | // in the flight.c. Therefore a positive north deviation/velocity should result in a positive |
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224 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
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225 | |||
2048 | - | 226 | coscompass = -cos_360(heading / GYRO_DEG_FACTOR_YAW); |
227 | sincompass = -sin_360(heading / GYRO_DEG_FACTOR_YAW); |
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2044 | - | 228 | |
2047 | - | 229 | PID_Nick = (coscompass * PID_North + sincompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
230 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
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2039 | - | 231 | |
232 | // limit resulting GPS control vector |
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2047 | - | 233 | navi_limitXY(&PID_Nick, &PID_Roll, staticParams.naviStickLimit << LOG_NAVI_STICK_GAIN); |
2039 | - | 234 | |
2048 | - | 235 | PRTY[CONTROL_PITCH] += PID_Nick; |
236 | PRTY[CONTROL_ROLL] += PID_Roll; |
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2045 | - | 237 | |
2039 | - | 238 | } else { // invalid GPS data or bad compass reading |
239 | // reset error integral |
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240 | GPSPosDevIntegral_North = 0; |
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241 | GPSPosDevIntegral_East = 0; |
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242 | } |
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243 | } |
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244 | |||
2048 | - | 245 | void navigation_periodicTaskAndPRTY(int16_t* PRTY) { |
2039 | - | 246 | static uint8_t GPS_P_Delay = 0; |
247 | static uint16_t beep_rythm = 0; |
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248 | |||
2046 | - | 249 | navi_updateFlightMode(); |
2039 | - | 250 | |
251 | // store home position if start of flight flag is set |
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252 | if (MKFlags & MKFLAG_CALIBRATE) { |
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2044 | - | 253 | MKFlags &= ~(MKFLAG_CALIBRATE); |
2046 | - | 254 | if (navi_writeCurrPositionTo(&homePosition)) { |
255 | homePosition.latitude += 10000L; |
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2045 | - | 256 | beep(500); |
257 | } |
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258 | } |
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2039 | - | 259 | |
260 | switch (GPSInfo.status) { |
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261 | case INVALID: // invalid gps data |
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262 | if (flightMode != GPS_FLIGHT_MODE_FREE) { |
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263 | beep(100); // beep if signal is neccesary |
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264 | } |
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265 | break; |
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266 | case PROCESSED: // if gps data are already processed do nothing |
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267 | // downcount timeout |
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268 | if (GPSTimeout) |
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269 | GPSTimeout--; |
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270 | // if no new data arrived within timeout set current data invalid |
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271 | // and therefore disable GPS |
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272 | else { |
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273 | GPSInfo.status = INVALID; |
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274 | } |
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275 | break; |
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276 | case NEWDATA: // new valid data from gps device |
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277 | // if the gps data quality is good |
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278 | beep_rythm++; |
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2046 | - | 279 | if (navi_isGPSSignalOK()) { |
2039 | - | 280 | switch (flightMode) { // check what's to do |
281 | case GPS_FLIGHT_MODE_FREE: |
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282 | // update hold position to current gps position |
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2046 | - | 283 | navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad |
2039 | - | 284 | // disable gps control |
285 | break; |
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286 | |||
287 | case GPS_FLIGHT_MODE_AID: |
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288 | if (holdPosition.status != INVALID) { |
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2048 | - | 289 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
2039 | - | 290 | // update hold point to current gps position |
2046 | - | 291 | navi_writeCurrPositionTo(&holdPosition); |
2039 | - | 292 | // disable gps control |
293 | GPS_P_Delay = 0; |
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294 | } else { // GPS control active |
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295 | if (GPS_P_Delay < 7) { |
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296 | // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
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297 | GPS_P_Delay++; |
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2046 | - | 298 | navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position |
2048 | - | 299 | navi_PIDController(NULL, PRTY); // activates only the D-Part |
2039 | - | 300 | } else |
2048 | - | 301 | navi_PIDController(&holdPosition, PRTY); // activates the P&D-Part |
2039 | - | 302 | } |
303 | } else // invalid Hold Position |
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304 | { // try to catch a valid hold position from gps data input |
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2046 | - | 305 | navi_writeCurrPositionTo(&holdPosition); |
2039 | - | 306 | } |
307 | break; |
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308 | |||
309 | case GPS_FLIGHT_MODE_HOME: |
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310 | if (homePosition.status != INVALID) { |
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311 | // update hold point to current gps position |
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312 | // to avoid a flight back if home comming is deactivated |
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2046 | - | 313 | navi_writeCurrPositionTo(&holdPosition); |
2048 | - | 314 | if (navi_isManuallyControlled(PRTY)) // MK controlled by user |
2039 | - | 315 | { |
316 | } else {// GPS control active |
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2048 | - | 317 | navi_PIDController(&homePosition, PRTY); |
2039 | - | 318 | } |
319 | } else { |
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320 | // bad home position |
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321 | beep(50); // signal invalid home position |
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322 | // try to hold at least the position as a fallback option |
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323 | |||
324 | if (holdPosition.status != INVALID) { |
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2048 | - | 325 | if (navi_isManuallyControlled(PRTY)) { |
2039 | - | 326 | // MK controlled by user |
327 | } else { |
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328 | // GPS control active |
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2048 | - | 329 | navi_PIDController(&holdPosition, PRTY); |
2039 | - | 330 | } |
331 | } else { // try to catch a valid hold position |
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2046 | - | 332 | navi_writeCurrPositionTo(&holdPosition); |
2039 | - | 333 | } |
334 | } |
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335 | break; // eof TSK_HOME |
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336 | default: // unhandled task |
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337 | break; // eof default |
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338 | } // eof switch GPS_Task |
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339 | } // eof gps data quality is good |
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340 | else // gps data quality is bad |
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341 | { // disable gps control |
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342 | if (flightMode != GPS_FLIGHT_MODE_FREE) { |
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343 | // beep if signal is not sufficient |
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344 | if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
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345 | beep(100); |
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346 | else if (GPSInfo.satnum < staticParams.GPSMininumSatellites |
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347 | && !(beep_rythm % 5)) |
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348 | beep(10); |
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349 | } |
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350 | } |
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351 | // set current data as processed to avoid further calculations on the same gps data |
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352 | GPSInfo.status = PROCESSED; |
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353 | break; |
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354 | } // eof GPSInfo.status |
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355 | } |