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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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2074 | - | 16 | NAVI_FLIGHT_MODE_UNDEF, |
17 | NAVI_FLIGHT_MODE_FREE, |
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18 | NAVI_FLIGHT_MODE_AID, |
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19 | NAVI_FLIGHT_MODE_HOME, |
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2039 | - | 20 | } FlightMode_t; |
21 | |||
2074 | - | 22 | typedef enum { |
23 | NAVI_STATUS_FREEFLIGHT=0, |
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24 | NAVI_STATUS_INVALID_GPS=1, |
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25 | NAVI_STATUS_BAD_GPS_SIGNAL=2, |
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26 | NAVI_STATUS_MANUAL_OVERRIDE=5, |
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27 | NAVI_STATUS_POSITION_HOLD=7, |
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28 | NAVI_STATUS_RTH=8, |
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29 | NAVI_STATUS_HOLD_POSITION_INVALID=9, |
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30 | NAVI_STATUS_RTH_FALLBACK_ON_HOLD=10, |
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31 | NAVI_STATUS_RTH_POSITION_INVALID=11, |
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32 | NAVI_STATUS_GPS_TIMEOUT=12 |
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33 | } NaviStatus_t; |
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34 | |||
2039 | - | 35 | #define GPS_POSINTEGRAL_LIMIT 32000 |
2058 | - | 36 | #define LOG_NAVI_STICK_GAIN 3 |
2046 | - | 37 | #define GPS_P_LIMIT 100 |
2039 | - | 38 | |
39 | typedef struct { |
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40 | int32_t longitude; |
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41 | int32_t latitude; |
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42 | int32_t altitude; |
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43 | Status_t status; |
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44 | } GPS_Pos_t; |
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45 | |||
46 | // GPS coordinates for hold position |
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47 | GPS_Pos_t holdPosition = { 0, 0, 0, INVALID }; |
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48 | // GPS coordinates for home position |
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49 | GPS_Pos_t homePosition = { 0, 0, 0, INVALID }; |
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50 | // the current flight mode |
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2074 | - | 51 | FlightMode_t flightMode = NAVI_FLIGHT_MODE_UNDEF; |
2058 | - | 52 | int16_t naviSticks[2] = {0,0}; |
2039 | - | 53 | |
2074 | - | 54 | uint8_t naviStatus; |
55 | |||
2039 | - | 56 | // --------------------------------------------------------------------------------- |
2046 | - | 57 | void navi_updateFlightMode(void) { |
2074 | - | 58 | static FlightMode_t flightModeOld = NAVI_FLIGHT_MODE_UNDEF; |
2039 | - | 59 | |
2058 | - | 60 | if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
2074 | - | 61 | flightMode = NAVI_FLIGHT_MODE_FREE; |
2039 | - | 62 | } else { |
2045 | - | 63 | if (dynamicParams.naviMode < 50) |
2074 | - | 64 | flightMode = NAVI_FLIGHT_MODE_FREE; |
2045 | - | 65 | else if (dynamicParams.naviMode < 180) |
2074 | - | 66 | flightMode = NAVI_FLIGHT_MODE_AID; |
2039 | - | 67 | else |
2074 | - | 68 | flightMode = NAVI_FLIGHT_MODE_HOME; |
2039 | - | 69 | } |
70 | |||
71 | if (flightMode != flightModeOld) { |
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72 | beep(100); |
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73 | flightModeOld = flightMode; |
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74 | } |
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75 | } |
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76 | |||
77 | // --------------------------------------------------------------------------------- |
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78 | // This function defines a good GPS signal condition |
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2046 | - | 79 | uint8_t navi_isGPSSignalOK(void) { |
2039 | - | 80 | static uint8_t GPSFix = 0; |
81 | if ((GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) |
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82 | && (GPSInfo.flags & FLAG_GPSFIXOK) |
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83 | && ((GPSInfo.satnum >= staticParams.GPSMininumSatellites) || GPSFix)) { |
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84 | GPSFix = 1; |
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85 | return 1; |
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86 | } else |
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87 | return (0); |
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88 | } |
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89 | |||
90 | // --------------------------------------------------------------------------------- |
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91 | // rescale xy-vector length to limit |
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2046 | - | 92 | uint8_t navi_limitXY(int32_t *x, int32_t *y, int32_t limit) { |
2039 | - | 93 | int32_t len; |
94 | len = isqrt32(*x * *x + *y * *y); |
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95 | if (len > limit) { |
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96 | // normalize control vector components to the limit |
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97 | *x = (*x * limit) / len; |
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98 | *y = (*y * limit) / len; |
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99 | return 1; |
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100 | } |
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101 | return 0; |
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102 | } |
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103 | |||
104 | // checks nick and roll sticks for manual control |
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2048 | - | 105 | uint8_t navi_isManuallyControlled(int16_t* PRTY) { |
106 | if (PRTY[CONTROL_PITCH] < staticParams.naviStickThreshold |
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107 | && PRTY[CONTROL_ROLL] < staticParams.naviStickThreshold) |
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2039 | - | 108 | return 0; |
109 | else |
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110 | return 1; |
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111 | } |
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112 | |||
113 | // set given position to current gps position |
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2046 | - | 114 | uint8_t navi_writeCurrPositionTo(GPS_Pos_t * pGPSPos) { |
2039 | - | 115 | if (pGPSPos == NULL) |
2044 | - | 116 | return 0; // bad pointer |
2039 | - | 117 | |
2046 | - | 118 | if (navi_isGPSSignalOK()) { // is GPS signal condition is fine |
2039 | - | 119 | pGPSPos->longitude = GPSInfo.longitude; |
120 | pGPSPos->latitude = GPSInfo.latitude; |
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121 | pGPSPos->altitude = GPSInfo.altitude; |
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122 | pGPSPos->status = NEWDATA; |
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2044 | - | 123 | return 1; |
2039 | - | 124 | } else { // bad GPS signal condition |
125 | pGPSPos->status = INVALID; |
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2044 | - | 126 | return 0; |
2039 | - | 127 | } |
128 | } |
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129 | |||
130 | // clear position |
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2046 | - | 131 | uint8_t navi_clearPosition(GPS_Pos_t * pGPSPos) { |
2039 | - | 132 | if (pGPSPos == NULL) |
2044 | - | 133 | return 0; // bad pointer |
2039 | - | 134 | else { |
135 | pGPSPos->longitude = 0; |
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136 | pGPSPos->latitude = 0; |
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137 | pGPSPos->altitude = 0; |
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138 | pGPSPos->status = INVALID; |
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139 | } |
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2044 | - | 140 | return 1; |
2039 | - | 141 | } |
142 | |||
2058 | - | 143 | void navi_setNeutral(void) { |
144 | naviSticks[CONTROL_PITCH] = naviSticks[CONTROL_ROLL] = 0; |
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145 | } |
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146 | |||
2039 | - | 147 | // calculates the GPS control stick values from the deviation to target position |
148 | // if the pointer to the target positin is NULL or is the target position invalid |
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149 | // then the P part of the controller is deactivated. |
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2058 | - | 150 | void navi_PIDController(GPS_Pos_t *pTargetPos) { |
151 | static int32_t PID_Pitch, PID_Roll; |
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2039 | - | 152 | int32_t coscompass, sincompass; |
153 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
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2044 | - | 154 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
2039 | - | 155 | int32_t PID_North = 0, PID_East = 0; |
156 | static int32_t cos_target_latitude = 1; |
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157 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
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158 | static GPS_Pos_t *pLastTargetPos = 0; |
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159 | |||
160 | // if GPS data and Compass are ok |
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2046 | - | 161 | if (navi_isGPSSignalOK() && (magneticHeading >= 0)) { |
2044 | - | 162 | if (pTargetPos != NULL) { // if there is a target position |
163 | if (pTargetPos->status != INVALID) { // and the position data are valid |
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2039 | - | 164 | // if the target data are updated or the target pointer has changed |
165 | if ((pTargetPos->status != PROCESSED) |
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166 | || (pTargetPos != pLastTargetPos)) { |
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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 | // recalculate latitude projection |
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2045 | - | 171 | cos_target_latitude = cos_360(pTargetPos->latitude / 10000000L); |
2039 | - | 172 | // remember last target pointer |
173 | pLastTargetPos = pTargetPos; |
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174 | // mark data as processed |
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175 | pTargetPos->status = PROCESSED; |
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176 | } |
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177 | // calculate position deviation from latitude and longitude differences |
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178 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->latitude); // to calculate real cm we would need *111/100 additionally |
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179 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->longitude); // to calculate real cm we would need *111/100 additionally |
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180 | // calculate latitude projection |
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181 | GPSPosDev_East *= cos_target_latitude; |
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2047 | - | 182 | GPSPosDev_East >>= LOG_MATH_UNIT_FACTOR; |
2039 | - | 183 | } else { // no valid target position available |
184 | // reset error |
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185 | GPSPosDev_North = 0; |
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186 | GPSPosDev_East = 0; |
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187 | // reset error integral |
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188 | GPSPosDevIntegral_North = 0; |
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189 | GPSPosDevIntegral_East = 0; |
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190 | } |
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191 | } else { // no target position available |
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192 | // reset error |
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193 | GPSPosDev_North = 0; |
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194 | GPSPosDev_East = 0; |
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195 | // reset error integral |
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196 | GPSPosDevIntegral_North = 0; |
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197 | GPSPosDevIntegral_East = 0; |
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198 | } |
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199 | |||
200 | //Calculate PID-components of the controller |
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201 | // D-Part |
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2046 | - | 202 | D_North = ((int32_t) staticParams.naviD * GPSInfo.velnorth) >> 9; |
203 | D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) >> 9; |
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2039 | - | 204 | |
205 | // P-Part |
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2046 | - | 206 | P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) >> 11; |
207 | P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) >> 11; |
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2039 | - | 208 | |
209 | // I-Part |
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2046 | - | 210 | I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) >> 13; |
211 | I_East = ((int32_t) staticParams.naviI * GPSPosDevIntegral_East) >> 13; |
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2039 | - | 212 | |
213 | // combine P & I |
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214 | PID_North = P_North + I_North; |
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215 | PID_East = P_East + I_East; |
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2058 | - | 216 | |
2046 | - | 217 | if (!navi_limitXY(&PID_North, &PID_East, GPS_P_LIMIT)) { |
218 | // within limit |
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219 | GPSPosDevIntegral_North += GPSPosDev_North >> 4; |
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220 | GPSPosDevIntegral_East += GPSPosDev_East >> 4; |
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221 | navi_limitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
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2039 | - | 222 | } |
223 | |||
224 | // combine PI- and D-Part |
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225 | PID_North += D_North; |
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226 | PID_East += D_East; |
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227 | |||
228 | // scale combination with gain. |
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229 | // dongfang: Lets not do that. P I and D can be scaled instead. |
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230 | // PID_North = (PID_North * (int32_t) staticParams.NaviGpsGain) / 100; |
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231 | // PID_East = (PID_East * (int32_t) staticParams.NaviGpsGain) / 100; |
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232 | |||
233 | // GPS to nick and roll settings |
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234 | // A positive nick angle moves head downwards (flying forward). |
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235 | // A positive roll angle tilts left side downwards (flying left). |
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236 | // If compass heading is 0 the head of the copter is in north direction. |
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237 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
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238 | // In case of a positive north deviation/velocity the |
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239 | // copter should fly to south (negative nick). |
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240 | // In case of a positive east position deviation and a positive east velocity the |
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241 | // copter should fly to west (positive roll). |
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242 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
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243 | // in the flight.c. Therefore a positive north deviation/velocity should result in a positive |
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244 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
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245 | |||
2048 | - | 246 | coscompass = -cos_360(heading / GYRO_DEG_FACTOR_YAW); |
247 | sincompass = -sin_360(heading / GYRO_DEG_FACTOR_YAW); |
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2044 | - | 248 | |
2058 | - | 249 | PID_Pitch = (coscompass * PID_North + sincompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
2047 | - | 250 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
2039 | - | 251 | |
252 | // limit resulting GPS control vector |
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2058 | - | 253 | navi_limitXY(&PID_Pitch, &PID_Roll, staticParams.naviStickLimit << LOG_NAVI_STICK_GAIN); |
2039 | - | 254 | |
2058 | - | 255 | debugOut.analog[26] = PID_Pitch; |
256 | debugOut.analog[27] = PID_Roll; |
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2045 | - | 257 | |
2058 | - | 258 | naviSticks[CONTROL_PITCH] = PID_Pitch; |
259 | naviSticks[CONTROL_ROLL] = PID_Roll; |
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2039 | - | 260 | } else { // invalid GPS data or bad compass reading |
261 | // reset error integral |
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2058 | - | 262 | navi_setNeutral(); |
2039 | - | 263 | GPSPosDevIntegral_North = 0; |
264 | GPSPosDevIntegral_East = 0; |
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265 | } |
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266 | } |
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267 | |||
2048 | - | 268 | void navigation_periodicTaskAndPRTY(int16_t* PRTY) { |
2039 | - | 269 | static uint8_t GPS_P_Delay = 0; |
270 | static uint16_t beep_rythm = 0; |
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271 | |||
2046 | - | 272 | navi_updateFlightMode(); |
2039 | - | 273 | |
274 | // store home position if start of flight flag is set |
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275 | if (MKFlags & MKFLAG_CALIBRATE) { |
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2044 | - | 276 | MKFlags &= ~(MKFLAG_CALIBRATE); |
2046 | - | 277 | if (navi_writeCurrPositionTo(&homePosition)) { |
2074 | - | 278 | // shift north to simulate an offset. |
2058 | - | 279 | // homePosition.latitude += 10000L; |
2045 | - | 280 | beep(500); |
281 | } |
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282 | } |
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2039 | - | 283 | |
284 | switch (GPSInfo.status) { |
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285 | case INVALID: // invalid gps data |
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2058 | - | 286 | navi_setNeutral(); |
2074 | - | 287 | naviStatus = NAVI_STATUS_INVALID_GPS; |
288 | if (flightMode != NAVI_FLIGHT_MODE_FREE) { |
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2071 | - | 289 | beep(1); // beep if signal is neccesary |
2039 | - | 290 | } |
291 | break; |
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292 | case PROCESSED: // if gps data are already processed do nothing |
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293 | // downcount timeout |
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294 | if (GPSTimeout) |
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295 | GPSTimeout--; |
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296 | // if no new data arrived within timeout set current data invalid |
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297 | // and therefore disable GPS |
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298 | else { |
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2058 | - | 299 | navi_setNeutral(); |
2039 | - | 300 | GPSInfo.status = INVALID; |
2074 | - | 301 | naviStatus = NAVI_STATUS_GPS_TIMEOUT; |
2039 | - | 302 | } |
303 | break; |
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304 | case NEWDATA: // new valid data from gps device |
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305 | // if the gps data quality is good |
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306 | beep_rythm++; |
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2046 | - | 307 | if (navi_isGPSSignalOK()) { |
2039 | - | 308 | switch (flightMode) { // check what's to do |
2074 | - | 309 | case NAVI_FLIGHT_MODE_FREE: |
2039 | - | 310 | // update hold position to current gps position |
2046 | - | 311 | navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad |
2039 | - | 312 | // disable gps control |
2058 | - | 313 | navi_setNeutral(); |
2074 | - | 314 | naviStatus = NAVI_STATUS_FREEFLIGHT; |
2039 | - | 315 | break; |
316 | |||
2074 | - | 317 | case NAVI_FLIGHT_MODE_AID: |
2039 | - | 318 | if (holdPosition.status != INVALID) { |
2048 | - | 319 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
2039 | - | 320 | // update hold point to current gps position |
2046 | - | 321 | navi_writeCurrPositionTo(&holdPosition); |
2039 | - | 322 | // disable gps control |
2058 | - | 323 | navi_setNeutral(); |
2039 | - | 324 | GPS_P_Delay = 0; |
2074 | - | 325 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
2039 | - | 326 | } else { // GPS control active |
327 | if (GPS_P_Delay < 7) { |
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328 | // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
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329 | GPS_P_Delay++; |
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2046 | - | 330 | navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position |
2058 | - | 331 | navi_PIDController(NULL); // activates only the D-Part |
2074 | - | 332 | naviStatus = NAVI_STATUS_POSITION_HOLD; |
333 | } else { |
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2058 | - | 334 | navi_PIDController(&holdPosition); // activates the P&D-Part |
2074 | - | 335 | naviStatus = NAVI_STATUS_POSITION_HOLD; |
336 | } |
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2039 | - | 337 | } |
2058 | - | 338 | } else { // invalid Hold Position |
339 | // try to catch a valid hold position from gps data input |
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2046 | - | 340 | navi_writeCurrPositionTo(&holdPosition); |
2058 | - | 341 | navi_setNeutral(); |
2074 | - | 342 | naviStatus = NAVI_STATUS_HOLD_POSITION_INVALID; |
2039 | - | 343 | } |
344 | break; |
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345 | |||
2074 | - | 346 | case NAVI_FLIGHT_MODE_HOME: |
2039 | - | 347 | if (homePosition.status != INVALID) { |
348 | // update hold point to current gps position |
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349 | // to avoid a flight back if home comming is deactivated |
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2046 | - | 350 | navi_writeCurrPositionTo(&holdPosition); |
2058 | - | 351 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
352 | navi_setNeutral(); |
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2039 | - | 353 | } else {// GPS control active |
2058 | - | 354 | navi_PIDController(&homePosition); |
2039 | - | 355 | } |
2074 | - | 356 | naviStatus = NAVI_STATUS_RTH; |
2039 | - | 357 | } else { |
358 | // bad home position |
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359 | beep(50); // signal invalid home position |
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360 | // try to hold at least the position as a fallback option |
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361 | if (holdPosition.status != INVALID) { |
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2048 | - | 362 | if (navi_isManuallyControlled(PRTY)) { |
2039 | - | 363 | // MK controlled by user |
2058 | - | 364 | navi_setNeutral(); |
2074 | - | 365 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
2039 | - | 366 | } else { |
367 | // GPS control active |
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2058 | - | 368 | navi_PIDController(&holdPosition); |
2074 | - | 369 | naviStatus = NAVI_STATUS_RTH_FALLBACK_ON_HOLD; |
2039 | - | 370 | } |
371 | } else { // try to catch a valid hold position |
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2046 | - | 372 | navi_writeCurrPositionTo(&holdPosition); |
2074 | - | 373 | naviStatus = NAVI_STATUS_RTH_POSITION_INVALID; |
2058 | - | 374 | navi_setNeutral(); |
2039 | - | 375 | } |
376 | } |
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377 | break; // eof TSK_HOME |
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378 | default: // unhandled task |
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2058 | - | 379 | navi_setNeutral(); |
2039 | - | 380 | break; // eof default |
381 | } // eof switch GPS_Task |
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382 | } // eof gps data quality is good |
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2058 | - | 383 | else { // gps data quality is bad |
384 | // disable gps control |
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385 | navi_setNeutral(); |
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2074 | - | 386 | naviStatus = NAVI_STATUS_BAD_GPS_SIGNAL; |
387 | if (flightMode != NAVI_FLIGHT_MODE_FREE) { |
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2039 | - | 388 | // beep if signal is not sufficient |
389 | if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
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390 | beep(100); |
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391 | else if (GPSInfo.satnum < staticParams.GPSMininumSatellites |
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392 | && !(beep_rythm % 5)) |
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393 | beep(10); |
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394 | } |
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395 | } |
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396 | // set current data as processed to avoid further calculations on the same gps data |
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397 | GPSInfo.status = PROCESSED; |
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398 | break; |
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399 | } // eof GPSInfo.status |
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2058 | - | 400 | |
401 | PRTY[CONTROL_PITCH] += naviSticks[CONTROL_PITCH]; |
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402 | PRTY[CONTROL_ROLL] += naviSticks[CONTROL_ROLL]; |
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2074 | - | 403 | |
404 | debugOut.analog[16] = flightMode; |
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405 | debugOut.analog[17] = naviStatus; |
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406 | |||
407 | debugOut.analog[18] = naviSticks[CONTROL_PITCH]; |
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408 | debugOut.analog[19] = naviSticks[CONTROL_ROLL]; |
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2039 | - | 409 | } |