Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

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// + bzgl. der Nutzungsbedingungen aufzunehmen.

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

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// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

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// +     from this software without specific prior written permission.

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <inttypes.h>

#include <stdlib.h>

#include "ubx.h"

//#include "mymath.h"

#include "timer0.h"

#include "uart0.h"

#include "rc.h"

#include "eeprom.h"

typedef enum

  {

    GPS_FLIGHT_MODE_UNDEF,

    GPS_FLIGHT_MODE_FREE,

    GPS_FLIGHT_MODE_AID,

    GPS_FLIGHT_MODE_HOME,

  } FlightMode_t;

#define GPS_POSINTEGRAL_LIMIT 32000

#define GPS_STICK_LIMIT         45              // limit of gps stick control to avoid critical flight attitudes

#define GPS_P_LIMIT                     25

typedef struct

{

  int32_t Longitude;

  int32_t Latitude;

  int32_t Altitude;

  Status_t Status;

} GPS_Pos_t;

// GPS coordinates for hold position

GPS_Pos_t HoldPosition  = {0,0,0,INVALID};

// GPS coordinates for home position

GPS_Pos_t HomePosition  = {0,0,0,INVALID};

// the current flight mode

FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;

// ---------------------------------------------------------------------------------

void GPS_UpdateParameter(void) {

  static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;

  if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) {

    FlightMode = GPS_FLIGHT_MODE_FREE;

  } else {

    if     (dynamicParams.NaviGpsModeControl <  50) FlightMode = GPS_FLIGHT_MODE_AID;

    else if(dynamicParams.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;

    else                                          FlightMode = GPS_FLIGHT_MODE_HOME;

  }

  if (FlightMode != FlightModeOld) {

    BeepTime = 100;

  }

  FlightModeOld = FlightMode;

}

// ---------------------------------------------------------------------------------

// This function defines a good GPS signal condition

uint8_t GPS_IsSignalOK(void) {

  static uint8_t GPSFix = 0;

  if( (GPSInfo.status != INVALID)  && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= staticParams.NaviGpsMinSat) || GPSFix)) {

    GPSFix = 1;

    return 1;

  }

  else return (0);

}

// ---------------------------------------------------------------------------------

// rescale xy-vector length to  limit

uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit) {

  uint8_t retval = 0;

  int32_t len;

  len = (int32_t)c_sqrt(*x * *x + *y * *y);

  if (len > limit) {

    // normalize control vector components to the limit

    *x  = (*x  * limit) / len;

    *y  = (*y  * limit) / len;

    retval = 1;

  }

  return(retval);

}

// checks nick and roll sticks for manual control

uint8_t GPS_IsManualControlled(void) {

  if ((abs(PPM_in[staticParams.ChannelAssignment[CH_NICK]]) < staticParams.NaviStickThreshold) && (abs(PPM_in[staticParams.ChannelAssignment[CH_ROLL]]) < staticParams.NaviStickThreshold)) return 0;

  else return 1;

}

// set given position to current gps position

uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) {

  uint8_t retval = 0;

  if(pGPSPos == NULL) return(retval);   // bad pointer

  if(GPS_IsSignalOK()) {        // is GPS signal condition is fine

    pGPSPos->Longitude  = GPSInfo.longitude;

    pGPSPos->Latitude   = GPSInfo.latitude;

    pGPSPos->Altitude   = GPSInfo.altitude;

    pGPSPos->Status     = NEWDATA;

    retval = 1;

  } else {      // bad GPS signal condition

    pGPSPos->Status = INVALID;

    retval = 0;

  }

  return(retval);

}

// clear position

uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) {

  uint8_t retval = 0;

  if(pGPSPos == NULL)

    return retval;      // bad pointer

  else {

    pGPSPos->Longitude  = 0;

    pGPSPos->Latitude   = 0;

    pGPSPos->Altitude   = 0;

    pGPSPos->Status     = INVALID;

    retval = 1;

  }

  return (retval);

}

// disable GPS control sticks

void GPS_Neutral(void) {

  GPSStickNick = 0;

  GPSStickRoll = 0;

}

// calculates the GPS control stick values from the deviation to target position

// if the pointer to the target positin is NULL or is the target position invalid

// then the P part of the controller is deactivated.

void GPS_PIDController(GPS_Pos_t *pTargetPos) {

  static int32_t PID_Nick, PID_Roll;

  int32_t coscompass, sincompass;

  int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm

  int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;

  int32_t PID_North = 0, PID_East = 0;

  static int32_t cos_target_latitude = 1;

  static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;

  static GPS_Pos_t *pLastTargetPos = 0;

  // if GPS data and Compass are ok

  if( GPS_IsSignalOK() && (CompassHeading >= 0)) {

    if(pTargetPos != NULL) // if there is a target position

      {

        if(pTargetPos->Status != INVALID) // and the position data are valid

          {

            // if the target data are updated or the target pointer has changed

            if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) )

              {

                // reset error integral

                GPSPosDevIntegral_North = 0;

                GPSPosDevIntegral_East = 0;

                // recalculate latitude projection

                cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));

                // remember last target pointer

                pLastTargetPos = pTargetPos;

                // mark data as processed

                pTargetPos->Status = PROCESSED;

              }

            // calculate position deviation from latitude and longitude differences

            GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally

            GPSPosDev_East  = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally

            // calculate latitude projection

            GPSPosDev_East  *= cos_target_latitude;

            GPSPosDev_East /= 8192;

          }

        else // no valid target position available

          {

            // reset error

            GPSPosDev_North = 0;

            GPSPosDev_East = 0;

            // reset error integral

            GPSPosDevIntegral_North = 0;

            GPSPosDevIntegral_East = 0;

          }

      }

    else // no target position available

      {

        // reset error

        GPSPosDev_North = 0;

        GPSPosDev_East = 0;

        // reset error integral

        GPSPosDevIntegral_North = 0;

        GPSPosDevIntegral_East = 0;

      }

    //Calculate PID-components of the controller

    // D-Part

    D_North = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.velnorth)/512;

    D_East =  ((int32_t)dynamicParams.NaviGpsD * GPSInfo.veleast)/512;

    // P-Part

    P_North = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_North)/2048;

    P_East =  ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_East)/2048;

    // I-Part

    I_North = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_North)/8192;

    I_East =  ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_East)/8192;

    // combine P & I

    PID_North = P_North + I_North;

    PID_East  = P_East  + I_East;

    if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))

      {

        GPSPosDevIntegral_North += GPSPosDev_North/16;

        GPSPosDevIntegral_East  += GPSPosDev_East/16;

        GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);

      }

    // combine PI- and D-Part

    PID_North += D_North;

    PID_East  += D_East;

    // scale combination with gain.

    PID_North = (PID_North * (int32_t)dynamicParams.NaviGpsGain) / 100;

    PID_East  = (PID_East  * (int32_t)dynamicParams.NaviGpsGain) / 100;

    // GPS to nick and roll settings

    // A positive nick angle moves head downwards (flying forward).

    // A positive roll angle tilts left side downwards (flying left).

    // If compass heading is 0 the head of the copter is in north direction.

    // A positive nick angle will fly to north and a positive roll angle will fly to west.

    // In case of a positive north deviation/velocity the

    // copter should fly to south (negative nick).

    // In case of a positive east position deviation and a positive east velocity the

    // copter should fly to west (positive roll).

    // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values

    // in the flight.c. Therefore a positive north deviation/velocity should result in a positive

    // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll.

    coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR);

    sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR);

    PID_Nick =   (coscompass * PID_North + sincompass * PID_East) / 8192;

    PID_Roll  =  (sincompass * PID_North - coscompass * PID_East) / 8192;

    // limit resulting GPS control vector

    GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);

    GPSStickNick = (int16_t)PID_Nick;

    GPSStickRoll = (int16_t)PID_Roll;

  }

  else // invalid GPS data or bad compass reading

    {

      GPS_Neutral(); // do nothing

      // reset error integral

      GPSPosDevIntegral_North = 0;

      GPSPosDevIntegral_East = 0;

    }

}

void GPS_Main(void) {

  static uint8_t GPS_P_Delay = 0;

  static uint16_t beep_rythm = 0;

  GPS_UpdateParameter();

  // store home position if start of flight flag is set

  if(MKFlags & MKFLAG_CALIBRATE) {

    if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;

  }

  switch(GPSInfo.status) {

  case INVALID:  // invalid gps data

    GPS_Neutral();

    if(FlightMode != GPS_FLIGHT_MODE_FREE) {

      BeepTime = 100; // beep if signal is neccesary

    }

    break;

  case PROCESSED: // if gps data are already processed do nothing

    // downcount timeout

    if(GPSTimeout) GPSTimeout--;

    // if no new data arrived within timeout set current data invalid

    // and therefore disable GPS

    else

      {

        GPS_Neutral();

          GPSInfo.status = INVALID;

      }

    break;

  case NEWDATA: // new valid data from gps device

    // if the gps data quality is good

    beep_rythm++;

    if (GPS_IsSignalOK())

      {

        switch(FlightMode) // check what's to do

          {

          case GPS_FLIGHT_MODE_FREE:

            // update hold position to current gps position

            GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad

            // disable gps control

            GPS_Neutral();

            break;

          case GPS_FLIGHT_MODE_AID:

            if(HoldPosition.Status != INVALID)

              {

                if( GPS_IsManualControlled() ) // MK controlled by user

                  {

                    // update hold point to current gps position

                    GPS_SetCurrPosition(&HoldPosition);

                    // disable gps control

                    GPS_Neutral();

                    GPS_P_Delay = 0;

                  }

                else // GPS control active

                  {

                    if(GPS_P_Delay < 7)

                      { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)

                        GPS_P_Delay++;

                        GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position

                        GPS_PIDController(NULL); // activates only the D-Part

                      }

                    else GPS_PIDController(&HoldPosition);// activates the P&D-Part

                  }

              }

            else // invalid Hold Position

              {  // try to catch a valid hold position from gps data input

                GPS_SetCurrPosition(&HoldPosition);

                GPS_Neutral();

              }

            break;

          case GPS_FLIGHT_MODE_HOME:

            if(HomePosition.Status != INVALID)

              {

                // update hold point to current gps position

                // to avoid a flight back if home comming is deactivated

                GPS_SetCurrPosition(&HoldPosition);

                if( GPS_IsManualControlled() ) // MK controlled by user

                  {

                    GPS_Neutral();

                  }

                else // GPS control active

                  {

                    GPS_PIDController(&HomePosition);

                  }

              }

            else // bad home position

              {

                BeepTime = 50; // signal invalid home position

                // try to hold at least the position as a fallback option

                if (HoldPosition.Status != INVALID)

                  {

                    if( GPS_IsManualControlled() ) // MK controlled by user

                      {

                        GPS_Neutral();

                      }

                    else // GPS control active

                      {

                        GPS_PIDController(&HoldPosition);

                      }

                  }

                else

                  { // try to catch a valid hold position

                    GPS_SetCurrPosition(&HoldPosition);

                    GPS_Neutral();

                  }

              }

            break; // eof TSK_HOME

          default: // unhandled task

            GPS_Neutral();

            break; // eof default

          } // eof switch GPS_Task

      } // eof gps data quality is good

    else // gps data quality is bad

      { // disable gps control

        GPS_Neutral();

        if(FlightMode != GPS_FLIGHT_MODE_FREE)

          {

            // beep if signal is not sufficient

            if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;

            else if (GPSInfo.satnum < staticParams.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;

          }

      }

      // set current data as processed to avoid further calculations on the same gps data

    GPSInfo.status = PROCESSED;

    break;

  } // eof GPSInfo.status

}