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1 | ingob | 1 | /*#######################################################################################*/ |
41 | ingob | 2 | /*#######################################################################################*/ |
3 | |||
4 | // IMPORTANT NOTE: |
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5 | |||
6 | // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
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7 | |||
8 | // The GPS navigation routines are NOT included ! |
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9 | |||
10 | /*#######################################################################################*/ |
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11 | /*#######################################################################################*/ |
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1 | ingob | 12 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
13 | /*#######################################################################################*/ |
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14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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15 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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16 | // + Nur für den privaten Gebrauch |
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17 | // + FOR NON COMMERCIAL USE ONLY |
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18 | // + www.MikroKopter.com |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 20 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
21 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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22 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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23 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 24 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
25 | // + Verkauf von Luftbildaufnahmen, usw. |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 27 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 28 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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31 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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32 | // + eindeutig als Ursprung verlinkt werden |
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33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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34 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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35 | // + Benutzung auf eigene Gefahr |
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36 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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37 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 38 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 39 | // + mit unserer Zustimmung zulässig |
40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 43 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 44 | // + this list of conditions and the following disclaimer. |
45 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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46 | // + from this software without specific prior written permission. |
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41 | ingob | 47 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 48 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 49 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 50 | // + with our written permission |
41 | ingob | 51 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
52 | // + clearly linked as origin |
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1 | ingob | 53 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
54 | // |
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55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 65 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 67 | #include <stdio.h> |
68 | #include <stdlib.h> |
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69 | #include <math.h> |
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70 | #include "91x_lib.h" |
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1 | ingob | 71 | #include "main.h" |
41 | ingob | 72 | #include "uart1.h" |
73 | #include "GPS.h" |
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74 | #include "timer.h" |
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75 | #include "spi_slave.h" |
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76 | #include "waypoints.h" |
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77 | #include "i2c.h" |
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1 | ingob | 78 | |
79 | |||
41 | ingob | 80 | #define M_PI_180 (M_PI / 180.0f) |
81 | #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
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82 | typedef enum |
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83 | { |
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84 | GPS_FLIGHT_MODE_UNDEF, |
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85 | GPS_FLIGHT_MODE_FREE, |
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86 | GPS_FLIGHT_MODE_AID, |
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87 | GPS_FLIGHT_MODE_WAYPOINT |
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88 | } GPS_FlightMode_t; |
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1 | ingob | 89 | |
41 | ingob | 90 | typedef struct |
91 | { |
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92 | float Gain; |
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93 | float P; |
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94 | float I; |
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95 | float D; |
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96 | float A; |
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97 | float ACC; |
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73 | killagreg | 98 | s32 P_Limit; |
99 | s32 I_Limit; |
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100 | s32 D_Limit; |
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101 | s32 PID_Limit; |
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102 | u32 BrakingDuration; |
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41 | ingob | 103 | u8 MinSat; |
104 | s8 StickThreshold; |
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105 | float WindCorrection; |
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89 | killagreg | 106 | float SpeedCompensation; |
41 | ingob | 107 | s32 OperatingRadius; |
108 | GPS_FlightMode_t FlightMode; |
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109 | } __attribute__((packed)) GPS_Parameter_t; |
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1 | ingob | 110 | |
41 | ingob | 111 | typedef struct |
112 | { |
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52 | killagreg | 113 | u8 Status; // invalid, newdata, processed |
41 | ingob | 114 | s32 North; // in cm |
115 | s32 East; // in cm |
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116 | s32 Bearing; // in deg |
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117 | s32 Distance; // in cm |
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118 | } __attribute__((packed)) GPS_Deviation_t; |
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73 | killagreg | 119 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
120 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
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121 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
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41 | ingob | 122 | |
123 | GPS_Stick_t GPS_Stick; |
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124 | GPS_Parameter_t GPS_Parameter; |
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125 | |||
126 | // the gps reference positions |
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127 | GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
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128 | GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
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129 | GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
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130 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
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131 | |||
132 | //------------------------------------------------------------- |
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133 | // Update GPSParamter |
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134 | void GPS_UpdateParameter(void) |
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135 | { |
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136 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
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137 | // in case of bad receiving conditions |
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138 | if(FC.RC_Quality < 100) |
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139 | { // set fixed parameter |
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140 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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141 | GPS_Parameter.Gain = (float) 100; |
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142 | GPS_Parameter.P = (float) 90; |
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143 | GPS_Parameter.I = (float) 90; |
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144 | GPS_Parameter.D = (float) 90; |
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145 | GPS_Parameter.A = (float) 90; |
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146 | GPS_Parameter.ACC = (float) 0; |
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73 | killagreg | 147 | GPS_Parameter.P_Limit = 90; |
148 | GPS_Parameter.I_Limit = 90; |
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149 | GPS_Parameter.D_Limit = 90; |
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150 | GPS_Parameter.PID_Limit = 200; |
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151 | GPS_Parameter.BrakingDuration = 0; |
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89 | killagreg | 152 | GPS_Parameter.SpeedCompensation = (float) 30; |
41 | ingob | 153 | GPS_Parameter.MinSat = 6; |
154 | GPS_Parameter.StickThreshold = 8; |
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155 | GPS_Parameter.WindCorrection = 0.0; |
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156 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
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73 | killagreg | 157 | |
41 | ingob | 158 | } |
159 | else |
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160 | { |
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161 | // update parameter from FC |
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162 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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163 | else |
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164 | { |
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165 | if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
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166 | else if(Parameter.NaviGpsModeControl < 180) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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167 | else GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
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168 | } |
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169 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
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170 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
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171 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
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172 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
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173 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
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174 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
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73 | killagreg | 175 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
176 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
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177 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
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178 | GPS_Parameter.PID_Limit = 2* (s32)Parameter.NaviAngleLimitation; |
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179 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
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89 | killagreg | 180 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
41 | ingob | 181 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
182 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
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183 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
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184 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
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185 | } |
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186 | // FlightMode changed? |
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187 | if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
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188 | FlightMode_Old = GPS_Parameter.FlightMode; |
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189 | } |
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190 | |||
191 | //------------------------------------------------------------- |
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192 | // This function defines a good GPS signal condition |
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193 | u8 GPS_IsSignalOK(void) |
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194 | { |
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195 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
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196 | else return(0); |
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197 | } |
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198 | |||
1 | ingob | 199 | //------------------------------------------------------------ |
41 | ingob | 200 | // Checks for manual control action |
201 | u8 GPS_IsManuallyControlled(void) |
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202 | { |
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203 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0)) return 1; |
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204 | else return 0; |
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205 | } |
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206 | |||
207 | //------------------------------------------------------------ |
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208 | // copy GPS position from source position to target position |
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209 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
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210 | { |
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211 | u8 retval = 0; |
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212 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
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213 | // copy only valid positions |
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214 | if(pGPSPosSrc->Status != INVALID) |
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215 | { |
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216 | // if the source GPS position is not invalid |
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217 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
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218 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
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219 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
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220 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
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221 | retval = 1; |
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222 | } |
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223 | return(retval); |
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224 | } |
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225 | |||
226 | //------------------------------------------------------------ |
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227 | // clear position data |
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228 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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229 | { |
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230 | u8 retval = FALSE; |
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231 | if(pGPSPos == NULL) return(retval); // bad pointer |
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232 | else |
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233 | { |
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234 | pGPSPos->Longitude = 0; |
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235 | pGPSPos->Latitude = 0; |
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236 | pGPSPos->Altitude = 0; |
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237 | pGPSPos->Status = INVALID; |
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238 | retval = TRUE; |
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239 | } |
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240 | return (retval); |
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241 | } |
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242 | |||
243 | |||
244 | //------------------------------------------------------------ |
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245 | void GPS_Neutral() |
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246 | { |
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247 | GPS_Stick.Nick = 0; |
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248 | GPS_Stick.Roll = 0; |
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249 | GPS_Stick.Yaw = 0; |
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250 | } |
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251 | |||
252 | //------------------------------------------------------------ |
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1 | ingob | 253 | void GPS_Init(void) |
254 | { |
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41 | ingob | 255 | SerialPutString("\r\n GPS init..."); |
256 | UBX_Init(); |
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257 | GPS_Neutral(); |
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258 | GPS_ClearPosition(&GPS_HoldPosition); |
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259 | GPS_ClearPosition(&GPS_HomePosition); |
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260 | GPS_pTargetPosition = NULL; |
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261 | WPList_Init(); |
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262 | GPS_pWaypoint = WPList_Begin(); |
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263 | GPS_UpdateParameter(); |
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264 | SerialPutString("ok"); |
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265 | } |
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1 | ingob | 266 | |
41 | ingob | 267 | //------------------------------------------------------------ |
268 | // calculate the bearing to target position from its deviation |
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269 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
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270 | { |
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271 | s32 bearing; |
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272 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
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273 | bearing = (270L - bearing)%360L; |
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274 | return(bearing); |
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1 | ingob | 275 | } |
41 | ingob | 276 | |
277 | |||
1 | ingob | 278 | //------------------------------------------------------------ |
41 | ingob | 279 | // Rescale xy-vector length if length limit is violated |
280 | void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
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281 | { |
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282 | s32 dist; |
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283 | dist = (s32)hypot(*x,*y); // the length of the vector |
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73 | killagreg | 284 | if (dist == 0) |
285 | { |
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286 | *x = 0; |
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287 | *y = 0; |
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288 | } |
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289 | else if (dist > limit) |
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41 | ingob | 290 | // if vector length is larger than the given limit |
291 | { // scale vector compontents so that the length is cut off to limit |
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73 | killagreg | 292 | *x = (*x * limit) / dist; |
41 | ingob | 293 | *y = (*y * limit) / dist; |
294 | } |
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295 | } |
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1 | ingob | 296 | |
41 | ingob | 297 | //------------------------------------------------------------ |
298 | // transform the integer deg into float radians |
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299 | inline double RadiansFromGPS(s32 deg) |
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1 | ingob | 300 | { |
41 | ingob | 301 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
302 | } |
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1 | ingob | 303 | |
41 | ingob | 304 | //------------------------------------------------------------ |
305 | // transform the integer deg into float deg |
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306 | inline double DegFromGPS(s32 deg) |
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307 | { |
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308 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
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309 | } |
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1 | ingob | 310 | |
41 | ingob | 311 | //------------------------------------------------------------ |
312 | // calculate the deviation from the current position to the target position |
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73 | killagreg | 313 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
41 | ingob | 314 | { |
73 | killagreg | 315 | double temp1, temp2; |
41 | ingob | 316 | // if given pointer is NULL |
317 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
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318 | // if positions are invalid |
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319 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
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1 | ingob | 320 | |
41 | ingob | 321 | // The deviation from the current to the target position along north and east direction is |
322 | // simple the lat/lon difference. To convert that angular deviation into an |
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323 | // arc length the spherical projection has to be considered. |
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324 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
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325 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
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326 | // The arc length per longitude degree depends on the correspondig latitude and |
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327 | // is 111.2km * cos(latitude). |
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1 | ingob | 328 | |
41 | ingob | 329 | // calculate the shortest longitude deviation from target |
330 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
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331 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
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332 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
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333 | if(temp1 > 180.0f) temp1 -= 360.0f; |
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334 | else if (temp1 < -180.0f) temp1 += 360.0f; |
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73 | killagreg | 335 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
41 | ingob | 336 | // calculate latitude deviation from target |
337 | // this is allways within -180 deg ... 180 deg |
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338 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
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339 | // deviation from target position in cm |
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340 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
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341 | |||
73 | killagreg | 342 | pDeviationFromTarget->Status = INVALID; |
343 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
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344 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
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41 | ingob | 345 | // If the position deviation is small enough to neglect the earth curvature |
346 | // (this is for our application always fulfilled) the distance to target |
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347 | // can be calculated by the pythagoras of north and east deviation. |
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73 | killagreg | 348 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
349 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
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350 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
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351 | pDeviationFromTarget->Status = NEWDATA; |
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41 | ingob | 352 | return TRUE; |
353 | |||
354 | baddata: |
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73 | killagreg | 355 | pDeviationFromTarget->North = 0L; |
356 | pDeviationFromTarget->East = 0L; |
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357 | pDeviationFromTarget->Distance = 0L; |
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358 | pDeviationFromTarget->Bearing = 0L; |
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359 | pDeviationFromTarget->Status = INVALID; |
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41 | ingob | 360 | return FALSE; |
361 | } |
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362 | |||
363 | //------------------------------------------------------------ |
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364 | void GPS_Navigation(void) |
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365 | { |
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366 | static u32 beep_rythm; |
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367 | static u32 GPSDataTimeout = 0; |
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368 | |||
369 | // pointer to current target position |
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370 | static GPS_Pos_t * pTargetPositionOld = NULL; |
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371 | static Waypoint_t* GPS_pWaypointOld = NULL; |
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372 | |||
373 | static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius |
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374 | static s32 OperatingRadiusOld = -1; |
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375 | static u8 WPArrived = FALSE; |
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376 | static u32 WPTime = 0; |
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377 | |||
378 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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379 | //+ Check for new data from GPS-receiver |
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380 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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381 | switch(GPSData.Status) |
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382 | { |
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383 | case INVALID: // no gps data available |
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384 | // do nothing |
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73 | killagreg | 385 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 386 | break; |
387 | |||
388 | case PROCESSED: // the current data have been allready processed |
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389 | // if no new data are available within the timeout switch to invalid state. |
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390 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
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391 | // wait for new gps data |
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392 | break; |
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393 | |||
394 | case NEWDATA: // handle new gps data |
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395 | |||
396 | // update GPS Parameter from FC-Data via SPI interface |
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397 | GPS_UpdateParameter(); |
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398 | |||
399 | // wait maximum of 3 times the normal data update time before data timemout |
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400 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
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401 | beep_rythm++; |
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402 | |||
403 | // debug |
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404 | DebugOut.Analog[21] = (u16)GPSData.Speed_North; |
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405 | DebugOut.Analog[22] = (u16)GPSData.Speed_East; |
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406 | DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
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407 | |||
408 | // If GPS signal condition is sufficient for a reliable position measurement |
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409 | if(GPS_IsSignalOK()) |
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410 | { |
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73 | killagreg | 411 | // update home deviation info |
412 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
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74 | killagreg | 413 | |
41 | ingob | 414 | // if the MK is starting or the home position is invalid then store the home position |
415 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
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416 | { // try to update the home position from the current position |
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417 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
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418 | { |
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419 | BeepTime = 700; // beep on success |
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420 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
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421 | } |
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422 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
||
423 | } |
||
424 | |||
425 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
||
426 | |||
427 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
||
428 | switch(GPS_Parameter.FlightMode) |
||
429 | { |
||
430 | // the GPS control is deactived |
||
431 | case GPS_FLIGHT_MODE_FREE: |
||
432 | NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
||
433 | NaviData.NCFlags |= NC_FLAG_FREE; |
||
73 | killagreg | 434 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 435 | // update hold position |
436 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
437 | // no target position |
||
438 | GPS_pTargetPosition = NULL; |
||
439 | break; |
||
440 | |||
441 | // the GPS supports the position hold, if the pilot takes no action |
||
442 | case GPS_FLIGHT_MODE_AID: |
||
443 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
||
444 | NaviData.NCFlags |= NC_FLAG_PH; |
||
445 | // reset WPList to begin |
||
446 | GPS_pWaypoint = WPList_Begin(); |
||
447 | |||
448 | if(GPS_IsManuallyControlled()) |
||
449 | { |
||
73 | killagreg | 450 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
41 | ingob | 451 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
452 | GPS_pTargetPosition = NULL; |
||
453 | } |
||
454 | else |
||
455 | { |
||
456 | GPS_pTargetPosition = &GPS_HoldPosition; |
||
457 | } |
||
458 | break; |
||
459 | |||
460 | // the GPS control is directed to a target position |
||
461 | // given by a waypoint or by the home position |
||
462 | case GPS_FLIGHT_MODE_WAYPOINT: |
||
463 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
||
464 | NaviData.NCFlags |= NC_FLAG_CH; |
||
74 | killagreg | 465 | |
73 | killagreg | 466 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
41 | ingob | 467 | { |
73 | killagreg | 468 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
469 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
||
470 | GPS_pTargetPosition = NULL; // set target position invalid |
||
471 | } |
||
472 | else // no manual control -> gps position hold active |
||
473 | { |
||
474 | // waypoint trigger logic |
||
475 | if(GPS_pWaypoint != NULL) // waypoint exist |
||
41 | ingob | 476 | { |
73 | killagreg | 477 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
41 | ingob | 478 | { |
73 | killagreg | 479 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
41 | ingob | 480 | WPArrived = FALSE; |
73 | killagreg | 481 | BeepTime = 255; |
41 | ingob | 482 | } |
73 | killagreg | 483 | else // waypoint position is valid |
484 | { |
||
485 | // check if the pointer to the waypoint has been changed or the data have been updated |
||
486 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
||
41 | ingob | 487 | { |
73 | killagreg | 488 | GPS_pWaypointOld = GPS_pWaypoint; |
489 | // reset the arrived bit to break a pending HoldTime of the old WP |
||
490 | WPArrived = FALSE; |
||
41 | ingob | 491 | } |
74 | killagreg | 492 | |
73 | killagreg | 493 | if(CurrentTargetDeviation.Status != INVALID) |
494 | { // if the waypoint was not catched and the target area has been reached |
||
495 | if(!WPArrived && (CurrentTargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
||
496 | { |
||
497 | WPArrived = TRUE; |
||
498 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
||
499 | } |
||
500 | } |
||
501 | // if WP has been reached once, wait hold time before trigger to next one |
||
502 | if(WPArrived) |
||
503 | { |
||
504 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
||
505 | if(CheckDelay(WPTime)) |
||
506 | { |
||
507 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
||
508 | WPArrived = FALSE; // which is not arrived |
||
509 | } |
||
510 | } // EOF if(WPArrived) |
||
41 | ingob | 511 | } |
73 | killagreg | 512 | } // EOF waypoint trigger logic |
74 | killagreg | 513 | |
73 | killagreg | 514 | if(GPS_pWaypoint != NULL) // Waypoint exist |
41 | ingob | 515 | { |
516 | // update the hold position |
||
517 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
73 | killagreg | 518 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
41 | ingob | 519 | } |
73 | killagreg | 520 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
521 | { |
||
522 | // fly back to home postion |
||
523 | if(GPS_HomePosition.Status == INVALID) |
||
524 | { |
||
525 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
||
526 | BeepTime = 255; // beep to indicate missin home position |
||
527 | } |
||
528 | else // the home position is valid |
||
529 | { |
||
530 | // update the hold position |
||
531 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
532 | // set target to home position |
||
533 | GPS_pTargetPosition = &GPS_HomePosition; |
||
534 | } |
||
535 | } |
||
536 | } // EOF no manual control |
||
41 | ingob | 537 | break; |
538 | |||
539 | case GPS_FLIGHT_MODE_UNDEF: |
||
540 | default: |
||
73 | killagreg | 541 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 542 | // update hold position |
543 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
544 | // no target position |
||
545 | GPS_pTargetPosition = NULL; |
||
546 | break; |
||
547 | |||
548 | }// EOF GPS Mode Handling |
||
549 | |||
550 | |||
551 | /* Calculation of range target based on the real target */ |
||
552 | |||
553 | // if no target position exist clear the ranged target position |
||
554 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
||
555 | else |
||
556 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
||
557 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
||
558 | { |
||
73 | killagreg | 559 | BeepTime = 255; // beep to indicate setting of a new target position |
41 | ingob | 560 | // calculate deviation of new target position from home position |
73 | killagreg | 561 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
41 | ingob | 562 | { |
563 | // check distance from home position |
||
73 | killagreg | 564 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
41 | ingob | 565 | { |
566 | //calculate ranged target position to be within the operation radius area |
||
567 | NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
||
568 | |||
73 | killagreg | 569 | TargetHomeDeviation.North *= GPS_Parameter.OperatingRadius; |
570 | TargetHomeDeviation.North /= TargetHomeDeviation.Distance; |
||
571 | TargetHomeDeviation.East *= GPS_Parameter.OperatingRadius; |
||
572 | TargetHomeDeviation.East /= TargetHomeDeviation.Distance; |
||
573 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
||
574 | |||
41 | ingob | 575 | RangedTargetPosition.Status = INVALID; |
576 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
||
73 | killagreg | 577 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
41 | ingob | 578 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
73 | killagreg | 579 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
41 | ingob | 580 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
581 | RangedTargetPosition.Status = NEWDATA; |
||
582 | } |
||
583 | else |
||
584 | { // the target is located within the operation radius area |
||
585 | // simple copy the loaction to the ranged target position |
||
586 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
||
587 | NaviData.NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
||
588 | } |
||
589 | } |
||
590 | else |
||
591 | { // deviation could not be determined |
||
592 | GPS_ClearPosition(&RangedTargetPosition); |
||
593 | } |
||
594 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
||
595 | } |
||
596 | } |
||
597 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
||
598 | // remember last target position pointer |
||
599 | pTargetPositionOld = GPS_pTargetPosition; |
||
600 | |||
601 | /* Calculate position deviation from ranged target */ |
||
602 | |||
603 | // calculate deviation of current position to ranged target position in cm |
||
73 | killagreg | 604 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
41 | ingob | 605 | { |
606 | // implement your control code here based |
||
73 | killagreg | 607 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
41 | ingob | 608 | GPS_Stick.Nick = 0; |
609 | GPS_Stick.Roll = 0; |
||
610 | GPS_Stick.Yaw = 0; |
||
611 | } |
||
612 | else // deviation could not be calculated |
||
613 | { // do nothing on gps sticks! |
||
614 | GPS_Neutral(); |
||
615 | } |
||
616 | |||
617 | }// eof if GPSSignal is OK |
||
618 | else // GPSSignal not OK |
||
619 | { |
||
620 | GPS_Neutral(); |
||
621 | // beep if signal is not sufficient |
||
622 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
||
623 | { |
||
624 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
||
625 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
||
626 | } |
||
627 | } |
||
628 | GPSData.Status = PROCESSED; // mark as processed |
||
629 | break; |
||
1 | ingob | 630 | } |
41 | ingob | 631 | |
73 | killagreg | 632 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
633 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
||
41 | ingob | 634 | DebugOut.Analog[29] = GPS_Stick.Nick; |
635 | DebugOut.Analog[30] = GPS_Stick.Roll; |
||
636 | |||
637 | // update navi data, send back to ground station |
||
73 | killagreg | 638 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
41 | ingob | 639 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
73 | killagreg | 640 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
41 | ingob | 641 | NaviData.SatsInUse = GPSData.NumOfSats; |
89 | killagreg | 642 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
643 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
||
644 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
||
645 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
||
41 | ingob | 646 | NaviData.UBat = FC.UBat; |
647 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
||
74 | killagreg | 648 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
73 | killagreg | 649 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
650 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
||
651 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
||
41 | ingob | 652 | NaviData.RC_Quality = (u8) FC.RC_Quality; |
653 | NaviData.MKFlags = (u8)FC.MKFlags; |
||
74 | killagreg | 654 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
89 | killagreg | 655 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
41 | ingob | 656 | |
657 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
89 | killagreg | 658 | return; |
1 | ingob | 659 | } |
660 |