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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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103 | killagreg | 96 | float A; |
41 | ingob | 97 | float ACC; |
102 | 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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73 | killagreg | 102 | u32 BrakingDuration; |
41 | ingob | 103 | u8 MinSat; |
104 | s8 StickThreshold; |
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105 | float WindCorrection; |
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89 | killagreg | 106 | float SpeedCompensation; |
102 | killagreg | 107 | s32 OperatingRadius; |
41 | ingob | 108 | GPS_FlightMode_t FlightMode; |
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 |
103 | killagreg | 114 | s32 North; // in cm |
41 | ingob | 115 | s32 East; // in cm |
116 | s32 Bearing; // in deg |
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102 | killagreg | 117 | s32 Distance; // in cm |
41 | ingob | 118 | } __attribute__((packed)) GPS_Deviation_t; |
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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92 | killagreg | 130 | u32 GPS_TargetRadius = 0; // catch radius for target area |
41 | ingob | 131 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
132 | |||
133 | //------------------------------------------------------------- |
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134 | // Update GPSParamter |
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135 | void GPS_UpdateParameter(void) |
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136 | { |
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137 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
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138 | // in case of bad receiving conditions |
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139 | if(FC.RC_Quality < 100) |
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140 | { // set fixed parameter |
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97 | killagreg | 141 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
41 | ingob | 142 | GPS_Parameter.Gain = (float) 100; |
143 | GPS_Parameter.P = (float) 90; |
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144 | GPS_Parameter.I = (float) 90; |
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145 | GPS_Parameter.D = (float) 90; |
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146 | GPS_Parameter.A = (float) 90; |
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147 | GPS_Parameter.ACC = (float) 0; |
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73 | killagreg | 148 | GPS_Parameter.P_Limit = 90; |
149 | GPS_Parameter.I_Limit = 90; |
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150 | GPS_Parameter.D_Limit = 90; |
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151 | GPS_Parameter.PID_Limit = 200; |
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152 | GPS_Parameter.BrakingDuration = 0; |
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89 | killagreg | 153 | GPS_Parameter.SpeedCompensation = (float) 30; |
41 | ingob | 154 | GPS_Parameter.MinSat = 6; |
155 | GPS_Parameter.StickThreshold = 8; |
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156 | GPS_Parameter.WindCorrection = 0.0; |
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157 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
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73 | killagreg | 158 | |
41 | ingob | 159 | } |
160 | else |
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161 | { |
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162 | // update parameter from FC |
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163 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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164 | else |
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165 | { |
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96 | killagreg | 166 | if(Parameter.NaviGpsModeControl < 50) |
167 | { |
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168 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
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169 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
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170 | NCFlags |= NC_FLAG_FREE; |
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171 | } |
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172 | else if(Parameter.NaviGpsModeControl < 180) |
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173 | { |
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174 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
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175 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
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176 | NCFlags |= NC_FLAG_PH; |
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177 | } |
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178 | else |
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179 | { |
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180 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
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181 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
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182 | NCFlags |= NC_FLAG_CH; |
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183 | } |
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41 | ingob | 184 | } |
185 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
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186 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
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187 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
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188 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
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189 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
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190 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
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102 | killagreg | 191 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
192 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
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193 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
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92 | killagreg | 194 | GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation; |
73 | killagreg | 195 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
89 | killagreg | 196 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
41 | ingob | 197 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
198 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
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199 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
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102 | killagreg | 200 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
41 | ingob | 201 | } |
202 | // FlightMode changed? |
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103 | killagreg | 203 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
204 | { |
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205 | BeepTime = 100; // beep to indicate that mode has been switched |
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206 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
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207 | } |
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41 | ingob | 208 | FlightMode_Old = GPS_Parameter.FlightMode; |
209 | } |
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210 | |||
211 | //------------------------------------------------------------- |
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212 | // This function defines a good GPS signal condition |
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213 | u8 GPS_IsSignalOK(void) |
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214 | { |
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215 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
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216 | else return(0); |
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217 | } |
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218 | |||
1 | ingob | 219 | //------------------------------------------------------------ |
41 | ingob | 220 | // Checks for manual control action |
221 | u8 GPS_IsManuallyControlled(void) |
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222 | { |
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102 | killagreg | 223 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0) && (FC.RC_Quality > 150) ) |
224 | { |
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225 | NCFlags |= NC_FLAG_MANUAL_CONTROL; |
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226 | return(1); |
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227 | } |
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228 | else |
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229 | { |
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230 | NCFlags &= ~NC_FLAG_MANUAL_CONTROL; |
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231 | return(0); |
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103 | killagreg | 232 | } |
41 | ingob | 233 | } |
234 | |||
235 | //------------------------------------------------------------ |
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236 | // copy GPS position from source position to target position |
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237 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
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238 | { |
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239 | u8 retval = 0; |
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240 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
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241 | // copy only valid positions |
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242 | if(pGPSPosSrc->Status != INVALID) |
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243 | { |
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244 | // if the source GPS position is not invalid |
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245 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
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246 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
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247 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
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248 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
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249 | retval = 1; |
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250 | } |
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251 | return(retval); |
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252 | } |
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253 | |||
254 | //------------------------------------------------------------ |
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255 | // clear position data |
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256 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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257 | { |
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258 | u8 retval = FALSE; |
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259 | if(pGPSPos == NULL) return(retval); // bad pointer |
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260 | else |
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261 | { |
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262 | pGPSPos->Longitude = 0; |
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263 | pGPSPos->Latitude = 0; |
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264 | pGPSPos->Altitude = 0; |
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265 | pGPSPos->Status = INVALID; |
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266 | retval = TRUE; |
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267 | } |
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268 | return (retval); |
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269 | } |
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270 | |||
271 | |||
272 | //------------------------------------------------------------ |
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97 | killagreg | 273 | void GPS_Neutral(void) |
41 | ingob | 274 | { |
275 | GPS_Stick.Nick = 0; |
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276 | GPS_Stick.Roll = 0; |
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277 | GPS_Stick.Yaw = 0; |
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278 | } |
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279 | |||
280 | //------------------------------------------------------------ |
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1 | ingob | 281 | void GPS_Init(void) |
282 | { |
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41 | ingob | 283 | SerialPutString("\r\n GPS init..."); |
284 | UBX_Init(); |
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285 | GPS_Neutral(); |
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286 | GPS_ClearPosition(&GPS_HoldPosition); |
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287 | GPS_ClearPosition(&GPS_HomePosition); |
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288 | GPS_pTargetPosition = NULL; |
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289 | WPList_Init(); |
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290 | GPS_pWaypoint = WPList_Begin(); |
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291 | GPS_UpdateParameter(); |
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292 | SerialPutString("ok"); |
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293 | } |
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1 | ingob | 294 | |
41 | ingob | 295 | //------------------------------------------------------------ |
296 | // calculate the bearing to target position from its deviation |
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297 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
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298 | { |
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299 | s32 bearing; |
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300 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
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301 | bearing = (270L - bearing)%360L; |
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302 | return(bearing); |
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1 | ingob | 303 | } |
41 | ingob | 304 | |
305 | |||
1 | ingob | 306 | //------------------------------------------------------------ |
41 | ingob | 307 | // Rescale xy-vector length if length limit is violated |
102 | killagreg | 308 | // returns vector len after scaling |
309 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
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41 | ingob | 310 | { |
102 | killagreg | 311 | s32 dist; |
98 | killagreg | 312 | |
102 | killagreg | 313 | dist = (s32)hypot(*x,*y); // the length of the vector |
99 | killagreg | 314 | if (dist > limit) |
41 | ingob | 315 | // if vector length is larger than the given limit |
103 | killagreg | 316 | { // scale vector compontents so that the length is cut off to limit |
102 | killagreg | 317 | *x = (s32)(( (double)(*x) * (double)limit ) / (double)dist); |
318 | *y = (s32)(( (double)(*y) * (double)limit ) / (double)dist); |
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99 | killagreg | 319 | dist = limit; |
41 | ingob | 320 | } |
99 | killagreg | 321 | return(dist); |
41 | ingob | 322 | } |
1 | ingob | 323 | |
41 | ingob | 324 | //------------------------------------------------------------ |
325 | // transform the integer deg into float radians |
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326 | inline double RadiansFromGPS(s32 deg) |
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1 | ingob | 327 | { |
41 | ingob | 328 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
329 | } |
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1 | ingob | 330 | |
41 | ingob | 331 | //------------------------------------------------------------ |
332 | // transform the integer deg into float deg |
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333 | inline double DegFromGPS(s32 deg) |
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334 | { |
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335 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
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336 | } |
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1 | ingob | 337 | |
41 | ingob | 338 | //------------------------------------------------------------ |
339 | // calculate the deviation from the current position to the target position |
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73 | killagreg | 340 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
41 | ingob | 341 | { |
73 | killagreg | 342 | double temp1, temp2; |
41 | ingob | 343 | // if given pointer is NULL |
344 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
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345 | // if positions are invalid |
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346 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
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1 | ingob | 347 | |
41 | ingob | 348 | // The deviation from the current to the target position along north and east direction is |
349 | // simple the lat/lon difference. To convert that angular deviation into an |
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350 | // arc length the spherical projection has to be considered. |
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351 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
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352 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
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353 | // The arc length per longitude degree depends on the correspondig latitude and |
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354 | // is 111.2km * cos(latitude). |
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1 | ingob | 355 | |
41 | ingob | 356 | // calculate the shortest longitude deviation from target |
357 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
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358 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
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359 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
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360 | if(temp1 > 180.0f) temp1 -= 360.0f; |
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361 | else if (temp1 < -180.0f) temp1 += 360.0f; |
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73 | killagreg | 362 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
41 | ingob | 363 | // calculate latitude deviation from target |
364 | // this is allways within -180 deg ... 180 deg |
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365 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
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366 | // deviation from target position in cm |
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367 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
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368 | |||
73 | killagreg | 369 | pDeviationFromTarget->Status = INVALID; |
370 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
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371 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
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41 | ingob | 372 | // If the position deviation is small enough to neglect the earth curvature |
373 | // (this is for our application always fulfilled) the distance to target |
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374 | // can be calculated by the pythagoras of north and east deviation. |
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102 | killagreg | 375 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
73 | killagreg | 376 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
377 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
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378 | pDeviationFromTarget->Status = NEWDATA; |
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41 | ingob | 379 | return TRUE; |
380 | |||
381 | baddata: |
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73 | killagreg | 382 | pDeviationFromTarget->North = 0L; |
383 | pDeviationFromTarget->East = 0L; |
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384 | pDeviationFromTarget->Distance = 0L; |
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385 | pDeviationFromTarget->Bearing = 0L; |
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386 | pDeviationFromTarget->Status = INVALID; |
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41 | ingob | 387 | return FALSE; |
388 | } |
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389 | |||
390 | //------------------------------------------------------------ |
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391 | void GPS_Navigation(void) |
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392 | { |
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393 | static u32 beep_rythm; |
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394 | static u32 GPSDataTimeout = 0; |
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395 | |||
396 | // pointer to current target position |
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397 | static GPS_Pos_t * pTargetPositionOld = NULL; |
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398 | static Waypoint_t* GPS_pWaypointOld = NULL; |
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399 | |||
400 | 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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102 | killagreg | 401 | static s32 OperatingRadiusOld = -1; |
41 | ingob | 402 | static u32 WPTime = 0; |
403 | |||
404 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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405 | //+ Check for new data from GPS-receiver |
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406 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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407 | switch(GPSData.Status) |
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408 | { |
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409 | case INVALID: // no gps data available |
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410 | // do nothing |
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73 | killagreg | 411 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 412 | break; |
413 | |||
414 | case PROCESSED: // the current data have been allready processed |
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415 | // if no new data are available within the timeout switch to invalid state. |
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416 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
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417 | // wait for new gps data |
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418 | break; |
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419 | |||
420 | case NEWDATA: // handle new gps data |
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421 | |||
422 | // update GPS Parameter from FC-Data via SPI interface |
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423 | GPS_UpdateParameter(); |
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424 | |||
425 | // wait maximum of 3 times the normal data update time before data timemout |
||
426 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
||
427 | beep_rythm++; |
||
428 | |||
429 | // debug |
||
92 | killagreg | 430 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
431 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
||
432 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
||
41 | ingob | 433 | |
434 | // If GPS signal condition is sufficient for a reliable position measurement |
||
435 | if(GPS_IsSignalOK()) |
||
436 | { |
||
73 | killagreg | 437 | // update home deviation info |
438 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
||
74 | killagreg | 439 | |
41 | ingob | 440 | // if the MK is starting or the home position is invalid then store the home position |
441 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
||
442 | { // try to update the home position from the current position |
||
443 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
||
444 | { |
||
445 | BeepTime = 700; // beep on success |
||
446 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
||
447 | } |
||
448 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
||
449 | } |
||
450 | |||
451 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
||
452 | |||
453 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
||
103 | killagreg | 454 | switch(GPS_Parameter.FlightMode) |
41 | ingob | 455 | { |
456 | // the GPS control is deactived |
||
457 | case GPS_FLIGHT_MODE_FREE: |
||
96 | killagreg | 458 | |
73 | killagreg | 459 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 460 | // update hold position |
461 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
462 | // no target position |
||
463 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 464 | GPS_TargetRadius = 0; |
41 | ingob | 465 | break; |
466 | |||
467 | // the GPS supports the position hold, if the pilot takes no action |
||
468 | case GPS_FLIGHT_MODE_AID: |
||
96 | killagreg | 469 | |
41 | ingob | 470 | // reset WPList to begin |
471 | GPS_pWaypoint = WPList_Begin(); |
||
472 | |||
473 | if(GPS_IsManuallyControlled()) |
||
474 | { |
||
73 | killagreg | 475 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
41 | ingob | 476 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
477 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 478 | GPS_TargetRadius = 0; |
41 | ingob | 479 | } |
480 | else |
||
481 | { |
||
482 | GPS_pTargetPosition = &GPS_HoldPosition; |
||
92 | killagreg | 483 | GPS_TargetRadius = 100; // 1 meter |
41 | ingob | 484 | } |
485 | break; |
||
486 | |||
487 | // the GPS control is directed to a target position |
||
488 | // given by a waypoint or by the home position |
||
489 | case GPS_FLIGHT_MODE_WAYPOINT: |
||
74 | killagreg | 490 | |
73 | killagreg | 491 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
41 | ingob | 492 | { |
73 | killagreg | 493 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
494 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
||
495 | GPS_pTargetPosition = NULL; // set target position invalid |
||
92 | killagreg | 496 | GPS_TargetRadius = 0; |
73 | killagreg | 497 | } |
498 | else // no manual control -> gps position hold active |
||
499 | { |
||
500 | // waypoint trigger logic |
||
501 | if(GPS_pWaypoint != NULL) // waypoint exist |
||
41 | ingob | 502 | { |
73 | killagreg | 503 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
41 | ingob | 504 | { |
73 | killagreg | 505 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
506 | BeepTime = 255; |
||
41 | ingob | 507 | } |
73 | killagreg | 508 | else // waypoint position is valid |
509 | { |
||
510 | // check if the pointer to the waypoint has been changed or the data have been updated |
||
511 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
||
41 | ingob | 512 | { |
73 | killagreg | 513 | GPS_pWaypointOld = GPS_pWaypoint; |
93 | killagreg | 514 | } |
73 | killagreg | 515 | // if WP has been reached once, wait hold time before trigger to next one |
92 | killagreg | 516 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
73 | killagreg | 517 | { |
518 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
||
519 | if(CheckDelay(WPTime)) |
||
520 | { |
||
521 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
||
522 | } |
||
523 | } // EOF if(WPArrived) |
||
92 | killagreg | 524 | else |
525 | { |
||
526 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
||
527 | } |
||
41 | ingob | 528 | } |
73 | killagreg | 529 | } // EOF waypoint trigger logic |
74 | killagreg | 530 | |
73 | killagreg | 531 | if(GPS_pWaypoint != NULL) // Waypoint exist |
41 | ingob | 532 | { |
533 | // update the hold position |
||
534 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
73 | killagreg | 535 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
102 | killagreg | 536 | GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
92 | killagreg | 537 | |
41 | ingob | 538 | } |
73 | killagreg | 539 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
540 | { |
||
541 | // fly back to home postion |
||
542 | if(GPS_HomePosition.Status == INVALID) |
||
543 | { |
||
544 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
||
92 | killagreg | 545 | GPS_TargetRadius = 100; |
73 | killagreg | 546 | BeepTime = 255; // beep to indicate missin home position |
547 | } |
||
548 | else // the home position is valid |
||
549 | { |
||
550 | // update the hold position |
||
551 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
552 | // set target to home position |
||
553 | GPS_pTargetPosition = &GPS_HomePosition; |
||
92 | killagreg | 554 | GPS_TargetRadius = 100; |
73 | killagreg | 555 | } |
556 | } |
||
557 | } // EOF no manual control |
||
41 | ingob | 558 | break; |
559 | |||
560 | case GPS_FLIGHT_MODE_UNDEF: |
||
561 | default: |
||
73 | killagreg | 562 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 563 | // update hold position |
564 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
565 | // no target position |
||
566 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 567 | GPS_TargetRadius = 0; |
41 | ingob | 568 | break; |
569 | |||
570 | }// EOF GPS Mode Handling |
||
571 | |||
572 | |||
573 | /* Calculation of range target based on the real target */ |
||
574 | |||
575 | // if no target position exist clear the ranged target position |
||
576 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
||
577 | else |
||
578 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
||
579 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
||
580 | { |
||
73 | killagreg | 581 | BeepTime = 255; // beep to indicate setting of a new target position |
92 | killagreg | 582 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
41 | ingob | 583 | // calculate deviation of new target position from home position |
73 | killagreg | 584 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
41 | ingob | 585 | { |
586 | // check distance from home position |
||
73 | killagreg | 587 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
41 | ingob | 588 | { |
589 | //calculate ranged target position to be within the operation radius area |
||
92 | killagreg | 590 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
41 | ingob | 591 | |
102 | killagreg | 592 | TargetHomeDeviation.North = (s32)(((float)TargetHomeDeviation.North * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
593 | TargetHomeDeviation.East = (s32)(((float)TargetHomeDeviation.East * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
||
594 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
||
73 | killagreg | 595 | |
41 | ingob | 596 | RangedTargetPosition.Status = INVALID; |
597 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
||
73 | killagreg | 598 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
41 | ingob | 599 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
73 | killagreg | 600 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
41 | ingob | 601 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
103 | killagreg | 602 | RangedTargetPosition.Status = NEWDATA; |
41 | ingob | 603 | } |
604 | else |
||
605 | { // the target is located within the operation radius area |
||
606 | // simple copy the loaction to the ranged target position |
||
607 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
||
92 | killagreg | 608 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
41 | ingob | 609 | } |
610 | } |
||
611 | else |
||
612 | { // deviation could not be determined |
||
613 | GPS_ClearPosition(&RangedTargetPosition); |
||
614 | } |
||
615 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
||
616 | } |
||
617 | } |
||
618 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
||
619 | // remember last target position pointer |
||
620 | pTargetPositionOld = GPS_pTargetPosition; |
||
621 | |||
622 | /* Calculate position deviation from ranged target */ |
||
623 | |||
624 | // calculate deviation of current position to ranged target position in cm |
||
73 | killagreg | 625 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
92 | killagreg | 626 | { // set target reached flag of we once reached the target point |
93 | killagreg | 627 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
92 | killagreg | 628 | { |
93 | killagreg | 629 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
92 | killagreg | 630 | } |
41 | ingob | 631 | // implement your control code here based |
73 | killagreg | 632 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
41 | ingob | 633 | GPS_Stick.Nick = 0; |
634 | GPS_Stick.Roll = 0; |
||
635 | GPS_Stick.Yaw = 0; |
||
636 | } |
||
637 | else // deviation could not be calculated |
||
638 | { // do nothing on gps sticks! |
||
639 | GPS_Neutral(); |
||
103 | killagreg | 640 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached |
41 | ingob | 641 | } |
642 | |||
643 | }// eof if GPSSignal is OK |
||
644 | else // GPSSignal not OK |
||
645 | { |
||
646 | GPS_Neutral(); |
||
647 | // beep if signal is not sufficient |
||
648 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
||
649 | { |
||
650 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
||
651 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
||
652 | } |
||
653 | } |
||
103 | killagreg | 654 | GPSData.Status = PROCESSED; // mark as processed |
41 | ingob | 655 | break; |
1 | ingob | 656 | } |
41 | ingob | 657 | |
95 | killagreg | 658 | DebugOut.Analog[6] = NCFlags; |
73 | killagreg | 659 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
660 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
||
41 | ingob | 661 | DebugOut.Analog[29] = GPS_Stick.Nick; |
662 | DebugOut.Analog[30] = GPS_Stick.Roll; |
||
663 | |||
664 | // update navi data, send back to ground station |
||
73 | killagreg | 665 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
41 | ingob | 666 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
73 | killagreg | 667 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
41 | ingob | 668 | NaviData.SatsInUse = GPSData.NumOfSats; |
89 | killagreg | 669 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
670 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
||
671 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
||
672 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
||
41 | ingob | 673 | NaviData.UBat = FC.UBat; |
674 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
||
74 | killagreg | 675 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
73 | killagreg | 676 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
677 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
||
678 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
||
92 | killagreg | 679 | NaviData.RC_Quality = (u8)FC.RC_Quality; |
41 | ingob | 680 | NaviData.MKFlags = (u8)FC.MKFlags; |
92 | killagreg | 681 | NaviData.NCFlags = NCFlags; |
74 | killagreg | 682 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
89 | killagreg | 683 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
97 | killagreg | 684 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
41 | ingob | 685 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
103 | killagreg | 686 | return; |
1 | ingob | 687 | } |
688 |