Rev 96 | Rev 98 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1 | ingob | 1 | /*#######################################################################################*/ |
41 | ingob | 2 | /*#######################################################################################*/ |
3 | |||
4 | // IMPORTANT NOTE: |
||
5 | |||
6 | // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
||
7 | |||
8 | // The GPS navigation routines are NOT included ! |
||
9 | |||
10 | /*#######################################################################################*/ |
||
11 | /*#######################################################################################*/ |
||
1 | ingob | 12 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
13 | /*#######################################################################################*/ |
||
14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
15 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
16 | // + Nur für den privaten Gebrauch |
||
17 | // + FOR NON COMMERCIAL USE ONLY |
||
18 | // + www.MikroKopter.com |
||
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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. |
||
22 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
23 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
1 | ingob | 24 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
25 | // + Verkauf von Luftbildaufnahmen, usw. |
||
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
30 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
31 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
32 | // + eindeutig als Ursprung verlinkt werden |
||
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
34 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
35 | // + Benutzung auf eigene Gefahr |
||
36 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
37 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
41 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 |
||
46 | // + from this software without specific prior written permission. |
||
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 |
||
1 | ingob | 53 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
54 | // |
||
55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
41 | ingob | 65 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 67 | #include <stdio.h> |
68 | #include <stdlib.h> |
||
69 | #include <math.h> |
||
70 | #include "91x_lib.h" |
||
1 | ingob | 71 | #include "main.h" |
41 | ingob | 72 | #include "uart1.h" |
73 | #include "GPS.h" |
||
74 | #include "timer.h" |
||
75 | #include "spi_slave.h" |
||
76 | #include "waypoints.h" |
||
77 | #include "i2c.h" |
||
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 |
||
82 | typedef enum |
||
83 | { |
||
84 | GPS_FLIGHT_MODE_UNDEF, |
||
85 | GPS_FLIGHT_MODE_FREE, |
||
86 | GPS_FLIGHT_MODE_AID, |
||
87 | GPS_FLIGHT_MODE_WAYPOINT |
||
88 | } GPS_FlightMode_t; |
||
1 | ingob | 89 | |
41 | ingob | 90 | typedef struct |
91 | { |
||
92 | float Gain; |
||
93 | float P; |
||
94 | float I; |
||
95 | float D; |
||
96 | float A; |
||
97 | float ACC; |
||
92 | killagreg | 98 | u32 P_Limit; |
99 | u32 I_Limit; |
||
100 | u32 D_Limit; |
||
101 | u32 PID_Limit; |
||
73 | killagreg | 102 | u32 BrakingDuration; |
41 | ingob | 103 | u8 MinSat; |
104 | s8 StickThreshold; |
||
105 | float WindCorrection; |
||
89 | killagreg | 106 | float SpeedCompensation; |
92 | killagreg | 107 | u32 OperatingRadius; |
41 | ingob | 108 | GPS_FlightMode_t FlightMode; |
109 | } __attribute__((packed)) GPS_Parameter_t; |
||
1 | ingob | 110 | |
41 | ingob | 111 | typedef struct |
112 | { |
||
52 | killagreg | 113 | u8 Status; // invalid, newdata, processed |
41 | ingob | 114 | s32 North; // in cm |
115 | s32 East; // in cm |
||
116 | s32 Bearing; // in deg |
||
92 | killagreg | 117 | u32 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 |
||
121 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
||
41 | ingob | 122 | |
123 | GPS_Stick_t GPS_Stick; |
||
124 | GPS_Parameter_t GPS_Parameter; |
||
125 | |||
126 | // the gps reference positions |
||
127 | GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
||
128 | GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
||
129 | GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
||
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 | //------------------------------------------------------------- |
||
134 | // Update GPSParamter |
||
135 | void GPS_UpdateParameter(void) |
||
136 | { |
||
137 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
||
138 | // in case of bad receiving conditions |
||
139 | if(FC.RC_Quality < 100) |
||
140 | { // set fixed parameter |
||
97 | killagreg | 141 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
41 | ingob | 142 | GPS_Parameter.Gain = (float) 100; |
143 | GPS_Parameter.P = (float) 90; |
||
144 | GPS_Parameter.I = (float) 90; |
||
145 | GPS_Parameter.D = (float) 90; |
||
146 | GPS_Parameter.A = (float) 90; |
||
147 | GPS_Parameter.ACC = (float) 0; |
||
73 | killagreg | 148 | GPS_Parameter.P_Limit = 90; |
149 | GPS_Parameter.I_Limit = 90; |
||
150 | GPS_Parameter.D_Limit = 90; |
||
151 | GPS_Parameter.PID_Limit = 200; |
||
152 | GPS_Parameter.BrakingDuration = 0; |
||
89 | killagreg | 153 | GPS_Parameter.SpeedCompensation = (float) 30; |
41 | ingob | 154 | GPS_Parameter.MinSat = 6; |
155 | GPS_Parameter.StickThreshold = 8; |
||
156 | GPS_Parameter.WindCorrection = 0.0; |
||
157 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
||
73 | killagreg | 158 | |
41 | ingob | 159 | } |
160 | else |
||
161 | { |
||
162 | // update parameter from FC |
||
163 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
||
164 | else |
||
165 | { |
||
96 | killagreg | 166 | if(Parameter.NaviGpsModeControl < 50) |
167 | { |
||
168 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
||
169 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
||
170 | NCFlags |= NC_FLAG_FREE; |
||
171 | } |
||
172 | else if(Parameter.NaviGpsModeControl < 180) |
||
173 | { |
||
174 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
||
175 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
||
176 | NCFlags |= NC_FLAG_PH; |
||
177 | } |
||
178 | else |
||
179 | { |
||
180 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
||
181 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
||
182 | NCFlags |= NC_FLAG_CH; |
||
183 | } |
||
41 | ingob | 184 | } |
185 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
||
186 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
||
187 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
||
188 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
||
189 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
||
190 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
||
92 | killagreg | 191 | GPS_Parameter.P_Limit = (u32)Parameter.NaviGpsPLimit; |
192 | GPS_Parameter.I_Limit = (u32)Parameter.NaviGpsILimit; |
||
193 | GPS_Parameter.D_Limit = (u32)Parameter.NaviGpsDLimit; |
||
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; |
||
199 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
||
92 | killagreg | 200 | GPS_Parameter.OperatingRadius = (u32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
41 | ingob | 201 | } |
202 | // FlightMode changed? |
||
203 | if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
||
204 | FlightMode_Old = GPS_Parameter.FlightMode; |
||
205 | } |
||
206 | |||
207 | //------------------------------------------------------------- |
||
208 | // This function defines a good GPS signal condition |
||
209 | u8 GPS_IsSignalOK(void) |
||
210 | { |
||
211 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
||
212 | else return(0); |
||
213 | } |
||
214 | |||
1 | ingob | 215 | //------------------------------------------------------------ |
41 | ingob | 216 | // Checks for manual control action |
217 | u8 GPS_IsManuallyControlled(void) |
||
218 | { |
||
219 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0)) return 1; |
||
220 | else return 0; |
||
221 | } |
||
222 | |||
223 | //------------------------------------------------------------ |
||
224 | // copy GPS position from source position to target position |
||
225 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
||
226 | { |
||
227 | u8 retval = 0; |
||
228 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
||
229 | // copy only valid positions |
||
230 | if(pGPSPosSrc->Status != INVALID) |
||
231 | { |
||
232 | // if the source GPS position is not invalid |
||
233 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
||
234 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
||
235 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
||
236 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
||
237 | retval = 1; |
||
238 | } |
||
239 | return(retval); |
||
240 | } |
||
241 | |||
242 | //------------------------------------------------------------ |
||
243 | // clear position data |
||
244 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
||
245 | { |
||
246 | u8 retval = FALSE; |
||
247 | if(pGPSPos == NULL) return(retval); // bad pointer |
||
248 | else |
||
249 | { |
||
250 | pGPSPos->Longitude = 0; |
||
251 | pGPSPos->Latitude = 0; |
||
252 | pGPSPos->Altitude = 0; |
||
253 | pGPSPos->Status = INVALID; |
||
254 | retval = TRUE; |
||
255 | } |
||
256 | return (retval); |
||
257 | } |
||
258 | |||
259 | |||
260 | //------------------------------------------------------------ |
||
97 | killagreg | 261 | void GPS_Neutral(void) |
41 | ingob | 262 | { |
263 | GPS_Stick.Nick = 0; |
||
264 | GPS_Stick.Roll = 0; |
||
265 | GPS_Stick.Yaw = 0; |
||
266 | } |
||
267 | |||
268 | //------------------------------------------------------------ |
||
1 | ingob | 269 | void GPS_Init(void) |
270 | { |
||
41 | ingob | 271 | SerialPutString("\r\n GPS init..."); |
272 | UBX_Init(); |
||
273 | GPS_Neutral(); |
||
274 | GPS_ClearPosition(&GPS_HoldPosition); |
||
275 | GPS_ClearPosition(&GPS_HomePosition); |
||
276 | GPS_pTargetPosition = NULL; |
||
277 | WPList_Init(); |
||
278 | GPS_pWaypoint = WPList_Begin(); |
||
279 | GPS_UpdateParameter(); |
||
280 | SerialPutString("ok"); |
||
281 | } |
||
1 | ingob | 282 | |
41 | ingob | 283 | //------------------------------------------------------------ |
284 | // calculate the bearing to target position from its deviation |
||
285 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
||
286 | { |
||
287 | s32 bearing; |
||
288 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
||
289 | bearing = (270L - bearing)%360L; |
||
290 | return(bearing); |
||
1 | ingob | 291 | } |
41 | ingob | 292 | |
293 | |||
1 | ingob | 294 | //------------------------------------------------------------ |
41 | ingob | 295 | // Rescale xy-vector length if length limit is violated |
92 | killagreg | 296 | void GPS_LimitXY(s32 *x, s32 *y, u32 limit) |
41 | ingob | 297 | { |
92 | killagreg | 298 | u32 dist; |
299 | dist = (u32)hypot(*x,*y); // the length of the vector |
||
73 | killagreg | 300 | if (dist == 0) |
301 | { |
||
302 | *x = 0; |
||
303 | *y = 0; |
||
304 | } |
||
305 | else if (dist > limit) |
||
41 | ingob | 306 | // if vector length is larger than the given limit |
307 | { // scale vector compontents so that the length is cut off to limit |
||
73 | killagreg | 308 | *x = (*x * limit) / dist; |
41 | ingob | 309 | *y = (*y * limit) / dist; |
310 | } |
||
311 | } |
||
1 | ingob | 312 | |
41 | ingob | 313 | //------------------------------------------------------------ |
314 | // transform the integer deg into float radians |
||
315 | inline double RadiansFromGPS(s32 deg) |
||
1 | ingob | 316 | { |
41 | ingob | 317 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
318 | } |
||
1 | ingob | 319 | |
41 | ingob | 320 | //------------------------------------------------------------ |
321 | // transform the integer deg into float deg |
||
322 | inline double DegFromGPS(s32 deg) |
||
323 | { |
||
324 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
||
325 | } |
||
1 | ingob | 326 | |
41 | ingob | 327 | //------------------------------------------------------------ |
328 | // calculate the deviation from the current position to the target position |
||
73 | killagreg | 329 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
41 | ingob | 330 | { |
73 | killagreg | 331 | double temp1, temp2; |
41 | ingob | 332 | // if given pointer is NULL |
333 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
||
334 | // if positions are invalid |
||
335 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
||
1 | ingob | 336 | |
41 | ingob | 337 | // The deviation from the current to the target position along north and east direction is |
338 | // simple the lat/lon difference. To convert that angular deviation into an |
||
339 | // arc length the spherical projection has to be considered. |
||
340 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
||
341 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
||
342 | // The arc length per longitude degree depends on the correspondig latitude and |
||
343 | // is 111.2km * cos(latitude). |
||
1 | ingob | 344 | |
41 | ingob | 345 | // calculate the shortest longitude deviation from target |
346 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
||
347 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
||
348 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
||
349 | if(temp1 > 180.0f) temp1 -= 360.0f; |
||
350 | else if (temp1 < -180.0f) temp1 += 360.0f; |
||
73 | killagreg | 351 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
41 | ingob | 352 | // calculate latitude deviation from target |
353 | // this is allways within -180 deg ... 180 deg |
||
354 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
||
355 | // deviation from target position in cm |
||
356 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
||
357 | |||
73 | killagreg | 358 | pDeviationFromTarget->Status = INVALID; |
359 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
||
360 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
||
41 | ingob | 361 | // If the position deviation is small enough to neglect the earth curvature |
362 | // (this is for our application always fulfilled) the distance to target |
||
363 | // can be calculated by the pythagoras of north and east deviation. |
||
92 | killagreg | 364 | pDeviationFromTarget->Distance = (u32)(11119492.7f * hypot(temp1, temp2)); |
73 | killagreg | 365 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
366 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
||
367 | pDeviationFromTarget->Status = NEWDATA; |
||
41 | ingob | 368 | return TRUE; |
369 | |||
370 | baddata: |
||
73 | killagreg | 371 | pDeviationFromTarget->North = 0L; |
372 | pDeviationFromTarget->East = 0L; |
||
373 | pDeviationFromTarget->Distance = 0L; |
||
374 | pDeviationFromTarget->Bearing = 0L; |
||
375 | pDeviationFromTarget->Status = INVALID; |
||
41 | ingob | 376 | return FALSE; |
377 | } |
||
378 | |||
379 | //------------------------------------------------------------ |
||
380 | void GPS_Navigation(void) |
||
381 | { |
||
382 | static u32 beep_rythm; |
||
383 | static u32 GPSDataTimeout = 0; |
||
384 | |||
385 | // pointer to current target position |
||
386 | static GPS_Pos_t * pTargetPositionOld = NULL; |
||
387 | static Waypoint_t* GPS_pWaypointOld = NULL; |
||
388 | |||
389 | 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 |
||
92 | killagreg | 390 | static u32 OperatingRadiusOld = -1; |
41 | ingob | 391 | static u32 WPTime = 0; |
392 | |||
393 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
394 | //+ Check for new data from GPS-receiver |
||
395 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
396 | switch(GPSData.Status) |
||
397 | { |
||
398 | case INVALID: // no gps data available |
||
399 | // do nothing |
||
73 | killagreg | 400 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 401 | break; |
402 | |||
403 | case PROCESSED: // the current data have been allready processed |
||
404 | // if no new data are available within the timeout switch to invalid state. |
||
405 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
||
406 | // wait for new gps data |
||
407 | break; |
||
408 | |||
409 | case NEWDATA: // handle new gps data |
||
410 | |||
411 | // update GPS Parameter from FC-Data via SPI interface |
||
412 | GPS_UpdateParameter(); |
||
413 | |||
414 | // wait maximum of 3 times the normal data update time before data timemout |
||
415 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
||
416 | beep_rythm++; |
||
417 | |||
418 | // debug |
||
92 | killagreg | 419 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
420 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
||
421 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
||
41 | ingob | 422 | |
423 | // If GPS signal condition is sufficient for a reliable position measurement |
||
424 | if(GPS_IsSignalOK()) |
||
425 | { |
||
73 | killagreg | 426 | // update home deviation info |
427 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
||
74 | killagreg | 428 | |
41 | ingob | 429 | // if the MK is starting or the home position is invalid then store the home position |
430 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
||
431 | { // try to update the home position from the current position |
||
432 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
||
433 | { |
||
434 | BeepTime = 700; // beep on success |
||
435 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
||
436 | } |
||
437 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
||
438 | } |
||
439 | |||
440 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
||
441 | |||
442 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
||
443 | switch(GPS_Parameter.FlightMode) |
||
444 | { |
||
445 | // the GPS control is deactived |
||
446 | case GPS_FLIGHT_MODE_FREE: |
||
96 | killagreg | 447 | |
73 | killagreg | 448 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 449 | // update hold position |
450 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
451 | // no target position |
||
452 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 453 | GPS_TargetRadius = 0; |
41 | ingob | 454 | break; |
455 | |||
456 | // the GPS supports the position hold, if the pilot takes no action |
||
457 | case GPS_FLIGHT_MODE_AID: |
||
96 | killagreg | 458 | |
41 | ingob | 459 | // reset WPList to begin |
460 | GPS_pWaypoint = WPList_Begin(); |
||
461 | |||
462 | if(GPS_IsManuallyControlled()) |
||
463 | { |
||
73 | killagreg | 464 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
41 | ingob | 465 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
466 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 467 | GPS_TargetRadius = 0; |
41 | ingob | 468 | } |
469 | else |
||
470 | { |
||
471 | GPS_pTargetPosition = &GPS_HoldPosition; |
||
92 | killagreg | 472 | GPS_TargetRadius = 100; // 1 meter |
41 | ingob | 473 | } |
474 | break; |
||
475 | |||
476 | // the GPS control is directed to a target position |
||
477 | // given by a waypoint or by the home position |
||
478 | case GPS_FLIGHT_MODE_WAYPOINT: |
||
74 | killagreg | 479 | |
73 | killagreg | 480 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
41 | ingob | 481 | { |
73 | killagreg | 482 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
483 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
||
484 | GPS_pTargetPosition = NULL; // set target position invalid |
||
92 | killagreg | 485 | GPS_TargetRadius = 0; |
73 | killagreg | 486 | } |
487 | else // no manual control -> gps position hold active |
||
488 | { |
||
489 | // waypoint trigger logic |
||
490 | if(GPS_pWaypoint != NULL) // waypoint exist |
||
41 | ingob | 491 | { |
73 | killagreg | 492 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
41 | ingob | 493 | { |
73 | killagreg | 494 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
495 | BeepTime = 255; |
||
41 | ingob | 496 | } |
73 | killagreg | 497 | else // waypoint position is valid |
498 | { |
||
499 | // check if the pointer to the waypoint has been changed or the data have been updated |
||
500 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
||
41 | ingob | 501 | { |
73 | killagreg | 502 | GPS_pWaypointOld = GPS_pWaypoint; |
93 | killagreg | 503 | } |
73 | killagreg | 504 | // if WP has been reached once, wait hold time before trigger to next one |
92 | killagreg | 505 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
73 | killagreg | 506 | { |
507 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
||
508 | if(CheckDelay(WPTime)) |
||
509 | { |
||
510 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
||
511 | } |
||
512 | } // EOF if(WPArrived) |
||
92 | killagreg | 513 | else |
514 | { |
||
515 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
||
516 | } |
||
41 | ingob | 517 | } |
73 | killagreg | 518 | } // EOF waypoint trigger logic |
74 | killagreg | 519 | |
73 | killagreg | 520 | if(GPS_pWaypoint != NULL) // Waypoint exist |
41 | ingob | 521 | { |
522 | // update the hold position |
||
523 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
73 | killagreg | 524 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
93 | killagreg | 525 | GPS_TargetRadius = (u32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
92 | killagreg | 526 | |
41 | ingob | 527 | } |
73 | killagreg | 528 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
529 | { |
||
530 | // fly back to home postion |
||
531 | if(GPS_HomePosition.Status == INVALID) |
||
532 | { |
||
533 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
||
92 | killagreg | 534 | GPS_TargetRadius = 100; |
73 | killagreg | 535 | BeepTime = 255; // beep to indicate missin home position |
536 | } |
||
537 | else // the home position is valid |
||
538 | { |
||
539 | // update the hold position |
||
540 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
541 | // set target to home position |
||
542 | GPS_pTargetPosition = &GPS_HomePosition; |
||
92 | killagreg | 543 | GPS_TargetRadius = 100; |
73 | killagreg | 544 | } |
545 | } |
||
546 | } // EOF no manual control |
||
41 | ingob | 547 | break; |
548 | |||
549 | case GPS_FLIGHT_MODE_UNDEF: |
||
550 | default: |
||
73 | killagreg | 551 | GPS_Parameter.PID_Limit = 0; // disables PID output |
41 | ingob | 552 | // update hold position |
553 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
||
554 | // no target position |
||
555 | GPS_pTargetPosition = NULL; |
||
92 | killagreg | 556 | GPS_TargetRadius = 0; |
41 | ingob | 557 | break; |
558 | |||
559 | }// EOF GPS Mode Handling |
||
560 | |||
561 | |||
562 | /* Calculation of range target based on the real target */ |
||
563 | |||
564 | // if no target position exist clear the ranged target position |
||
565 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
||
566 | else |
||
567 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
||
568 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
||
569 | { |
||
73 | killagreg | 570 | BeepTime = 255; // beep to indicate setting of a new target position |
92 | killagreg | 571 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
41 | ingob | 572 | // calculate deviation of new target position from home position |
73 | killagreg | 573 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
41 | ingob | 574 | { |
575 | // check distance from home position |
||
73 | killagreg | 576 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
41 | ingob | 577 | { |
578 | //calculate ranged target position to be within the operation radius area |
||
92 | killagreg | 579 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
41 | ingob | 580 | |
73 | killagreg | 581 | TargetHomeDeviation.North *= GPS_Parameter.OperatingRadius; |
582 | TargetHomeDeviation.North /= TargetHomeDeviation.Distance; |
||
583 | TargetHomeDeviation.East *= GPS_Parameter.OperatingRadius; |
||
584 | TargetHomeDeviation.East /= TargetHomeDeviation.Distance; |
||
585 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
||
586 | |||
41 | ingob | 587 | RangedTargetPosition.Status = INVALID; |
588 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
||
73 | killagreg | 589 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
41 | ingob | 590 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
73 | killagreg | 591 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
41 | ingob | 592 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
593 | RangedTargetPosition.Status = NEWDATA; |
||
594 | } |
||
595 | else |
||
596 | { // the target is located within the operation radius area |
||
597 | // simple copy the loaction to the ranged target position |
||
598 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
||
92 | killagreg | 599 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
41 | ingob | 600 | } |
601 | } |
||
602 | else |
||
603 | { // deviation could not be determined |
||
604 | GPS_ClearPosition(&RangedTargetPosition); |
||
605 | } |
||
606 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
||
607 | } |
||
608 | } |
||
609 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
||
610 | // remember last target position pointer |
||
611 | pTargetPositionOld = GPS_pTargetPosition; |
||
612 | |||
613 | /* Calculate position deviation from ranged target */ |
||
614 | |||
615 | // calculate deviation of current position to ranged target position in cm |
||
73 | killagreg | 616 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
92 | killagreg | 617 | { // set target reached flag of we once reached the target point |
93 | killagreg | 618 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
92 | killagreg | 619 | { |
93 | killagreg | 620 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
92 | killagreg | 621 | } |
41 | ingob | 622 | // implement your control code here based |
73 | killagreg | 623 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
41 | ingob | 624 | GPS_Stick.Nick = 0; |
625 | GPS_Stick.Roll = 0; |
||
626 | GPS_Stick.Yaw = 0; |
||
627 | } |
||
628 | else // deviation could not be calculated |
||
629 | { // do nothing on gps sticks! |
||
630 | GPS_Neutral(); |
||
631 | } |
||
632 | |||
633 | }// eof if GPSSignal is OK |
||
634 | else // GPSSignal not OK |
||
635 | { |
||
636 | GPS_Neutral(); |
||
637 | // beep if signal is not sufficient |
||
638 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
||
639 | { |
||
640 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
||
641 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
||
642 | } |
||
643 | } |
||
644 | GPSData.Status = PROCESSED; // mark as processed |
||
645 | break; |
||
1 | ingob | 646 | } |
41 | ingob | 647 | |
95 | killagreg | 648 | DebugOut.Analog[6] = NCFlags; |
73 | killagreg | 649 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
650 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
||
41 | ingob | 651 | DebugOut.Analog[29] = GPS_Stick.Nick; |
652 | DebugOut.Analog[30] = GPS_Stick.Roll; |
||
653 | |||
654 | // update navi data, send back to ground station |
||
73 | killagreg | 655 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
41 | ingob | 656 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
73 | killagreg | 657 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
41 | ingob | 658 | NaviData.SatsInUse = GPSData.NumOfSats; |
89 | killagreg | 659 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
660 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
||
661 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
||
662 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
||
41 | ingob | 663 | NaviData.UBat = FC.UBat; |
664 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
||
74 | killagreg | 665 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
73 | killagreg | 666 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
667 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
||
668 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
||
92 | killagreg | 669 | NaviData.RC_Quality = (u8)FC.RC_Quality; |
41 | ingob | 670 | NaviData.MKFlags = (u8)FC.MKFlags; |
92 | killagreg | 671 | NaviData.NCFlags = NCFlags; |
74 | killagreg | 672 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
89 | killagreg | 673 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
97 | killagreg | 674 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
41 | ingob | 675 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
89 | killagreg | 676 | return; |
1 | ingob | 677 | } |
678 |