95,11 → 95,15 |
float D; |
float A; |
float ACC; |
s32 P_Limit; |
s32 I_Limit; |
s32 D_Limit; |
s32 PID_Limit; |
u32 BrakingDuration; |
u8 MinSat; |
s8 StickThreshold; |
float WindCorrection; |
s32 OperatingRadius; |
u32 NaviAngleLimitation; |
GPS_FlightMode_t FlightMode; |
} __attribute__((packed)) GPS_Parameter_t; |
|
111,7 → 115,9 |
s32 Bearing; // in deg |
s32 Distance; // in cm |
} __attribute__((packed)) GPS_Deviation_t; |
GPS_Deviation_t TargetDeviation; |
GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
|
GPS_Stick_t GPS_Stick; |
GPS_Parameter_t GPS_Parameter; |
137,11 → 143,16 |
GPS_Parameter.D = (float) 90; |
GPS_Parameter.A = (float) 90; |
GPS_Parameter.ACC = (float) 0; |
GPS_Parameter.P_Limit = 90; |
GPS_Parameter.I_Limit = 90; |
GPS_Parameter.D_Limit = 90; |
GPS_Parameter.PID_Limit = 200; |
GPS_Parameter.BrakingDuration = 0; |
GPS_Parameter.MinSat = 6; |
GPS_Parameter.StickThreshold = 8; |
GPS_Parameter.WindCorrection = 0.0; |
GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
GPS_Parameter.NaviAngleLimitation = 125; |
|
} |
else |
{ |
159,11 → 170,15 |
GPS_Parameter.D = (float)Parameter.NaviGpsD; |
GPS_Parameter.A = (float)Parameter.NaviGpsD; |
GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
GPS_Parameter.PID_Limit = 2* (s32)Parameter.NaviAngleLimitation; |
GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
GPS_Parameter.NaviAngleLimitation = (u32) Parameter.NaviAngleLimitation * 2; |
} |
// FlightMode changed? |
if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
263,10 → 278,15 |
{ |
s32 dist; |
dist = (s32)hypot(*x,*y); // the length of the vector |
if ((dist != 0L) && (dist > limit)) |
if (dist == 0) |
{ |
*x = 0; |
*y = 0; |
} |
else if (dist > limit) |
// if vector length is larger than the given limit |
{ // scale vector compontents so that the length is cut off to limit |
*x = (*x * limit) / dist; |
*x = (*x * limit) / dist; |
*y = (*y * limit) / dist; |
} |
} |
287,9 → 307,9 |
|
//------------------------------------------------------------ |
// calculate the deviation from the current position to the target position |
u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos) |
u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
{ |
double temp1, temp2; |
double temp1, temp2; |
// if given pointer is NULL |
if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
// if positions are invalid |
309,7 → 329,7 |
// In our application we wont fly more than 20.000 km but along the date line this is important. |
if(temp1 > 180.0f) temp1 -= 360.0f; |
else if (temp1 < -180.0f) temp1 += 360.0f; |
temp1 *= cos(RadiansFromGPS(pTargetPos->Latitude)); |
temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
// calculate latitude deviation from target |
// this is allways within -180 deg ... 180 deg |
temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
316,24 → 336,24 |
// deviation from target position in cm |
// i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
|
TargetDeviation.Status = INVALID; |
TargetDeviation.North = (s32)(11119492.7f * temp2); |
TargetDeviation.East = (s32)(11119492.7f * temp1); |
pDeviationFromTarget->Status = INVALID; |
pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
// If the position deviation is small enough to neglect the earth curvature |
// (this is for our application always fulfilled) the distance to target |
// can be calculated by the pythagoras of north and east deviation. |
TargetDeviation.Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
if (TargetDeviation.Distance == 0L) TargetDeviation.Bearing = 0L; |
else TargetDeviation.Bearing = DirectionToTarget_N_E(temp2, temp1); |
TargetDeviation.Status = NEWDATA; |
pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
pDeviationFromTarget->Status = NEWDATA; |
return TRUE; |
|
baddata: |
TargetDeviation.North = 0L; |
TargetDeviation.East = 0L; |
TargetDeviation.Distance = 0L; |
TargetDeviation.Bearing = 0L; |
TargetDeviation.Status = INVALID; |
pDeviationFromTarget->North = 0L; |
pDeviationFromTarget->East = 0L; |
pDeviationFromTarget->Distance = 0L; |
pDeviationFromTarget->Bearing = 0L; |
pDeviationFromTarget->Status = INVALID; |
return FALSE; |
} |
|
359,6 → 379,7 |
{ |
case INVALID: // no gps data available |
// do nothing |
GPS_Parameter.PID_Limit = 0; // disables PID output |
break; |
|
case PROCESSED: // the current data have been allready processed |
384,6 → 405,9 |
// If GPS signal condition is sufficient for a reliable position measurement |
if(GPS_IsSignalOK()) |
{ |
// update home deviation info |
GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
|
// if the MK is starting or the home position is invalid then store the home position |
if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
{ // try to update the home position from the current position |
404,7 → 428,7 |
case GPS_FLIGHT_MODE_FREE: |
NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
NaviData.NCFlags |= NC_FLAG_FREE; |
|
GPS_Parameter.PID_Limit = 0; // disables PID output |
// update hold position |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
// no target position |
420,6 → 444,7 |
|
if(GPS_IsManuallyControlled()) |
{ |
GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
GPS_pTargetPosition = NULL; |
} |
434,73 → 459,83 |
case GPS_FLIGHT_MODE_WAYPOINT: |
NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
NaviData.NCFlags |= NC_FLAG_CH; |
|
// waypoint trigger logic |
if(GPS_pWaypoint != NULL) // waypoint exist |
|
if(GPS_IsManuallyControlled()) // the human pilot takes the action |
{ |
if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
GPS_pTargetPosition = NULL; // set target position invalid |
} |
else // no manual control -> gps position hold active |
{ |
// waypoint trigger logic |
if(GPS_pWaypoint != NULL) // waypoint exist |
{ |
GPS_pWaypoint = WPList_Next(); // goto to next WP |
WPArrived = FALSE; |
BeepTime = 255; |
} |
else // waypoint position is valid |
{ |
// check if the pointer to the waypoint has been changed or the data have been updated |
if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
{ |
GPS_pWaypointOld = GPS_pWaypoint; |
// reset the arrived bit to break a pending HoldTime of the old WP |
GPS_pWaypoint = WPList_Next(); // goto to next WP |
WPArrived = FALSE; |
BeepTime = 255; |
} |
|
if(TargetDeviation.Status != INVALID) |
{ // if the waypoint was not catched and the target area has been reached |
if(!WPArrived && (TargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
else // waypoint position is valid |
{ |
// check if the pointer to the waypoint has been changed or the data have been updated |
if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
{ |
WPArrived = TRUE; |
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
GPS_pWaypointOld = GPS_pWaypoint; |
// reset the arrived bit to break a pending HoldTime of the old WP |
WPArrived = FALSE; |
} |
|
if(CurrentTargetDeviation.Status != INVALID) |
{ // if the waypoint was not catched and the target area has been reached |
if(!WPArrived && (CurrentTargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
{ |
WPArrived = TRUE; |
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
} |
} |
// if WP has been reached once, wait hold time before trigger to next one |
if(WPArrived) |
{ |
/* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
if(CheckDelay(WPTime)) |
{ |
GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
WPArrived = FALSE; // which is not arrived |
} |
} // EOF if(WPArrived) |
} |
// if WP has been reached once, wait hold time before trigger to next one |
if(WPArrived) |
{ |
/* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
if(CheckDelay(WPTime)) |
{ |
GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
WPArrived = FALSE; // which is not arrived |
} |
} // EOF if(WPArrived) |
} |
} // EOF waypoint trigger logic |
|
if(GPS_pWaypoint != NULL) // Waypoint exist |
{ |
// update the hold position |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
} |
else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
{ |
// fly back to home postion |
if(GPS_HomePosition.Status == INVALID) |
} // EOF waypoint trigger logic |
|
if(GPS_pWaypoint != NULL) // Waypoint exist |
{ |
GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
BeepTime = 255; // beep to indicate missin home position |
} |
else // the home position is valid |
{ |
// update the hold position |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
// set target to home position |
GPS_pTargetPosition = &GPS_HomePosition; |
GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
} |
} |
else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
{ |
// fly back to home postion |
if(GPS_HomePosition.Status == INVALID) |
{ |
GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
BeepTime = 255; // beep to indicate missin home position |
} |
else // the home position is valid |
{ |
// update the hold position |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
// set target to home position |
GPS_pTargetPosition = &GPS_HomePosition; |
} |
} |
} // EOF no manual control |
break; |
|
case GPS_FLIGHT_MODE_UNDEF: |
default: |
GPS_Parameter.PID_Limit = 0; // disables PID output |
// update hold position |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
// no target position |
518,22 → 553,27 |
{ // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
{ |
BeepTime = 255; // beep to indicate setting of a new target position |
// calculate deviation of new target position from home position |
if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition)) |
if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
{ |
// check distance from home position |
if(TargetDeviation.Distance > GPS_Parameter.OperatingRadius) |
if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
{ |
//calculate ranged target position to be within the operation radius area |
NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
TargetDeviation.Distance = GPS_Parameter.OperatingRadius; |
GPS_LimitXY(&(TargetDeviation.East), &(TargetDeviation.North), TargetDeviation.Distance); |
|
TargetHomeDeviation.North *= GPS_Parameter.OperatingRadius; |
TargetHomeDeviation.North /= TargetHomeDeviation.Distance; |
TargetHomeDeviation.East *= GPS_Parameter.OperatingRadius; |
TargetHomeDeviation.East /= TargetHomeDeviation.Distance; |
TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
|
RangedTargetPosition.Status = INVALID; |
RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
RangedTargetPosition.Latitude += (s32)((float)TargetDeviation.North / 1.11194927f); |
RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
RangedTargetPosition.Longitude += (s32)((float)TargetDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
RangedTargetPosition.Status = NEWDATA; |
} |
558,10 → 598,10 |
/* Calculate position deviation from ranged target */ |
|
// calculate deviation of current position to ranged target position in cm |
if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition)) |
if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
{ |
// implement your control code here based |
// in the info available in the TargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
// in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
GPS_Stick.Nick = 0; |
GPS_Stick.Roll = 0; |
GPS_Stick.Yaw = 0; |
586,25 → 626,29 |
break; |
} |
|
DebugOut.Analog[27] = (s16)TargetDeviation.North; |
DebugOut.Analog[28] = (s16)TargetDeviation.East; |
DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
DebugOut.Analog[29] = GPS_Stick.Nick; |
DebugOut.Analog[30] = GPS_Stick.Roll; |
|
// update navi data, send back to ground station |
GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
NaviData.SatsInUse = GPSData.NumOfSats; |
NaviData.TargetPositionDeviation.Distance = TargetDeviation.Distance; |
NaviData.TargetPositionDeviation.Bearing = TargetDeviation.Bearing; |
NaviData.TargetPositionDeviation.Distance = CurrentTargetDeviation.Distance; |
NaviData.TargetPositionDeviation.Bearing = CurrentTargetDeviation.Bearing; |
NaviData.HomePositionDeviation.Distance = CurrentHomeDeviation.Distance; |
NaviData.HomePositionDeviation.Bearing = CurrentHomeDeviation.Bearing; |
NaviData.UBat = FC.UBat; |
NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
NaviData.Heading = (s16)GPSData.Heading; |
NaviData.CompassHeading = FromFlightCtrl.GyroHeading / 10; // in deg |
NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
NaviData.RC_Quality = (u8) FC.RC_Quality; |
NaviData.MKFlags = (u8)FC.MKFlags; |
NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
|
//+++++++++++++++++++++++++++++++++++++++++++++++++++ |
return; |