14,9 → 14,10 |
int16_t GPS_Pitch = 0; |
int16_t GPS_Roll = 0; |
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int32_t GPS_P_Factor = 0; |
int32_t GPS_D_Factor = 0; |
int32_t GPS_P_Factor = 0, GPS_D_Factor = 0; |
int32_t GPSPosDev_North = 0, GPSPosDev_East = 0; |
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typedef struct |
{ |
int32_t Northing; |
33,13 → 34,78 |
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// --------------------------------------------------------------------------------- |
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// set current hold position a home positon |
void GPS_SetHomePosition(void) |
{ |
HomePosition.Northing = HoldPosition.Northing; |
HomePosition.Easting = HoldPosition.Easting; |
HomePosition.Status = HoldPosition.Status; |
if(HomePosition.Status == VALID) BeepTime = 1000; // signal if new home position was set |
} |
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void GPS_Main(void) |
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// disable GPS contrl sticks |
void GPS_Neutral(void) |
{ |
GPS_Pitch = 0; |
GPS_Roll = 0; |
} |
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// calculates the GPS control sticks salues from the position deviation |
void GPS_PDController(void) |
{ |
int32_t coscompass, sincompass; |
int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0; |
int32_t PD_North = 0, PD_East = 0; |
int32_t GPSPosDev_North = 0, GPSPosDev_East = 0; |
//Calculate PD-components of the controller (negative sign for compensation) |
P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
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// PD-controller |
PD_North = P_North + D_North; |
PD_East = P_East + D_East; |
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// GPS to pitch and roll settings |
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//A positive pitch angle moves head downwards (flying forward). |
//A positive roll angle tilts left side downwards (flying left). |
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// If compass heading is 0 the head of the copter is in north direction. |
// A positive pitch angle will fly to north and a positive roll angle will fly to west. |
// In case of a positive north deviation/velocity the |
// copter should fly to south (negative pitch). |
// In case of a positive east position deviation and a positive east velocity the |
// copter should fly to west (positive roll). |
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// The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values |
// in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
// GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
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// rotation transformation to compass heading to match any copter orientation |
if (CompassHeading < 0) // no valid compass data |
{ // disable GPS |
GPS_Neutral(); |
} |
else |
{ |
coscompass = (int32_t)c_cos_8192(CompassHeading); |
sincompass = (int32_t)c_sin_8192(CompassHeading); |
GPS_Roll = (int16_t)((coscompass * PD_East - sincompass * PD_North) / 8192); |
GPS_Pitch = -1*(int16_t)((sincompass * PD_East + coscompass * PD_North) / 8192); |
} |
// limit GPS controls |
#define GPS_CTRL_LIMIT 35 |
if (GPS_Pitch > GPS_CTRL_LIMIT) GPS_Pitch = GPS_CTRL_LIMIT; |
if (GPS_Pitch < -GPS_CTRL_LIMIT) GPS_Pitch = -GPS_CTRL_LIMIT; |
if (GPS_Roll > GPS_CTRL_LIMIT) GPS_Roll = GPS_CTRL_LIMIT; |
if (GPS_Roll < -GPS_CTRL_LIMIT) GPS_Roll = -GPS_CTRL_LIMIT; |
} |
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void GPS_Main(void) |
{ |
static uint8_t GPS_Task = TSK_IDLE; |
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46,14 → 112,13 |
// poti2 enables the gps feature |
if(Poti2 < 70) GPS_Task = TSK_IDLE; |
else if (Poti2 < 160) GPS_Task = TSK_HOLD; |
//else GPS_Task = TSK_HOME; |
else GPS_Task = TSK_HOME; // Poti2 >= 160 |
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switch(GPSInfo.status) |
{ |
case INVALID: // invalid gps data |
GPS_Pitch = 0; |
GPS_Roll = 0; |
GPS_Neutral(); |
if(GPS_Task != TSK_IDLE) BeepTime = 50; // beep if signal is neccesary |
break; |
case PROCESSED: // if gps data are already processed |
63,8 → 128,7 |
// and therefore disable GPS |
else |
{ |
GPS_Pitch = 0; |
GPS_Roll = 0; |
GPS_Neutral(); |
GPSInfo.status = INVALID; |
} |
break; |
80,8 → 144,7 |
HoldPosition.Easting = GPSInfo.utmeast; |
HoldPosition.Status = VALID; |
// disable gps control |
GPS_Pitch = 0; |
GPS_Roll = 0; |
GPS_Neutral(); |
break; // eof TSK_IDLE |
case TSK_HOLD: |
// if sticks are centered and hold position is valid enable position hold control |
93,46 → 156,7 |
DebugOut.Analog[12] = GPSPosDev_North; |
DebugOut.Analog[13] = GPSPosDev_East; |
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//Calculate PD-components of the controller (negative sign for compensation) |
P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
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// PD-controller |
PD_North = P_North + D_North; |
PD_East = P_East + D_East; |
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// GPS to pitch and roll settings |
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//A positive pitch angle moves head downwards (flying forward). |
//A positive roll angle tilts left side downwards (flying left). |
|
// If compass heading is 0 the head of the copter is in north direction. |
// A positive pitch angle will fly to north and a positive roll angle will fly to west. |
// In case of a positive north deviation/velocity the |
// copter should fly to south (negative pitch). |
// In case of a positive east position deviation and a positive east velocity the |
// copter should fly to west (positive roll). |
|
// The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values |
// in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
// GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
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// rotation transformation to compass heading to match any copter orientation |
if (CompassHeading < 0) // no valid compass data |
{ // disable GPS |
GPS_Task = TSK_IDLE; |
GPS_Pitch = 0; |
GPS_Roll = 0; |
} |
else |
{ |
coscompass = (int32_t)c_cos_8192(CompassHeading); |
sincompass = (int32_t)c_sin_8192(CompassHeading); |
GPS_Roll = (int16_t)((coscompass * PD_East - sincompass * PD_North) / 8192); |
GPS_Pitch = -1*(int16_t)((sincompass * PD_East + coscompass * PD_North) / 8192); |
} |
GPS_PDController(); |
} |
else // MK controlled by user |
{ |
141,29 → 165,40 |
HoldPosition.Easting = GPSInfo.utmeast; |
HoldPosition.Status = VALID; |
// disable gps control |
GPS_Pitch = 0; |
GPS_Roll = 0; |
GPS_Neutral(); |
} |
break; // eof TSK_HOLD |
case TSK_HOME: |
if(HomePosition.Status == VALID) |
{ |
// update hold point to current gps position |
HoldPosition.Northing = GPSInfo.utmnorth; |
HoldPosition.Easting = GPSInfo.utmeast; |
HoldPosition.Status = VALID; |
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// Calculate deviation from home position |
GPSPosDev_North = GPSInfo.utmnorth - HomePosition.Northing; |
GPSPosDev_East = GPSInfo.utmeast - HomePosition.Easting; |
DebugOut.Analog[12] = GPSPosDev_North; |
DebugOut.Analog[13] = GPSPosDev_East; |
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GPS_PDController(); |
} |
else // bad home position |
{ |
GPS_Neutral(); |
BeepTime = 50; // signal invalid home position |
} |
break; // eof TSK_HOME |
default: // unhandled task |
GPS_Task = TSK_IDLE; |
GPS_Pitch = 0; |
GPS_Roll = 0; |
GPS_Neutral(); |
break; // eof default |
} // eof switch GPS_Task |
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// limit GPS controls |
#define GPS_CTRL_LIMIT 35 |
if (GPS_Pitch > GPS_CTRL_LIMIT) GPS_Pitch = GPS_CTRL_LIMIT; |
if (GPS_Pitch < -GPS_CTRL_LIMIT) GPS_Pitch = -GPS_CTRL_LIMIT; |
if (GPS_Roll > GPS_CTRL_LIMIT) GPS_Roll = GPS_CTRL_LIMIT; |
if (GPS_Roll < -GPS_CTRL_LIMIT) GPS_Roll = -GPS_CTRL_LIMIT; |
} // eof 3D-FIX |
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else // no 3D-SATFIX |
{ // disable gps control |
GPS_Pitch = 0; |
GPS_Roll = 0; |
GPS_Neutral(); |
if(GPS_Task != TSK_IDLE) BeepTime = 50; |
} |
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