1,30 → 1,138 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
|
signed int GPS_Nick = 0; |
signed int GPS_Roll = 0; |
long GpsAktuell_X = 0; |
long GpsAktuell_Y = 0; |
long GpsZiel_X = 0; |
long GpsZiel_Y = 0; |
int16_t GPS_Nick = 0; |
int16_t GPS_Roll = 0; |
|
void GPS_Neutral(void) |
uint8_t GPS_P_Factor = 0; |
uint8_t GPS_D_Factor = 0; |
|
uint8_t flashtimer; |
|
typedef struct |
{ |
GpsZiel_X = GpsAktuell_X; |
GpsZiel_Y = GpsAktuell_Y; |
} |
int32_t Northing; |
int32_t Easting; |
uint8_t Status; |
|
void GPS_BerechneZielrichtung(void) |
} GPS_Pos_t; |
|
// GPS coordinates for hold position |
GPS_Pos_t GPSHoldPoint = {0,0, INVALID}; |
|
|
|
// --------------------------------------------------------------------------------- |
|
|
void GPS_Main(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; |
|
// poti2 enables the gps feature |
if((Poti3 > 70) && (!Notlandung)) // run GPS function only if Poti 2 is larger than 70 (switch on) |
{ |
switch(GPSInfo.status) |
{ |
case INVALID: // invalid gps data |
GPS_Nick = 0; |
GPS_Roll = 0; |
GRN_OFF; |
break; |
case PROCESSED: // if gps data are already processed |
// downcount timeout |
if(GPSTimeout) GPSTimeout--; |
// if no new data arrived within timeout set current data invalid |
// and therefore disable GPS |
else |
{ |
GPS_Nick = 0; |
GPS_Roll = 0; |
GPSInfo.status = INVALID; |
} |
break; |
case VALID: // new valid data from gps device |
// if the gps data quality is sufficient |
if (GPSInfo.satfix == SATFIX_3D) |
{ |
GRN_ON; |
// if sticks are centered and hold position is valid enable position hold control |
if ((MaxStickNick < 20) && (MaxStickRoll < 20) && (GPSHoldPoint.Status == VALID)) |
{ |
// Calculate deviation from hold position |
GPSPosDev_North = GPSInfo.utmnorth - GPSHoldPoint.Northing; |
GPSPosDev_East = GPSInfo.utmeast - GPSHoldPoint.Easting; |
|
//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; |
|
// PD-controller |
PD_North = P_North + D_North; |
PD_East = P_East + D_East; |
|
// GPS to pitch and roll settings |
|
//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_Nick 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_Nick and a positive east deviation/velocity should result in a negative GPS_Roll. |
|
// rotation transformation to compass heading to match any copter orientation |
coscompass = (int32_t)cos_i(KompassValue); |
sincompass = (int32_t)sin_i(KompassValue); |
|
GPS_Roll = (int16_t)((PD_East * coscompass - PD_North * sincompass) / 1024); |
GPS_Nick = -1*(int16_t)((PD_East * sincompass + PD_North * coscompass) / 1024); |
|
// limit GPS controls |
#define GPS_CTRL_LIMIT 35 |
if (GPS_Nick > GPS_CTRL_LIMIT) GPS_Nick = GPS_CTRL_LIMIT; |
if (GPS_Nick < -GPS_CTRL_LIMIT) GPS_Nick = -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; |
} |
else // MK controlled by user |
{ |
// update hold point to current gps position |
GPSHoldPoint.Northing = GPSInfo.utmnorth; |
GPSHoldPoint.Easting = GPSInfo.utmeast; |
GPSHoldPoint.Status = VALID; |
// disable gps control |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
} // eof 3D-FIX |
else // no 3D-SATFIX |
{ // diable gps control |
GPS_Nick = 0; |
GPS_Roll = 0; |
if (!flashtimer--) |
{ |
GRN_FLASH; |
flashtimer=5; |
} |
} |
// set current data as processed to avoid further calculations on the same gps data |
GPSInfo.status = PROCESSED; |
break; |
} // eof GPSInfo.status |
} |
else GRN_OFF; |
|
return; |
} |
|