| 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; |
| |
| void GPS_Neutral(void) |
| int16_t GPS_Nick = 0; |
| int16_t GPS_Roll = 0; |
| |
| 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) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| 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; |
| } |
| |