| 1,30 → 1,116 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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" |
| #include <inttypes.h> |
| |
| signed int GPS_Pitch = 0; |
| signed int GPS_Roll = 0; |
| long GpsReading_X = 0; |
| long GpsReading_Y = 0; |
| long GpsTarget_X = 0; |
| long GpsTarget_Y = 0; |
| #include "fc.h" |
| #include "ubx.h" |
| #include "mymath.h" |
| |
| void GPS_Neutral(void) |
| int16_t GPS_Pitch = 0; |
| int16_t GPS_Roll = 0; |
| |
| uint8_t GPS_P_Factor = 0; |
| uint8_t GPS_D_Factor = 0; |
| |
| typedef struct |
| { |
| GpsTarget_X = GpsReading_X; |
| GpsTarget_Y = GpsReading_Y; |
| } |
| int32_t Northing; |
| int32_t Easting; |
| uint8_t Status; |
| |
| void GPS_CalcTargetDirection(void) |
| } GPS_Pos_t; |
| |
| // GPS coordinates for hold position |
| GPS_Pos_t GPSHoldPoint = {0,0, INVALID}; |
| // GPS coordinates for flying home |
| GPS_Pos_t GPSHomePoint = {0,0, INVALID};; |
| |
| |
| |
| // --------------------------------------------------------------------------------- |
| |
| |
| void GPS_Main(void) |
| { |
| GPS_Pitch = 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(Poti2 > 70) // run GPS function only if Poti 2 is larger than 70 (switch on) |
| { |
| switch(GPSInfo.status) |
| { |
| case INVALID: // invalid gps data |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| 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_Pitch = 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) |
| { |
| // if sticks are centered and hold position is valid enable position hold |
| if ((MaxStickPitch < 20) && (MaxStickRoll < 20) && (GPSHoldPoint.Status == VALID)) |
| { |
| coscompass = (int32_t)c_cos_8192(CompassHeading); |
| sincompass = (int32_t)c_sin_8192(CompassHeading); |
| |
| // Calculate deviation from hold position |
| GPSPosDev_North = GPSInfo.utmnorth - GPSHoldPoint.Northing; |
| GPSPosDev_East = GPSInfo.utmeast - GPSHoldPoint.Easting; |
| |
| //Calculate PD-components of the controller |
| P_North = (GPS_P_Factor * GPSPosDev_North)/2048; |
| D_North = (GPS_D_Factor * GPSInfo.velnorth)/255; |
| P_East = (GPS_P_Factor * GPSPosDev_East)/2048; |
| D_East = (GPS_D_Factor * GPSInfo.veleast)/255; |
| |
| // PD-controller |
| PD_North = (-P_North + D_North); |
| PD_East = (P_East - D_East); |
| |
| // GPS to pitch and roll |
| GPS_Pitch = (int16_t)((coscompass * PD_North - sincompass * PD_East) / 8192); |
| GPS_Roll = (int16_t)((sincompass * PD_North + coscompass * PD_East) / 8192); |
| |
| // limit GPS controls |
| if (GPS_Pitch > 35) GPS_Pitch = 35; |
| if (GPS_Pitch < -35) GPS_Pitch = -35; |
| if (GPS_Roll > 35) GPS_Roll = 35; |
| if (GPS_Roll < -35) GPS_Roll = -35; |
| } |
| 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_Pitch = 0; |
| GPS_Roll = 0; |
| } |
| } // eof 3D-FIX |
| else // no 3D-SATFIX |
| { // diable gps control |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| } |
| // set current data as processed to avoid further calculations on the same gps data |
| GPSInfo.status = PROCESSED; |
| break; |
| } // eof GPSInfo.status |
| } |
| return; |
| } |
| |