4,7 → 4,13 |
#include "ubx.h" |
#include "mymath.h" |
#include "timer0.h" |
#include "uart.h" |
|
#define TSK_IDLE 0 |
#define TSK_HOLD 1 |
#define TSK_HOME 2 |
|
|
int16_t GPS_Pitch = 0; |
int16_t GPS_Roll = 0; |
|
20,10 → 26,11 |
} GPS_Pos_t; |
|
// GPS coordinates for hold position |
GPS_Pos_t GPSHoldPoint = {0,0, INVALID}; |
GPS_Pos_t HoldPosition = {0,0, INVALID}; |
// GPS coordinates for home position |
GPS_Pos_t HomePosition = {0,0, INVALID}; |
|
|
|
// --------------------------------------------------------------------------------- |
|
|
33,102 → 40,138 |
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; |
static uint8_t GPS_Task = TSK_IDLE; |
|
|
// poti2 enables the gps feature |
if((Poti2 > 70) && (!EmergencyLanding)) // run GPS function only if Poti 2 is larger than 70 (switch on) |
if(Poti2 < 70) GPS_Task = TSK_IDLE; |
else if (Poti2 < 160) GPS_Task = TSK_HOLD; |
//else GPS_Task = TSK_HOME; |
|
|
switch(GPSInfo.status) |
{ |
switch(GPSInfo.status) |
case INVALID: // invalid gps data |
GPS_Pitch = 0; |
GPS_Roll = 0; |
if(GPS_Task != TSK_IDLE) BeepTime = 50; // beep if signal is neccesary |
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 |
{ |
case INVALID: // invalid gps data |
GPS_Pitch = 0; |
GPS_Roll = 0; |
BeepTime = 50; |
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 |
GPSInfo.status = INVALID; |
} |
break; |
case VALID: // new valid data from gps device |
// if the gps data quality is sufficient |
if (GPSInfo.satfix == SATFIX_3D) |
{ |
switch(GPS_Task) // check what's to do |
{ |
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 control |
if ((MaxStickPitch < 20) && (MaxStickRoll < 20) && (GPSHoldPoint.Status == VALID)) |
{ |
// Calculate deviation from hold position |
GPSPosDev_North = GPSInfo.utmnorth - GPSHoldPoint.Northing; |
GPSPosDev_East = GPSInfo.utmeast - GPSHoldPoint.Easting; |
case TSK_IDLE: |
// update hold point to current gps position |
HoldPosition.Northing = GPSInfo.utmnorth; |
HoldPosition.Easting = GPSInfo.utmeast; |
HoldPosition.Status = VALID; |
// disable gps control |
GPS_Pitch = 0; |
GPS_Roll = 0; |
break; // eof TSK_IDLE |
case TSK_HOLD: |
// if sticks are centered and hold position is valid enable position hold control |
if ((MaxStickPitch < 20) && (MaxStickRoll < 20) && (HoldPosition.Status == VALID)) |
{ |
// Calculate deviation from hold position |
GPSPosDev_North = GPSInfo.utmnorth - HoldPosition.Northing; |
GPSPosDev_East = GPSInfo.utmeast - HoldPosition.Easting; |
DebugOut.Analog[12] = GPSPosDev_North; |
DebugOut.Analog[13] = GPSPosDev_East; |
|
//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; |
//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; |
// PD-controller |
PD_North = P_North + D_North; |
PD_East = P_East + D_East; |
|
// GPS to pitch and roll settings |
// 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). |
//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). |
// 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. |
// 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. |
|
// rotation transformation to compass heading to match any copter orientation |
coscompass = (int32_t)c_cos_8192(CompassHeading); |
sincompass = (int32_t)c_sin_8192(CompassHeading); |
// 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); |
} |
} |
else // MK controlled by user |
{ |
// update hold point to current gps position |
HoldPosition.Northing = GPSInfo.utmnorth; |
HoldPosition.Easting = GPSInfo.utmeast; |
HoldPosition.Status = VALID; |
// disable gps control |
GPS_Pitch = 0; |
GPS_Roll = 0; |
} |
break; // eof TSK_HOLD |
default: // unhandled task |
GPS_Task = TSK_IDLE; |
GPS_Pitch = 0; |
GPS_Roll = 0; |
break; // eof default |
} // eof switch GPS_Task |
|
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; |
} // eof 3D-FIX |
|
// 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; |
} |
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; |
BeepTime = 50; |
} |
// set current data as processed to avoid further calculations on the same gps data |
GPSInfo.status = PROCESSED; |
break; |
} // eof GPSInfo.status |
} |
return; |
else // no 3D-SATFIX |
{ // disable gps control |
GPS_Pitch = 0; |
GPS_Roll = 0; |
if(GPS_Task != TSK_IDLE) BeepTime = 50; |
} |
|
// set current data as processed to avoid further calculations on the same gps data |
GPSInfo.status = PROCESSED; |
break; |
} // eof GPSInfo.status |
DebugOut.Analog[14] = GPS_Pitch; |
DebugOut.Analog[15] = GPS_Roll; |
} |
|