19,15 → 19,14 |
int16_t GPS_Roll = 0; |
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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; |
int32_t Easting; |
int32_t Longitude; |
int32_t Latitude; |
uint8_t Status; |
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} GPS_Pos_t; |
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// GPS coordinates for hold position |
38,15 → 37,37 |
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// --------------------------------------------------------------------------------- |
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// set home position to current hold positon |
// set home position to current 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 |
if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
{ |
HomePosition.Longitude = GPSInfo.longitude; |
HomePosition.Latitude = GPSInfo.latitude; |
HomePosition.Status = VALID; |
BeepTime = 1000; // signal if new home position was set |
} |
else |
{ |
HomePosition.Status = INVALID; |
} |
} |
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// set hold position to current positon |
void GPS_SetHoldPosition(void) |
{ |
if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
{ |
HoldPosition.Longitude = GPSInfo.longitude; |
HoldPosition.Latitude = GPSInfo.latitude; |
HoldPosition.Status = VALID; |
} |
else |
{ |
HoldPosition.Status = INVALID; |
} |
} |
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// clear home position |
void GPS_ClearHomePosition(void) |
{ |
64,13 → 85,27 |
void GPS_PDController(GPS_Pos_t *TargetPos) |
{ |
int32_t coscompass, sincompass; |
int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0; |
int32_t PD_North = 0, PD_East = 0; |
static int32_t cos_target_latitude = 1; |
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if( (TargetPos->Status == VALID) && (GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D)) |
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if( (TargetPos->Status != INVALID) && (GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D)) |
{ |
GPSPosDev_North = GPSInfo.utmnorth - TargetPos->Northing; |
GPSPosDev_East = GPSInfo.utmeast - TargetPos->Easting; |
// calculate position deviation from latitude and longitude differences |
GPSPosDev_North = (GPSInfo.latitude - TargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
GPSPosDev_East = (GPSInfo.longitude - TargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
// recalculate the target latitude projection only if the target data are updated |
// to save time |
if (TargetPos->Status != PROCESSED) |
{ |
cos_target_latitude = (int32_t)c_cos_8192((int16_t)(TargetPos->Latitude/10000000L)); |
TargetPos->Status = PROCESSED; |
} |
// calculate latitude projection |
GPSPosDev_East *= cos_target_latitude; |
GPSPosDev_East /= 8192; |
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DebugOut.Analog[12] = GPSPosDev_North; |
DebugOut.Analog[13] = GPSPosDev_East; |
158,7 → 193,7 |
BeepTime = 100; // beep if signal is neccesary |
} |
break; |
case PROCESSED: // if gps data are already processed |
case PROCESSED: // if gps data are already processed do nothing |
// downcount timeout |
if(GPSTimeout) GPSTimeout--; |
// if no new data arrived within timeout set current data invalid |
170,21 → 205,19 |
} |
break; |
case VALID: // new valid data from gps device |
// if the gps data quality is sufficient |
// if the gps data quality is good |
if (GPSInfo.satfix == SATFIX_3D) |
{ |
switch(GPS_Task) // check what's to do |
{ |
case TSK_IDLE: |
// update hold point to current gps position |
HoldPosition.Northing = GPSInfo.utmnorth; |
HoldPosition.Easting = GPSInfo.utmeast; |
HoldPosition.Status = VALID; |
// update hold position to current gps position |
GPS_SetHoldPosition(); // can get invalid if gps signal is bad |
// disable gps control |
GPS_Neutral(); |
break; // eof TSK_IDLE |
case TSK_HOLD: |
if(HoldPosition.Status == VALID) |
if(HoldPosition.Status != INVALID) |
{ |
// if sticks are centered (no manual control) |
if ((MaxStickPitch < GPS_STICK_SENSE) && (MaxStickRoll < GPS_STICK_SENSE)) |
194,22 → 227,23 |
else // MK controlled by user |
{ |
// update hold point to current gps position |
HoldPosition.Northing = GPSInfo.utmnorth; |
HoldPosition.Easting = GPSInfo.utmeast; |
HoldPosition.Status = GPSInfo.status; |
GPS_SetHoldPosition(); |
// disable gps control |
GPS_Neutral(); |
} |
} |
else // invalid Hold Position |
{ // try to catch a valid hold position from gps data input |
GPS_SetHoldPosition(); |
GPS_Neutral(); |
} |
break; // eof TSK_HOLD |
case TSK_HOME: |
if(HomePosition.Status == VALID) |
if(HomePosition.Status != INVALID) |
{ |
// update hold point to current gps position |
// to avoid a flight back if home comming is deactivated |
HoldPosition.Northing = GPSInfo.utmnorth; |
HoldPosition.Easting = GPSInfo.utmeast; |
HoldPosition.Status = GPSInfo.status; |
GPS_SetHoldPosition(); |
// if sticks are centered (no manual control) |
if((MaxStickPitch < GPS_STICK_SENSE) && (MaxStickRoll < GPS_STICK_SENSE)) |
{ |
224,13 → 258,22 |
{ |
BeepTime = 50; // signal invalid home position |
// try to hold at least the position as a fallback option |
// if sticks are centered (no manual control) |
if((MaxStickPitch < GPS_STICK_SENSE) && (MaxStickRoll < GPS_STICK_SENSE) && (HoldPosition.Status == VALID)) |
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if (HoldPosition.Status != INVALID) |
{ |
GPS_PDController(&HoldPosition); |
// if sticks are centered (no manual control) |
if((MaxStickPitch < GPS_STICK_SENSE) && (MaxStickRoll < GPS_STICK_SENSE)) |
{ |
GPS_PDController(&HoldPosition); |
} |
else // manual control or no reference position |
{ |
GPS_Neutral(); |
} |
} |
else // manual control or no rteference position |
{ |
else |
{ // try to catch a valid hold position |
GPS_SetHoldPosition(); |
GPS_Neutral(); |
} |
} |
240,7 → 283,6 |
break; // eof default |
} // eof switch GPS_Task |
} // eof 3D-FIX |
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else // no 3D-SATFIX |
{ // disable gps control |
GPS_Neutral(); |