3,12 → 3,13 |
#include "fc.h" |
#include "ubx.h" |
#include "mymath.h" |
#include "timer0.h" |
|
int16_t GPS_Pitch = 0; |
int16_t GPS_Roll = 0; |
|
uint8_t GPS_P_Factor = 0; |
uint8_t GPS_D_Factor = 0; |
int32_t GPS_P_Factor = 0; |
int32_t GPS_D_Factor = 0; |
|
typedef struct |
{ |
20,8 → 21,6 |
|
// GPS coordinates for hold position |
GPS_Pos_t GPSHoldPoint = {0,0, INVALID}; |
// GPS coordinates for flying home |
GPS_Pos_t GPSHomePoint = {0,0, INVALID};; |
|
|
|
43,6 → 42,7 |
case INVALID: // invalid gps data |
GPS_Pitch = 0; |
GPS_Roll = 0; |
BeepTime = 50; |
break; |
case PROCESSED: // if gps data are already processed |
// downcount timeout |
60,35 → 60,52 |
// 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 sticks are centered and hold position is valid enable position hold control |
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; |
//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_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); |
// 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_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); |
|
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 |
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; |
#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 |
{ |
105,6 → 122,7 |
{ // 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; |