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| #include <inttypes.h> |
| #include <stdlib.h> |
| #include "fc.h" |
| #include "ubx.h" |
| #include "mymath.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| |
| #define TSK_IDLE 0 |
| #define TSK_HOLD 1 |
| #define TSK_HOME 2 |
| |
| #define GPS_STICK_SENSE 15 // must be at least in a range where 90% of the trimming does not switch of the GPS function |
| #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
| #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
| #define GPS_P_LIMIT 25 |
| |
| |
| uint8_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0; |
| |
| |
| |
| typedef struct |
| { |
| int32_t Longitude; |
| int32_t Latitude; |
| int32_t Altitude; |
| uint8_t Status; |
| } GPS_Pos_t; |
| |
| // GPS coordinates for hold position |
| GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
| // GPS coordinates for home position |
| GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
| |
| |
| // --------------------------------------------------------------------------------- |
| |
| // checks pitch and roll sticks for manual control |
| uint8_t IsManualControlled(void) |
| { |
| if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0; |
| else return 1; |
| } |
| |
| // set home position to current positon |
| void GPS_SetHomePosition(void) |
| { |
| if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
| { |
| HomePosition.Longitude = GPSInfo.longitude; |
| HomePosition.Latitude = GPSInfo.latitude; |
| HomePosition.Altitude = GPSInfo.altitude; |
| HomePosition.Status = VALID; |
| BeepTime = 1000; // signal if new home position was set |
| } |
| else |
| { |
| HomePosition.Status = INVALID; |
| } |
| } |
| |
| // 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.Altitude = GPSInfo.altitude; |
| HoldPosition.Status = VALID; |
| } |
| else |
| { |
| HoldPosition.Status = INVALID; |
| } |
| } |
| |
| // clear home position |
| void GPS_ClearHomePosition(void) |
| { |
| HomePosition.Status = INVALID; |
| } |
| |
| // disable GPS control sticks |
| void GPS_Neutral(void) |
| { |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| } |
| |
| // calculates the GPS control stick values from the deviation to target position |
| // if the pointer to the target positin is NULL or is the target position invalid |
| // then the P part of the controller is deactivated. |
| void GPS_PIDController(GPS_Pos_t *pTargetPos) |
| { |
| int32_t temp, temp1, PID_Pitch, PID_Roll; |
| 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, I_North = 0, I_East = 0; |
| int32_t PID_North = 0, PID_East = 0; |
| static int32_t cos_target_latitude = 1; |
| static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
| static GPS_Pos_t *pLastTargetPos = 0; |
| |
| // if GPS data and Compass are ok |
| if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
| { |
| |
| if(pTargetPos != NULL) // if there is a target position |
| { |
| if(pTargetPos->Status != INVALID) // and the position data are valid |
| { |
| // if the target data are updated or the target pointer has changed |
| if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
| { |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| // recalculate latitude projection |
| cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
| // remember last target pointer |
| pLastTargetPos = pTargetPos; |
| // mark data as processed |
| pTargetPos->Status = PROCESSED; |
| } |
| // calculate position deviation from latitude and longitude differences |
| GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
| GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
| // calculate latitude projection |
| GPSPosDev_East *= cos_target_latitude; |
| GPSPosDev_East /= 8192; |
| } |
| else // no valid target position available |
| { |
| // reset error |
| GPSPosDev_North = 0; |
| GPSPosDev_East = 0; |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| } |
| else // no target position available |
| { |
| // reset error |
| GPSPosDev_North = 0; |
| GPSPosDev_East = 0; |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| |
| //Calculate PID-components of the controller (negative sign for compensation) |
| |
| // P-Part |
| P_North = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048; |
| P_East = -((int32_t)GPS_P_Factor * GPSPosDev_East)/2048; |
| |
| // I-Part |
| I_North = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
| I_East = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_East)/8192; |
| |
| // combine P- & I-Part |
| PID_North = P_North + I_North; |
| PID_East = P_East + I_East; |
| |
| //limit PI-Part to limit the max velocity |
| //temp1 = ((int32_t)GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit |
| temp = (int32_t)c_sqrt(PID_North*PID_North + PID_East*PID_East); // the current PI-Part |
| if(temp > GPS_P_LIMIT) // P-Part limit is reached |
| { |
| // normalize P-part components to the P-Part limit |
| PID_North = (PID_North * GPS_P_LIMIT)/temp; |
| PID_East = (PID_East * GPS_P_LIMIT)/temp; |
| } |
| else // PI-Part under its limit |
| { |
| // update position error integrals |
| GPSPosDevIntegral_North += GPSPosDev_North/16; |
| if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
| else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT; |
| GPSPosDevIntegral_East += GPSPosDev_East/16; |
| if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
| else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT; |
| } |
| |
| // D-Part |
| D_North = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512; |
| D_East = -((int32_t)GPS_D_Factor * GPSInfo.veleast)/512; |
| |
| |
| // combine PI- and D-Part |
| PID_North += D_North; |
| PID_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_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. |
| |
| coscompass = (int32_t)c_cos_8192(CompassHeading); |
| sincompass = (int32_t)c_sin_8192(CompassHeading); |
| PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192; |
| PID_Pitch = -1*((sincompass * PID_East + coscompass * PID_North) / 8192); |
| |
| // limit resulting GPS control vector |
| temp = (int32_t)c_sqrt(PID_Roll*PID_Roll + PID_Pitch*PID_Pitch); |
| if (temp > GPS_STICK_LIMIT) |
| { |
| // normalize control vector components to the limit |
| PID_Roll = (PID_Roll * GPS_STICK_LIMIT)/temp; |
| PID_Pitch = (PID_Pitch * GPS_STICK_LIMIT)/temp; |
| } |
| |
| GPS_Roll = (int16_t)PID_Roll; |
| GPS_Pitch = (int16_t)PID_Pitch; |
| |
| } |
| else // invalid GPS data or bad compass reading |
| { |
| GPS_Neutral(); // do nothing |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| } |
| |
| |
| |
| |
| void GPS_Main(uint8_t ctrl) |
| { |
| static uint8_t GPS_Task = TSK_IDLE; |
| static uint8_t GPS_P_Delay = 0; |
| int16_t satbeep; |
| |
| // ctrl enables the gps feature |
| if(ctrl < 70) GPS_Task = TSK_IDLE; |
| else if (ctrl < 160) GPS_Task = TSK_HOLD; |
| else GPS_Task = TSK_HOME; // ctrl >= 160 |
| |
| |
| switch(GPSInfo.status) |
| { |
| case INVALID: // invalid gps data |
| GPS_Neutral(); |
| if(GPS_Task != TSK_IDLE) |
| { |
| BeepTime = 100; // beep if signal is neccesary |
| } |
| break; |
| 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 |
| // and therefore disable GPS |
| else |
| { |
| GPS_Neutral(); |
| GPSInfo.status = INVALID; |
| } |
| break; |
| case VALID: // new valid data from gps device |
| // if the gps data quality is good |
| DebugOut.Analog[29] = (int16_t)GPSInfo.updatetime; |
| if (GPSInfo.satfix == SATFIX_3D) |
| { |
| switch(GPS_Task) // check what's to do |
| { |
| case TSK_IDLE: |
| // 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 != INVALID) |
| { |
| if( IsManualControlled() ) // MK controlled by user |
| { |
| // update hold point to current gps position |
| GPS_SetHoldPosition(); |
| // disable gps control |
| GPS_Neutral(); |
| GPS_P_Delay = 0; |
| } |
| else // GPS control active |
| { |
| if(GPS_P_Delay<7) |
| { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
| GPS_P_Delay++; |
| GPS_SetHoldPosition(); // update hold point to current gps position |
| GPS_PIDController(NULL); // activates only the D-Part |
| } |
| else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
| } |
| } |
| 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 != INVALID) |
| { |
| // update hold point to current gps position |
| // to avoid a flight back if home comming is deactivated |
| GPS_SetHoldPosition(); |
| if( IsManualControlled() ) // MK controlled by user |
| { |
| GPS_Neutral(); |
| } |
| else // GPS control active |
| { |
| GPS_PIDController(&HomePosition); |
| } |
| } |
| else // bad home position |
| { |
| BeepTime = 50; // signal invalid home position |
| // try to hold at least the position as a fallback option |
| |
| if (HoldPosition.Status != INVALID) |
| { |
| if( IsManualControlled() ) // MK controlled by user |
| { |
| GPS_Neutral(); |
| } |
| else // GPS control active |
| { |
| GPS_PIDController(&HoldPosition); |
| } |
| } |
| else |
| { // try to catch a valid hold position |
| GPS_SetHoldPosition(); |
| GPS_Neutral(); |
| } |
| } |
| break; // eof TSK_HOME |
| default: // unhandled task |
| GPS_Neutral(); |
| break; // eof default |
| } // eof switch GPS_Task |
| } // eof 3D-FIX |
| else // no 3D-SATFIX |
| { // disable gps control |
| GPS_Neutral(); |
| if(GPS_Task != TSK_IDLE) |
| { |
| satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats |
| if (satbeep < 0) satbeep = 0; |
| BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms = |
| } |
| } |
| // set current data as processed to avoid further calculations on the same gps data |
| GPSInfo.status = PROCESSED; |
| break; |
| } // eof GPSInfo.status |
| } |
| |