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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <inttypes.h> |
| #include <stdlib.h> |
| #include "ubx.h" |
| //#include "mymath.h" |
| #include "timer0.h" |
| #include "uart0.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| |
| typedef enum |
| { |
| GPS_FLIGHT_MODE_UNDEF, |
| GPS_FLIGHT_MODE_FREE, |
| GPS_FLIGHT_MODE_AID, |
| GPS_FLIGHT_MODE_HOME, |
| } FlightMode_t; |
| |
| #define GPS_POSINTEGRAL_LIMIT 32000 |
| #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
| #define GPS_P_LIMIT 25 |
| |
| |
| typedef struct |
| { |
| int32_t Longitude; |
| int32_t Latitude; |
| int32_t Altitude; |
| Status_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}; |
| // the current flight mode |
| FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF; |
| |
| |
| // --------------------------------------------------------------------------------- |
| void GPS_UpdateParameter(void) { |
| static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF; |
| |
| if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) { |
| FlightMode = GPS_FLIGHT_MODE_FREE; |
| } else { |
| if (dynamicParams.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID; |
| else if(dynamicParams.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE; |
| else FlightMode = GPS_FLIGHT_MODE_HOME; |
| } |
| |
| if (FlightMode != FlightModeOld) { |
| BeepTime = 100; |
| } |
| FlightModeOld = FlightMode; |
| } |
| |
| // --------------------------------------------------------------------------------- |
| // This function defines a good GPS signal condition |
| uint8_t GPS_IsSignalOK(void) { |
| static uint8_t GPSFix = 0; |
| if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= staticParams.NaviGpsMinSat) || GPSFix)) { |
| GPSFix = 1; |
| return 1; |
| } |
| else return (0); |
| } |
| |
| // --------------------------------------------------------------------------------- |
| // rescale xy-vector length to limit |
| uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit) { |
| uint8_t retval = 0; |
| int32_t len; |
| len = (int32_t)c_sqrt(*x * *x + *y * *y); |
| if (len > limit) { |
| // normalize control vector components to the limit |
| *x = (*x * limit) / len; |
| *y = (*y * limit) / len; |
| retval = 1; |
| } |
| return(retval); |
| } |
| |
| // checks nick and roll sticks for manual control |
| uint8_t GPS_IsManualControlled(void) { |
| if ((abs(PPM_in[staticParams.ChannelAssignment[CH_NICK]]) < staticParams.NaviStickThreshold) && (abs(PPM_in[staticParams.ChannelAssignment[CH_ROLL]]) < staticParams.NaviStickThreshold)) return 0; |
| else return 1; |
| } |
| |
| // set given position to current gps position |
| uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) { |
| uint8_t retval = 0; |
| if(pGPSPos == NULL) return(retval); // bad pointer |
| |
| if(GPS_IsSignalOK()) { // is GPS signal condition is fine |
| pGPSPos->Longitude = GPSInfo.longitude; |
| pGPSPos->Latitude = GPSInfo.latitude; |
| pGPSPos->Altitude = GPSInfo.altitude; |
| pGPSPos->Status = NEWDATA; |
| retval = 1; |
| } else { // bad GPS signal condition |
| pGPSPos->Status = INVALID; |
| retval = 0; |
| } |
| return(retval); |
| } |
| |
| // clear position |
| uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) { |
| uint8_t retval = 0; |
| if(pGPSPos == NULL) |
| return retval; // bad pointer |
| else { |
| pGPSPos->Longitude = 0; |
| pGPSPos->Latitude = 0; |
| pGPSPos->Altitude = 0; |
| pGPSPos->Status = INVALID; |
| retval = 1; |
| } |
| return (retval); |
| } |
| |
| // disable GPS control sticks |
| void GPS_Neutral(void) { |
| GPSStickNick = 0; |
| GPSStickRoll = 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) { |
| static int32_t PID_Nick, 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( GPS_IsSignalOK() && (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 |
| |
| // D-Part |
| D_North = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.velnorth)/512; |
| D_East = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.veleast)/512; |
| |
| // P-Part |
| P_North = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_North)/2048; |
| P_East = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_East)/2048; |
| |
| // I-Part |
| I_North = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_North)/8192; |
| I_East = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_East)/8192; |
| |
| // combine P & I |
| PID_North = P_North + I_North; |
| PID_East = P_East + I_East; |
| if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT)) |
| { |
| GPSPosDevIntegral_North += GPSPosDev_North/16; |
| GPSPosDevIntegral_East += GPSPosDev_East/16; |
| GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
| } |
| |
| // combine PI- and D-Part |
| PID_North += D_North; |
| PID_East += D_East; |
| |
| // scale combination with gain. |
| PID_North = (PID_North * (int32_t)dynamicParams.NaviGpsGain) / 100; |
| PID_East = (PID_East * (int32_t)dynamicParams.NaviGpsGain) / 100; |
| |
| // GPS to nick and roll settings |
| // A positive nick 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 nick 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 nick). |
| // 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 GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
| // in the flight.c. Therefore a positive north deviation/velocity should result in a positive |
| // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
| |
| coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
| sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
| PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192; |
| PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192; |
| |
| // limit resulting GPS control vector |
| GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
| |
| GPSStickNick = (int16_t)PID_Nick; |
| GPSStickRoll = (int16_t)PID_Roll; |
| } |
| else // invalid GPS data or bad compass reading |
| { |
| GPS_Neutral(); // do nothing |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| } |
| |
| void GPS_Main(void) { |
| static uint8_t GPS_P_Delay = 0; |
| static uint16_t beep_rythm = 0; |
| |
| GPS_UpdateParameter(); |
| |
| // store home position if start of flight flag is set |
| if(MKFlags & MKFLAG_CALIBRATE) { |
| if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700; |
| } |
| |
| switch(GPSInfo.status) { |
| case INVALID: // invalid gps data |
| GPS_Neutral(); |
| if(FlightMode != GPS_FLIGHT_MODE_FREE) { |
| 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 NEWDATA: // new valid data from gps device |
| // if the gps data quality is good |
| beep_rythm++; |
| |
| if (GPS_IsSignalOK()) |
| { |
| switch(FlightMode) // check what's to do |
| { |
| case GPS_FLIGHT_MODE_FREE: |
| // update hold position to current gps position |
| GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad |
| // disable gps control |
| GPS_Neutral(); |
| break; |
| |
| case GPS_FLIGHT_MODE_AID: |
| if(HoldPosition.Status != INVALID) |
| { |
| if( GPS_IsManualControlled() ) // MK controlled by user |
| { |
| // update hold point to current gps position |
| GPS_SetCurrPosition(&HoldPosition); |
| // 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_SetCurrPosition(&HoldPosition); // 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_SetCurrPosition(&HoldPosition); |
| GPS_Neutral(); |
| } |
| break; |
| |
| case GPS_FLIGHT_MODE_HOME: |
| if(HomePosition.Status != INVALID) |
| { |
| // update hold point to current gps position |
| // to avoid a flight back if home comming is deactivated |
| GPS_SetCurrPosition(&HoldPosition); |
| if( GPS_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( GPS_IsManualControlled() ) // MK controlled by user |
| { |
| GPS_Neutral(); |
| } |
| else // GPS control active |
| { |
| GPS_PIDController(&HoldPosition); |
| } |
| } |
| else |
| { // try to catch a valid hold position |
| GPS_SetCurrPosition(&HoldPosition); |
| GPS_Neutral(); |
| } |
| } |
| break; // eof TSK_HOME |
| default: // unhandled task |
| GPS_Neutral(); |
| break; // eof default |
| } // eof switch GPS_Task |
| } // eof gps data quality is good |
| else // gps data quality is bad |
| { // disable gps control |
| GPS_Neutral(); |
| if(FlightMode != GPS_FLIGHT_MODE_FREE) |
| { |
| // beep if signal is not sufficient |
| if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
| else if (GPSInfo.satnum < staticParams.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10; |
| } |
| } |
| // set current data as processed to avoid further calculations on the same gps data |
| GPSInfo.status = PROCESSED; |
| break; |
| } // eof GPSInfo.status |
| } |
| |