24,8 → 24,8 |
} 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 |
#define GPS_STICK_LIMIT 400 // limit of gps stick control to avoid critical flight attitudes |
#define GPS_P_LIMIT 100 |
|
typedef struct { |
int32_t longitude; |
42,7 → 42,7 |
FlightMode_t flightMode = GPS_FLIGHT_MODE_UNDEF; |
|
// --------------------------------------------------------------------------------- |
void GPS_updateFlightMode(void) { |
void navi_updateFlightMode(void) { |
static FlightMode_t flightModeOld = GPS_FLIGHT_MODE_UNDEF; |
|
if (controlMixer_getSignalQuality() <= SIGNAL_BAD |
67,7 → 67,7 |
|
// --------------------------------------------------------------------------------- |
// This function defines a good GPS signal condition |
uint8_t GPS_isSignalOK(void) { |
uint8_t navi_isGPSSignalOK(void) { |
static uint8_t GPSFix = 0; |
if ((GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) |
&& (GPSInfo.flags & FLAG_GPSFIXOK) |
80,7 → 80,7 |
|
// --------------------------------------------------------------------------------- |
// rescale xy-vector length to limit |
uint8_t GPS_limitXY(int32_t *x, int32_t *y, int32_t limit) { |
uint8_t navi_limitXY(int32_t *x, int32_t *y, int32_t limit) { |
int32_t len; |
len = isqrt32(*x * *x + *y * *y); |
if (len > limit) { |
93,7 → 93,7 |
} |
|
// checks nick and roll sticks for manual control |
uint8_t GPS_isManuallyControlled(int16_t* sticks) { |
uint8_t navi_isManuallyControlled(int16_t* sticks) { |
if (sticks[CONTROL_PITCH] < staticParams.naviStickThreshold |
&& sticks[CONTROL_ROLL] < staticParams.naviStickThreshold) |
return 0; |
102,11 → 102,11 |
} |
|
// set given position to current gps position |
uint8_t GPS_writeCurrPositionTo(GPS_Pos_t * pGPSPos) { |
uint8_t navi_writeCurrPositionTo(GPS_Pos_t * pGPSPos) { |
if (pGPSPos == NULL) |
return 0; // bad pointer |
|
if (GPS_isSignalOK()) { // is GPS signal condition is fine |
if (navi_isGPSSignalOK()) { // is GPS signal condition is fine |
pGPSPos->longitude = GPSInfo.longitude; |
pGPSPos->latitude = GPSInfo.latitude; |
pGPSPos->altitude = GPSInfo.altitude; |
119,7 → 119,7 |
} |
|
// clear position |
uint8_t GPS_clearPosition(GPS_Pos_t * pGPSPos) { |
uint8_t navi_clearPosition(GPS_Pos_t * pGPSPos) { |
if (pGPSPos == NULL) |
return 0; // bad pointer |
else { |
134,7 → 134,7 |
// 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, int16_t* sticks) { |
void navi_PIDController(GPS_Pos_t *pTargetPos, int16_t* sticks) { |
static int32_t PID_Nick, PID_Roll; |
int32_t coscompass, sincompass; |
int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
145,7 → 145,7 |
static GPS_Pos_t *pLastTargetPos = 0; |
|
// if GPS data and Compass are ok |
if (GPS_isSignalOK() && (magneticHeading >= 0)) { |
if (navi_isGPSSignalOK() && (magneticHeading >= 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 |
187,26 → 187,25 |
//Calculate PID-components of the controller |
|
// D-Part |
D_North = ((int32_t) staticParams.naviD * GPSInfo.velnorth) / 512; |
D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) / 512; |
D_North = ((int32_t) staticParams.naviD * GPSInfo.velnorth) >> 9; |
D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) >> 9; |
|
// P-Part |
P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) / 2048; |
P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) / 2048; |
P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) >> 11; |
P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) >> 11; |
|
// I-Part |
I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) |
/ 8192; |
I_East = ((int32_t) staticParams.naviI * GPSPosDevIntegral_East) / 8192; |
I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) >> 13; |
I_East = ((int32_t) staticParams.naviI * GPSPosDevIntegral_East) >> 13; |
|
// 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); |
if (!navi_limitXY(&PID_North, &PID_East, GPS_P_LIMIT)) { |
// within limit |
GPSPosDevIntegral_North += GPSPosDev_North >> 4; |
GPSPosDevIntegral_East += GPSPosDev_East >> 4; |
navi_limitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
} |
|
// combine PI- and D-Part |
234,17 → 233,17 |
coscompass = cos_360(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
sincompass = sin_360(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
|
PID_Nick = (coscompass * PID_North + sincompass * PID_East) >> MATH_UNIT_FACTOR_LOG; |
PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> MATH_UNIT_FACTOR_LOG; |
PID_Nick = (coscompass * PID_North + sincompass * PID_East) >> (MATH_UNIT_FACTOR_LOG-2); |
PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (MATH_UNIT_FACTOR_LOG-2); |
|
// limit resulting GPS control vector |
GPS_limitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
navi_limitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
|
debugOut.analog[27] = PID_Nick; |
debugOut.analog[28] = PID_Roll; |
debugOut.analog[27] = -PID_Nick; |
debugOut.analog[28] = -PID_Roll; |
|
sticks[CONTROL_PITCH] += PID_Nick; |
sticks[CONTROL_ROLL] += PID_Roll; |
sticks[CONTROL_PITCH] -= PID_Nick; |
sticks[CONTROL_ROLL] -= PID_Roll; |
|
} else { // invalid GPS data or bad compass reading |
// reset error integral |
257,13 → 256,13 |
static uint8_t GPS_P_Delay = 0; |
static uint16_t beep_rythm = 0; |
|
GPS_updateFlightMode(); |
navi_updateFlightMode(); |
|
// store home position if start of flight flag is set |
if (MKFlags & MKFLAG_CALIBRATE) { |
MKFlags &= ~(MKFLAG_CALIBRATE); |
if (GPS_writeCurrPositionTo(&homePosition)) { |
homePosition.latitude += 9000L; |
if (navi_writeCurrPositionTo(&homePosition)) { |
homePosition.latitude += 10000L; |
beep(500); |
} |
} |
287,19 → 286,19 |
case NEWDATA: // new valid data from gps device |
// if the gps data quality is good |
beep_rythm++; |
if (GPS_isSignalOK()) { |
if (navi_isGPSSignalOK()) { |
switch (flightMode) { // check what's to do |
case GPS_FLIGHT_MODE_FREE: |
// update hold position to current gps position |
GPS_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad |
navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad |
// disable gps control |
break; |
|
case GPS_FLIGHT_MODE_AID: |
if (holdPosition.status != INVALID) { |
if (GPS_isManuallyControlled(sticks)) { // MK controlled by user |
if (navi_isManuallyControlled(sticks)) { // MK controlled by user |
// update hold point to current gps position |
GPS_writeCurrPositionTo(&holdPosition); |
navi_writeCurrPositionTo(&holdPosition); |
// disable gps control |
GPS_P_Delay = 0; |
} else { // GPS control active |
306,14 → 305,14 |
if (GPS_P_Delay < 7) { |
// delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
GPS_P_Delay++; |
GPS_writeCurrPositionTo(&holdPosition); // update hold point to current gps position |
GPS_PIDController(NULL, sticks); // activates only the D-Part |
navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position |
navi_PIDController(NULL, sticks); // activates only the D-Part |
} else |
GPS_PIDController(&holdPosition, sticks); // activates the P&D-Part |
navi_PIDController(&holdPosition, sticks); // activates the P&D-Part |
} |
} else // invalid Hold Position |
{ // try to catch a valid hold position from gps data input |
GPS_writeCurrPositionTo(&holdPosition); |
navi_writeCurrPositionTo(&holdPosition); |
} |
break; |
|
321,11 → 320,11 |
if (homePosition.status != INVALID) { |
// update hold point to current gps position |
// to avoid a flight back if home comming is deactivated |
GPS_writeCurrPositionTo(&holdPosition); |
if (GPS_isManuallyControlled(sticks)) // MK controlled by user |
navi_writeCurrPositionTo(&holdPosition); |
if (navi_isManuallyControlled(sticks)) // MK controlled by user |
{ |
} else {// GPS control active |
GPS_PIDController(&homePosition, sticks); |
navi_PIDController(&homePosition, sticks); |
} |
} else { |
// bad home position |
333,14 → 332,14 |
// try to hold at least the position as a fallback option |
|
if (holdPosition.status != INVALID) { |
if (GPS_isManuallyControlled(sticks)) { |
if (navi_isManuallyControlled(sticks)) { |
// MK controlled by user |
} else { |
// GPS control active |
GPS_PIDController(&holdPosition, sticks); |
navi_PIDController(&holdPosition, sticks); |
} |
} else { // try to catch a valid hold position |
GPS_writeCurrPositionTo(&holdPosition); |
navi_writeCurrPositionTo(&holdPosition); |
} |
} |
break; // eof TSK_HOME |