0,0 → 1,612 |
/*#######################################################################################*/ |
/*#######################################################################################*/ |
|
// IMPORTANT NOTE: |
|
// This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
|
// The GPS navigation routines are NOT included ! |
|
/*#######################################################################################*/ |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch |
// + FOR NON COMMERCIAL USE ONLY |
// + 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 permitted |
// + 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 this software (or part of it) 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 <stdio.h> |
#include <stdlib.h> |
#include <math.h> |
#include "91x_lib.h" |
#include "main.h" |
#include "uart1.h" |
#include "GPS.h" |
#include "timer.h" |
#include "spi_slave.h" |
#include "waypoints.h" |
#include "i2c.h" |
|
|
#define M_PI_180 (M_PI / 180.0f) |
#define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
typedef enum |
{ |
GPS_FLIGHT_MODE_UNDEF, |
GPS_FLIGHT_MODE_FREE, |
GPS_FLIGHT_MODE_AID, |
GPS_FLIGHT_MODE_WAYPOINT |
} GPS_FlightMode_t; |
|
typedef struct |
{ |
float Gain; |
float P; |
float I; |
float D; |
float A; |
float ACC; |
u8 MinSat; |
s8 StickThreshold; |
float WindCorrection; |
s32 OperatingRadius; |
u32 NaviAngleLimitation; |
GPS_FlightMode_t FlightMode; |
} __attribute__((packed)) GPS_Parameter_t; |
|
typedef struct |
{ |
Status_t Status; // invalid, newdata, processed |
s32 North; // in cm |
s32 East; // in cm |
s32 Bearing; // in deg |
s32 Distance; // in cm |
} __attribute__((packed)) GPS_Deviation_t; |
GPS_Deviation_t TargetDeviation; |
|
GPS_Stick_t GPS_Stick; |
GPS_Parameter_t GPS_Parameter; |
|
// the gps reference positions |
GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
|
//------------------------------------------------------------- |
// Update GPSParamter |
void GPS_UpdateParameter(void) |
{ |
static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
// in case of bad receiving conditions |
if(FC.RC_Quality < 100) |
{ // set fixed parameter |
GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
GPS_Parameter.Gain = (float) 100; |
GPS_Parameter.P = (float) 90; |
GPS_Parameter.I = (float) 90; |
GPS_Parameter.D = (float) 90; |
GPS_Parameter.A = (float) 90; |
GPS_Parameter.ACC = (float) 0; |
GPS_Parameter.MinSat = 6; |
GPS_Parameter.StickThreshold = 8; |
GPS_Parameter.WindCorrection = 0.0; |
GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
GPS_Parameter.NaviAngleLimitation = 125; |
} |
else |
{ |
// update parameter from FC |
if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
else |
{ |
if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
else if(Parameter.NaviGpsModeControl < 180) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
else GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
} |
GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
GPS_Parameter.P = (float)Parameter.NaviGpsP; |
GPS_Parameter.I = (float)Parameter.NaviGpsI; |
GPS_Parameter.D = (float)Parameter.NaviGpsD; |
GPS_Parameter.A = (float)Parameter.NaviGpsD; |
GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
GPS_Parameter.NaviAngleLimitation = (u32) Parameter.NaviAngleLimitation * 2; |
} |
// FlightMode changed? |
if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
FlightMode_Old = GPS_Parameter.FlightMode; |
} |
|
//------------------------------------------------------------- |
// This function defines a good GPS signal condition |
u8 GPS_IsSignalOK(void) |
{ |
if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
else return(0); |
} |
|
//------------------------------------------------------------ |
// Checks for manual control action |
u8 GPS_IsManuallyControlled(void) |
{ |
if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0)) return 1; |
else return 0; |
} |
|
//------------------------------------------------------------ |
// copy GPS position from source position to target position |
u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
{ |
u8 retval = 0; |
if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
// copy only valid positions |
if(pGPSPosSrc->Status != INVALID) |
{ |
// if the source GPS position is not invalid |
pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
retval = 1; |
} |
return(retval); |
} |
|
//------------------------------------------------------------ |
// clear position data |
u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
{ |
u8 retval = FALSE; |
if(pGPSPos == NULL) return(retval); // bad pointer |
else |
{ |
pGPSPos->Longitude = 0; |
pGPSPos->Latitude = 0; |
pGPSPos->Altitude = 0; |
pGPSPos->Status = INVALID; |
retval = TRUE; |
} |
return (retval); |
} |
|
|
//------------------------------------------------------------ |
void GPS_Neutral() |
{ |
GPS_Stick.Nick = 0; |
GPS_Stick.Roll = 0; |
GPS_Stick.Yaw = 0; |
} |
|
//------------------------------------------------------------ |
void GPS_Init(void) |
{ |
SerialPutString("\r\n GPS init..."); |
UBX_Init(); |
GPS_Neutral(); |
GPS_ClearPosition(&GPS_HoldPosition); |
GPS_ClearPosition(&GPS_HomePosition); |
GPS_pTargetPosition = NULL; |
WPList_Init(); |
GPS_pWaypoint = WPList_Begin(); |
GPS_UpdateParameter(); |
SerialPutString("ok"); |
} |
|
//------------------------------------------------------------ |
// calculate the bearing to target position from its deviation |
s32 DirectionToTarget_N_E(float northdev, float eastdev) |
{ |
s32 bearing; |
bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
bearing = (270L - bearing)%360L; |
return(bearing); |
} |
|
|
//------------------------------------------------------------ |
// Rescale xy-vector length if length limit is violated |
void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
{ |
s32 dist; |
dist = (s32)hypot(*x,*y); // the length of the vector |
if ((dist != 0L) && (dist > limit)) |
// if vector length is larger than the given limit |
{ // scale vector compontents so that the length is cut off to limit |
*x = (*x * limit) / dist; |
*y = (*y * limit) / dist; |
} |
} |
|
//------------------------------------------------------------ |
// transform the integer deg into float radians |
inline double RadiansFromGPS(s32 deg) |
{ |
return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
} |
|
//------------------------------------------------------------ |
// transform the integer deg into float deg |
inline double DegFromGPS(s32 deg) |
{ |
return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
} |
|
//------------------------------------------------------------ |
// calculate the deviation from the current position to the target position |
u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos) |
{ |
double temp1, temp2; |
// if given pointer is NULL |
if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
// if positions are invalid |
if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
|
// The deviation from the current to the target position along north and east direction is |
// simple the lat/lon difference. To convert that angular deviation into an |
// arc length the spherical projection has to be considered. |
// The mean earth radius is 6371km. Therfore the arc length per latitude degree |
// is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
// The arc length per longitude degree depends on the correspondig latitude and |
// is 111.2km * cos(latitude). |
|
// calculate the shortest longitude deviation from target |
temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
// outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
// In our application we wont fly more than 20.000 km but along the date line this is important. |
if(temp1 > 180.0f) temp1 -= 360.0f; |
else if (temp1 < -180.0f) temp1 += 360.0f; |
temp1 *= cos(RadiansFromGPS(pTargetPos->Latitude)); |
// calculate latitude deviation from target |
// this is allways within -180 deg ... 180 deg |
temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
// deviation from target position in cm |
// i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
|
TargetDeviation.Status = INVALID; |
TargetDeviation.North = (s32)(11119492.7f * temp2); |
TargetDeviation.East = (s32)(11119492.7f * temp1); |
// If the position deviation is small enough to neglect the earth curvature |
// (this is for our application always fulfilled) the distance to target |
// can be calculated by the pythagoras of north and east deviation. |
TargetDeviation.Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
if (TargetDeviation.Distance == 0L) TargetDeviation.Bearing = 0L; |
else TargetDeviation.Bearing = DirectionToTarget_N_E(temp2, temp1); |
TargetDeviation.Status = NEWDATA; |
return TRUE; |
|
baddata: |
TargetDeviation.North = 0L; |
TargetDeviation.East = 0L; |
TargetDeviation.Distance = 0L; |
TargetDeviation.Bearing = 0L; |
TargetDeviation.Status = INVALID; |
return FALSE; |
} |
|
//------------------------------------------------------------ |
void GPS_Navigation(void) |
{ |
static u32 beep_rythm; |
static u32 GPSDataTimeout = 0; |
|
// pointer to current target position |
static GPS_Pos_t * pTargetPositionOld = NULL; |
static Waypoint_t* GPS_pWaypointOld = NULL; |
|
static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius |
static s32 OperatingRadiusOld = -1; |
static u8 WPArrived = FALSE; |
static u32 WPTime = 0; |
|
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//+ Check for new data from GPS-receiver |
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
switch(GPSData.Status) |
{ |
case INVALID: // no gps data available |
// do nothing |
break; |
|
case PROCESSED: // the current data have been allready processed |
// if no new data are available within the timeout switch to invalid state. |
if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
// wait for new gps data |
break; |
|
case NEWDATA: // handle new gps data |
|
// update GPS Parameter from FC-Data via SPI interface |
GPS_UpdateParameter(); |
|
// wait maximum of 3 times the normal data update time before data timemout |
GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
beep_rythm++; |
|
// debug |
DebugOut.Analog[21] = (u16)GPSData.Speed_North; |
DebugOut.Analog[22] = (u16)GPSData.Speed_East; |
DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
|
// If GPS signal condition is sufficient for a reliable position measurement |
if(GPS_IsSignalOK()) |
{ |
// if the MK is starting or the home position is invalid then store the home position |
if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
{ // try to update the home position from the current position |
if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
{ |
BeepTime = 700; // beep on success |
GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
} |
GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
} |
|
/* The selected flight mode influences the target position pointer and therefore the behavior */ |
|
// check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
switch(GPS_Parameter.FlightMode) |
{ |
// the GPS control is deactived |
case GPS_FLIGHT_MODE_FREE: |
NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
NaviData.NCFlags |= NC_FLAG_FREE; |
|
// update hold position |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
// no target position |
GPS_pTargetPosition = NULL; |
break; |
|
// the GPS supports the position hold, if the pilot takes no action |
case GPS_FLIGHT_MODE_AID: |
NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
NaviData.NCFlags |= NC_FLAG_PH; |
// reset WPList to begin |
GPS_pWaypoint = WPList_Begin(); |
|
if(GPS_IsManuallyControlled()) |
{ |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
GPS_pTargetPosition = NULL; |
} |
else |
{ |
GPS_pTargetPosition = &GPS_HoldPosition; |
} |
break; |
|
// the GPS control is directed to a target position |
// given by a waypoint or by the home position |
case GPS_FLIGHT_MODE_WAYPOINT: |
NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
NaviData.NCFlags |= NC_FLAG_CH; |
|
// waypoint trigger logic |
if(GPS_pWaypoint != NULL) // waypoint exist |
{ |
if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
{ |
GPS_pWaypoint = WPList_Next(); // goto to next WP |
WPArrived = FALSE; |
BeepTime = 255; |
} |
else // waypoint position is valid |
{ |
// check if the pointer to the waypoint has been changed or the data have been updated |
if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
{ |
GPS_pWaypointOld = GPS_pWaypoint; |
// reset the arrived bit to break a pending HoldTime of the old WP |
WPArrived = FALSE; |
} |
|
if(TargetDeviation.Status != INVALID) |
{ // if the waypoint was not catched and the target area has been reached |
if(!WPArrived && (TargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
{ |
WPArrived = TRUE; |
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
} |
} |
// if WP has been reached once, wait hold time before trigger to next one |
if(WPArrived) |
{ |
/* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
if(CheckDelay(WPTime)) |
{ |
GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
WPArrived = FALSE; // which is not arrived |
} |
} // EOF if(WPArrived) |
} |
} // EOF waypoint trigger logic |
|
if(GPS_pWaypoint != NULL) // Waypoint exist |
{ |
// update the hold position |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
} |
else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
{ |
// fly back to home postion |
if(GPS_HomePosition.Status == INVALID) |
{ |
GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
BeepTime = 255; // beep to indicate missin home position |
} |
else // the home position is valid |
{ |
// update the hold position |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
// set target to home position |
GPS_pTargetPosition = &GPS_HomePosition; |
} |
} |
break; |
|
case GPS_FLIGHT_MODE_UNDEF: |
default: |
// update hold position |
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
// no target position |
GPS_pTargetPosition = NULL; |
break; |
|
}// EOF GPS Mode Handling |
|
|
/* Calculation of range target based on the real target */ |
|
// if no target position exist clear the ranged target position |
if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
else |
{ // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
{ |
// calculate deviation of new target position from home position |
if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition)) |
{ |
// check distance from home position |
if(TargetDeviation.Distance > GPS_Parameter.OperatingRadius) |
{ |
//calculate ranged target position to be within the operation radius area |
NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
TargetDeviation.Distance = GPS_Parameter.OperatingRadius; |
GPS_LimitXY(&(TargetDeviation.East), &(TargetDeviation.North), TargetDeviation.Distance); |
|
RangedTargetPosition.Status = INVALID; |
RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
RangedTargetPosition.Latitude += (s32)((float)TargetDeviation.North / 1.11194927f); |
RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
RangedTargetPosition.Longitude += (s32)((float)TargetDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
RangedTargetPosition.Status = NEWDATA; |
} |
else |
{ // the target is located within the operation radius area |
// simple copy the loaction to the ranged target position |
GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
NaviData.NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
} |
} |
else |
{ // deviation could not be determined |
GPS_ClearPosition(&RangedTargetPosition); |
} |
GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
} |
} |
OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
// remember last target position pointer |
pTargetPositionOld = GPS_pTargetPosition; |
|
/* Calculate position deviation from ranged target */ |
|
// calculate deviation of current position to ranged target position in cm |
if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition)) |
{ |
// implement your control code here based |
// in the info available in the TargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
GPS_Stick.Nick = 0; |
GPS_Stick.Roll = 0; |
GPS_Stick.Yaw = 0; |
} |
else // deviation could not be calculated |
{ // do nothing on gps sticks! |
GPS_Neutral(); |
} |
|
}// eof if GPSSignal is OK |
else // GPSSignal not OK |
{ |
GPS_Neutral(); |
// beep if signal is not sufficient |
if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
{ |
if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
} |
} |
GPSData.Status = PROCESSED; // mark as processed |
break; |
} |
|
DebugOut.Analog[27] = (s16)TargetDeviation.North; |
DebugOut.Analog[28] = (s16)TargetDeviation.East; |
DebugOut.Analog[29] = GPS_Stick.Nick; |
DebugOut.Analog[30] = GPS_Stick.Roll; |
|
// update navi data, send back to ground station |
GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
NaviData.SatsInUse = GPSData.NumOfSats; |
NaviData.TargetPositionDeviation.Distance = TargetDeviation.Distance; |
NaviData.TargetPositionDeviation.Bearing = TargetDeviation.Bearing; |
NaviData.UBat = FC.UBat; |
NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
NaviData.Heading = (s16)GPSData.Heading; |
NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading; |
NaviData.AngleNick = FromFlightCtrl.IntegralNick / 10; |
NaviData.AngleRoll = FromFlightCtrl.IntegralRoll / 10; |
NaviData.RC_Quality = (u8) FC.RC_Quality; |
NaviData.MKFlags = (u8)FC.MKFlags; |
|
//+++++++++++++++++++++++++++++++++++++++++++++++++++ |
return; |
} |
|