WebSVN - FlightCtrl - Diff - Rev 830 and 844 - /branches/V0.68d CRK HexaLotte/GPS.c


#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         35              // limit of gps stick control to avoid critical flight attitudes
#define GPS_POSDEV_INTEGRAL_LIMIT  32000  // limit for the position error integral
#define MAX_VELOCITY            700     // max ground speed in cm/s during position control
 
 
int16_t GPS_Pitch = 0, GPS_Roll = 0;
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;
 
                        DebugOut.Analog[12] = GPSPosDev_North;
                                DebugOut.Analog[13] = GPSPosDev_East;
                                //DebugOut.Analog[12] = GPSInfo.velnorth;
                                //DebugOut.Analog[13] = GPSInfo.veleast;
                        }
                        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 > temp1) // P-Part limit is reached
                {
                        // normalize P-part components to the P-Part limit
                        PID_North  = (PID_North  * temp1)/temp;
                        PID_East   = (PID_East * temp1)  /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
                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
        DebugOut.Analog[14] = GPS_Pitch;
        DebugOut.Analog[15] = GPS_Roll;
}
 
 

Rev 830	Rev 844
1	#include <inttypes.h>	1	#include <inttypes.h>
2	#include <stdlib.h>	2	#include <stdlib.h>
3	#include "fc.h"	3	#include "fc.h"
4	#include "ubx.h"	4	#include "ubx.h"
5	#include "mymath.h"	5	#include "mymath.h"
6	#include "timer0.h"	6	#include "timer0.h"
7	#include "uart.h"	7	#include "uart.h"
8	#include "rc.h"	8	#include "rc.h"
9	#include "eeprom.h"	9	#include "eeprom.h"
10		10
11	#define TSK_IDLE 0	11	#define TSK_IDLE 0
12	#define TSK_HOLD 1	12	#define TSK_HOLD 1
13	#define TSK_HOME 2	13	#define TSK_HOME 2
14		14
15	#define GPS_STICK_SENSE 20 // must be at least in a range where 90% of the trimming does not switch of the GPS function	15	#define GPS_STICK_SENSE 15 // must be at least in a range where 90% of the trimming does not switch of the GPS function
16	#define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes	16	#define GPS_STICK_LIMIT 35 // limit of gps stick control to avoid critical flight attitudes
17	#define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral	17	#define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral
18	#define MAX_VELOCITY 300 // max ground speed in cm/s during position control	18	#define MAX_VELOCITY 700 // max ground speed in cm/s during position control
19		19
20		20
21	int16_t GPS_Pitch = 0, GPS_Roll = 0;	21	int16_t GPS_Pitch = 0, GPS_Roll = 0;
22	int32_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0;	22	uint8_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0;
23		23
24		24
25		25
26	typedef struct	26	typedef struct
27	{	27	{
28	int32_t Longitude;	28	int32_t Longitude;
29	int32_t Latitude;	29	int32_t Latitude;
30	int32_t Altitude;	30	int32_t Altitude;
31	uint8_t Status;	31	uint8_t Status;
32	} GPS_Pos_t;	32	} GPS_Pos_t;
33		33
34	// GPS coordinates for hold position	34	// GPS coordinates for hold position
35	GPS_Pos_t HoldPosition = {0,0,0,INVALID};	35	GPS_Pos_t HoldPosition = {0,0,0,INVALID};
36	// GPS coordinates for home position	36	// GPS coordinates for home position
37	GPS_Pos_t HomePosition = {0,0,0,INVALID};	37	GPS_Pos_t HomePosition = {0,0,0,INVALID};
38		38
39		39
40	// ---------------------------------------------------------------------------------	40	// ---------------------------------------------------------------------------------
41		41
42	// checks pitch and roll sticks for manual control	42	// checks pitch and roll sticks for manual control
43	uint8_t IsManualControlled(void)	43	uint8_t IsManualControlled(void)
44	{	44	{
45	if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0;	45	if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0;
46	else return 1;	46	else return 1;
47	}	47	}
48		48
49	// set home position to current positon	49	// set home position to current positon
50	void GPS_SetHomePosition(void)	50	void GPS_SetHomePosition(void)
51	{	51	{
52	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)	52	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)
53	{	53	{
54	HomePosition.Longitude = GPSInfo.longitude;	54	HomePosition.Longitude = GPSInfo.longitude;
55	HomePosition.Latitude = GPSInfo.latitude;	55	HomePosition.Latitude = GPSInfo.latitude;
56	HomePosition.Altitude = GPSInfo.altitude;	56	HomePosition.Altitude = GPSInfo.altitude;
57	HomePosition.Status = VALID;	57	HomePosition.Status = VALID;
58	BeepTime = 1000; // signal if new home position was set	58	BeepTime = 1000; // signal if new home position was set
59	}	59	}
60	else	60	else
61	{	61	{
62	HomePosition.Status = INVALID;	62	HomePosition.Status = INVALID;
63	}	63	}
64	}	64	}
65		65
66	// set hold position to current positon	66	// set hold position to current positon
67	void GPS_SetHoldPosition(void)	67	void GPS_SetHoldPosition(void)
68	{	68	{
69	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)	69	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)
70	{	70	{
71	HoldPosition.Longitude = GPSInfo.longitude;	71	HoldPosition.Longitude = GPSInfo.longitude;
72	HoldPosition.Latitude = GPSInfo.latitude;	72	HoldPosition.Latitude = GPSInfo.latitude;
73	HoldPosition.Altitude = GPSInfo.altitude;	73	HoldPosition.Altitude = GPSInfo.altitude;
74	HoldPosition.Status = VALID;	74	HoldPosition.Status = VALID;
75	}	75	}
76	else	76	else
77	{	77	{
78	HoldPosition.Status = INVALID;	78	HoldPosition.Status = INVALID;
79	}	79	}
80	}	80	}
81		81
82	// clear home position	82	// clear home position
83	void GPS_ClearHomePosition(void)	83	void GPS_ClearHomePosition(void)
84	{	84	{
85	HomePosition.Status = INVALID;	85	HomePosition.Status = INVALID;
86	}	86	}
87		87
88	// disable GPS control sticks	88	// disable GPS control sticks
89	void GPS_Neutral(void)	89	void GPS_Neutral(void)
90	{	90	{
91	GPS_Pitch = 0;	91	GPS_Pitch = 0;
92	GPS_Roll = 0;	92	GPS_Roll = 0;
93	}	93	}
94		94
95	// calculates the GPS control stick values from the deviation to target position	95	// calculates the GPS control stick values from the deviation to target position
96	// if the pointer to the target positin is NULL or is the target position invalid	96	// if the pointer to the target positin is NULL or is the target position invalid
97	// then the P part of the controller is deactivated.	97	// then the P part of the controller is deactivated.
98	void GPS_PIDController(GPS_Pos_t *pTargetPos)	98	void GPS_PIDController(GPS_Pos_t *pTargetPos)
99	{	99	{
100	int32_t temp, temp1, PID_Pitch, PID_Roll;	100	int32_t temp, temp1, PID_Pitch, PID_Roll;
101	int32_t coscompass, sincompass;	101	int32_t coscompass, sincompass;
102	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm	102	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
103	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;	103	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;
104	int32_t PID_North = 0, PID_East = 0;	104	int32_t PID_North = 0, PID_East = 0;
105	static int32_t cos_target_latitude = 1;	105	static int32_t cos_target_latitude = 1;
106	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;	106	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;
107	static GPS_Pos_t *pLastTargetPos = 0;	107	static GPS_Pos_t *pLastTargetPos = 0;
108		108
109	// if GPS data and Compass are ok	109	// if GPS data and Compass are ok
110	if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) )	110	if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) )
111	{	111	{
112		112
113	if(pTargetPos != NULL) // if there is a target position	113	if(pTargetPos != NULL) // if there is a target position
114	{	114	{
115	if(pTargetPos->Status != INVALID) // and the position data are valid	115	if(pTargetPos->Status != INVALID) // and the position data are valid
116	{	116	{
117	// if the target data are updated or the target pointer has changed	117	// if the target data are updated or the target pointer has changed
118	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )	118	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )
119	{	119	{
120	// reset error integral	120	// reset error integral
121	GPSPosDevIntegral_North = 0;	121	GPSPosDevIntegral_North = 0;
122	GPSPosDevIntegral_East = 0;	122	GPSPosDevIntegral_East = 0;
123	// recalculate latitude projection	123	// recalculate latitude projection
124	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));	124	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));
125	// remember last target pointer	125	// remember last target pointer
126	pLastTargetPos = pTargetPos;	126	pLastTargetPos = pTargetPos;
127	// mark data as processed	127	// mark data as processed
128	pTargetPos->Status = PROCESSED;	128	pTargetPos->Status = PROCESSED;
129	}	129	}
130	// calculate position deviation from latitude and longitude differences	130	// calculate position deviation from latitude and longitude differences
131	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally	131	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally
132	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally	132	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally
133	// calculate latitude projection	133	// calculate latitude projection
134	GPSPosDev_East *= cos_target_latitude;	134	GPSPosDev_East *= cos_target_latitude;
135	GPSPosDev_East /= 8192;	135	GPSPosDev_East /= 8192;
136		136
137	DebugOut.Analog[12] = GPSPosDev_North;	137	DebugOut.Analog[12] = GPSPosDev_North;
138	DebugOut.Analog[13] = GPSPosDev_East;	138	DebugOut.Analog[13] = GPSPosDev_East;
139	//DebugOut.Analog[12] = GPSInfo.velnorth;	139	//DebugOut.Analog[12] = GPSInfo.velnorth;
140	//DebugOut.Analog[13] = GPSInfo.veleast;	140	//DebugOut.Analog[13] = GPSInfo.veleast;
141	}	141	}
142	else // no valid target position available	142	else // no valid target position available
143	{	143	{
144	// reset error	144	// reset error
145	GPSPosDev_North = 0;	145	GPSPosDev_North = 0;
146	GPSPosDev_East = 0;	146	GPSPosDev_East = 0;
147	// reset error integral	147	// reset error integral
148	GPSPosDevIntegral_North = 0;	148	GPSPosDevIntegral_North = 0;
149	GPSPosDevIntegral_East = 0;	149	GPSPosDevIntegral_East = 0;
150	}	150	}
151	}	151	}
152	else // no target position available	152	else // no target position available
153	{	153	{
154	// reset error	154	// reset error
155	GPSPosDev_North = 0;	155	GPSPosDev_North = 0;
156	GPSPosDev_East = 0;	156	GPSPosDev_East = 0;
157	// reset error integral	157	// reset error integral
158	GPSPosDevIntegral_North = 0;	158	GPSPosDevIntegral_North = 0;
159	GPSPosDevIntegral_East = 0;	159	GPSPosDevIntegral_East = 0;
160	}	160	}
161		161
162	//Calculate PID-components of the controller (negative sign for compensation)	162	//Calculate PID-components of the controller (negative sign for compensation)
163		163
164	// P-Part	164	// P-Part
165	P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;	165	P_North = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048;
166	P_East = -(GPS_P_Factor * GPSPosDev_East)/2048;	166	P_East = -((int32_t)GPS_P_Factor * GPSPosDev_East)/2048;
167		167
168	// I-Part	168	// I-Part
169	I_North = -(GPS_I_Factor * GPSPosDevIntegral_North)/8192;	169	I_North = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192;
170	I_East = -(GPS_I_Factor * GPSPosDevIntegral_East)/8192;	170	I_East = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_East)/8192;
171		171
172	// combine P- & I-Part	172	// combine P- & I-Part
173	PID_North = P_North + I_North;	173	PID_North = P_North + I_North;
174	PID_East = P_East + I_East;	174	PID_East = P_East + I_East;
175		175
176	//limit PI-Part to limit the max velocity	176	//limit PI-Part to limit the max velocity
177	temp1 = (GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit	177	temp1 = ((int32_t)GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit
178	temp = (int32_t)c_sqrt(PID_NorthPID_North + PID_EastPID_East); // the current PI-Part	178	temp = (int32_t)c_sqrt(PID_NorthPID_North + PID_EastPID_East); // the current PI-Part
179	if(temp > temp1) // P-Part limit is reached	179	if(temp > temp1) // P-Part limit is reached
180	{	180	{
181	// normalize P-part components to the P-Part limit	181	// normalize P-part components to the P-Part limit
182	PID_North = (PID_North * temp1)/temp;	182	PID_North = (PID_North * temp1)/temp;
183	PID_East = (PID_East * temp1)/temp;	183	PID_East = (PID_East * temp1) /temp;
184	}	184	}
185	else // PI-Part under its limit	185	else // PI-Part under its limit
186	{	186	{
187	// update position error integrals	187	// update position error integrals
188	GPSPosDevIntegral_North += GPSPosDev_North/16;	188	GPSPosDevIntegral_North += GPSPosDev_North/16;
189	if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT;	189	if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT;
190	else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT;	190	else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT;
191	GPSPosDevIntegral_East += GPSPosDev_East/16;	191	GPSPosDevIntegral_East += GPSPosDev_East/16;
192	if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT;	192	if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT;
193	else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT;	193	else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT;
194	}	194	}
195		195
196	// D-Part	196	// D-Part
197	D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512;	197	D_North = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512;
198	D_East = -(GPS_D_Factor * GPSInfo.veleast)/512;	198	D_East = -((int32_t)GPS_D_Factor * GPSInfo.veleast)/512;
199		199
200		200
201	// combine PI- and D-Part	201	// combine PI- and D-Part
202	PID_North += D_North;	202	PID_North += D_North;
203	PID_East += D_East;	203	PID_East += D_East;
204		204
205	// GPS to pitch and roll settings	205	// GPS to pitch and roll settings
206		206
207	// A positive pitch angle moves head downwards (flying forward).	207	// A positive pitch angle moves head downwards (flying forward).
208	// A positive roll angle tilts left side downwards (flying left).	208	// A positive roll angle tilts left side downwards (flying left).
209	// If compass heading is 0 the head of the copter is in north direction.	209	// If compass heading is 0 the head of the copter is in north direction.
210	// A positive pitch angle will fly to north and a positive roll angle will fly to west.	210	// A positive pitch angle will fly to north and a positive roll angle will fly to west.
211	// In case of a positive north deviation/velocity the	211	// In case of a positive north deviation/velocity the
212	// copter should fly to south (negative pitch).	212	// copter should fly to south (negative pitch).
213	// In case of a positive east position deviation and a positive east velocity the	213	// In case of a positive east position deviation and a positive east velocity the
214	// copter should fly to west (positive roll).	214	// copter should fly to west (positive roll).
215	// The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values	215	// The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values
216	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive	216	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive
217	// GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll.	217	// GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll.
218		218
219	coscompass = (int32_t)c_cos_8192(CompassHeading);	219	coscompass = (int32_t)c_cos_8192(CompassHeading);
220	sincompass = (int32_t)c_sin_8192(CompassHeading);	220	sincompass = (int32_t)c_sin_8192(CompassHeading);
221	PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192;	221	PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192;
222	PID_Pitch = -1((sincompass PID_East + coscompass * PID_North) / 8192);	222	PID_Pitch = -1((sincompass PID_East + coscompass * PID_North) / 8192);
223		223
224	// limit resulting GPS control vector	224	// limit resulting GPS control vector
225	temp = (int32_t)c_sqrt(PID_RollPID_Roll + PID_PitchPID_Pitch);	225	temp = (int32_t)c_sqrt(PID_RollPID_Roll + PID_PitchPID_Pitch);
226	if (temp > GPS_STICK_LIMIT)	226	if (temp > GPS_STICK_LIMIT)
227	{	227	{
228	// normalize control vector components to the limit	228	// normalize control vector components to the limit
229	PID_Roll = (PID_Roll * GPS_STICK_LIMIT)/temp;	229	PID_Roll = (PID_Roll * GPS_STICK_LIMIT)/temp;
230	PID_Pitch = (PID_Pitch * GPS_STICK_LIMIT)/temp;	230	PID_Pitch = (PID_Pitch * GPS_STICK_LIMIT)/temp;
231	}	231	}
232		232
233	GPS_Roll = (int16_t)PID_Roll;	233	GPS_Roll = (int16_t)PID_Roll;
234	GPS_Pitch = (int16_t)PID_Pitch;	234	GPS_Pitch = (int16_t)PID_Pitch;
235		235
236	}	236	}
237	else // invalid GPS data or bad compass reading	237	else // invalid GPS data or bad compass reading
238	{	238	{
239	GPS_Neutral(); // do nothing	239	GPS_Neutral(); // do nothing
240	// reset error integral	240	// reset error integral
241	GPSPosDevIntegral_North = 0;	241	GPSPosDevIntegral_North = 0;
242	GPSPosDevIntegral_East = 0;	242	GPSPosDevIntegral_East = 0;
243	}	243	}
244	}	244	}
245		245
246		246
247		247
248		248
249	void GPS_Main(uint8_t ctrl)	249	void GPS_Main(uint8_t ctrl)
250	{	250	{
251	static uint8_t GPS_Task = TSK_IDLE;	251	static uint8_t GPS_Task = TSK_IDLE;
252	static uint8_t GPS_P_Delay = 0;	252	static uint8_t GPS_P_Delay = 0;
253	int16_t satbeep;	253	int16_t satbeep;
254		254
255	// ctrl enables the gps feature	255	// ctrl enables the gps feature
256	if(ctrl < 70) GPS_Task = TSK_IDLE;	256	if(ctrl < 70) GPS_Task = TSK_IDLE;
257	else if (ctrl < 160) GPS_Task = TSK_HOLD;	257	else if (ctrl < 160) GPS_Task = TSK_HOLD;
258	else GPS_Task = TSK_HOME; // ctrl >= 160	258	else GPS_Task = TSK_HOME; // ctrl >= 160
259		259
260		260
261	switch(GPSInfo.status)	261	switch(GPSInfo.status)
262	{	262	{
263	case INVALID: // invalid gps data	263	case INVALID: // invalid gps data
264	GPS_Neutral();	264	GPS_Neutral();
265	if(GPS_Task != TSK_IDLE)	265	if(GPS_Task != TSK_IDLE)
266	{	266	{
267	BeepTime = 100; // beep if signal is neccesary	267	BeepTime = 100; // beep if signal is neccesary
268	}	268	}
269	break;	269	break;
270	case PROCESSED: // if gps data are already processed do nothing	270	case PROCESSED: // if gps data are already processed do nothing
271	// downcount timeout	271	// downcount timeout
272	if(GPSTimeout) GPSTimeout--;	272	if(GPSTimeout) GPSTimeout--;
273	// if no new data arrived within timeout set current data invalid	273	// if no new data arrived within timeout set current data invalid
274	// and therefore disable GPS	274	// and therefore disable GPS
275	else	275	else
276	{	276	{
277	GPS_Neutral();	277	GPS_Neutral();
278	GPSInfo.status = INVALID;	278	GPSInfo.status = INVALID;
279	}	279	}
280	break;	280	break;
281	case VALID: // new valid data from gps device	281	case VALID: // new valid data from gps device
282	// if the gps data quality is good	282	// if the gps data quality is good
283	if (GPSInfo.satfix == SATFIX_3D)	283	if (GPSInfo.satfix == SATFIX_3D)
284	{	284	{
285	switch(GPS_Task) // check what's to do	285	switch(GPS_Task) // check what's to do
286	{	286	{
287	case TSK_IDLE:	287	case TSK_IDLE:
288	// update hold position to current gps position	288	// update hold position to current gps position
289	GPS_SetHoldPosition(); // can get invalid if gps signal is bad	289	GPS_SetHoldPosition(); // can get invalid if gps signal is bad
290	// disable gps control	290	// disable gps control
291	GPS_Neutral();	291	GPS_Neutral();
292	break; // eof TSK_IDLE	292	break; // eof TSK_IDLE
293	case TSK_HOLD:	293	case TSK_HOLD:
294	if(HoldPosition.Status != INVALID)	294	if(HoldPosition.Status != INVALID)
295	{	295	{
296	if( IsManualControlled() ) // MK controlled by user	296	if( IsManualControlled() ) // MK controlled by user
297	{	297	{
298	// update hold point to current gps position	298	// update hold point to current gps position
299	GPS_SetHoldPosition();	299	GPS_SetHoldPosition();
300	// disable gps control	300	// disable gps control
301	GPS_Neutral();	301	GPS_Neutral();
302	GPS_P_Delay = 0;	302	GPS_P_Delay = 0;
303	}	303	}
304	else // GPS control active	304	else // GPS control active
305	{	305	{
306	if(GPS_P_Delay<7)	306	if(GPS_P_Delay<7)
307	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)	307	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
308	GPS_P_Delay++;	308	GPS_P_Delay++;
309	GPS_SetHoldPosition(); // update hold point to current gps position	309	GPS_SetHoldPosition(); // update hold point to current gps position
310	GPS_PIDController(NULL); // activates only the D-Part	310	GPS_PIDController(NULL); // activates only the D-Part
311	}	311	}
312	else GPS_PIDController(&HoldPosition);// activates the P&D-Part	312	else GPS_PIDController(&HoldPosition);// activates the P&D-Part
313	}	313	}
314	}	314	}
315	else // invalid Hold Position	315	else // invalid Hold Position
316	{ // try to catch a valid hold position from gps data input	316	{ // try to catch a valid hold position from gps data input
317	GPS_SetHoldPosition();	317	GPS_SetHoldPosition();
318	GPS_Neutral();	318	GPS_Neutral();
319	}	319	}
320	break; // eof TSK_HOLD	320	break; // eof TSK_HOLD
321	case TSK_HOME:	321	case TSK_HOME:
322	if(HomePosition.Status != INVALID)	322	if(HomePosition.Status != INVALID)
323	{	323	{
324	// update hold point to current gps position	324	// update hold point to current gps position
325	// to avoid a flight back if home comming is deactivated	325	// to avoid a flight back if home comming is deactivated
326	GPS_SetHoldPosition();	326	GPS_SetHoldPosition();
327	if( IsManualControlled() ) // MK controlled by user	327	if( IsManualControlled() ) // MK controlled by user
328	{	328	{
329	GPS_Neutral();	329	GPS_Neutral();
330	}	330	}
331	else // GPS control active	331	else // GPS control active
332	{	332	{
333	GPS_PIDController(&HomePosition);	333	GPS_PIDController(&HomePosition);
334	}	334	}
335	}	335	}
336	else // bad home position	336	else // bad home position
337	{	337	{
338	BeepTime = 50; // signal invalid home position	338	BeepTime = 50; // signal invalid home position
339	// try to hold at least the position as a fallback option	339	// try to hold at least the position as a fallback option
340		340
341	if (HoldPosition.Status != INVALID)	341	if (HoldPosition.Status != INVALID)
342	{	342	{
343	if( IsManualControlled() ) // MK controlled by user	343	if( IsManualControlled() ) // MK controlled by user
344	{	344	{
345	GPS_Neutral();	345	GPS_Neutral();
346	}	346	}
347	else // GPS control active	347	else // GPS control active
348	{	348	{
349	GPS_PIDController(&HoldPosition);	349	GPS_PIDController(&HoldPosition);
350	}	350	}
351	}	351	}
352	else	352	else
353	{ // try to catch a valid hold position	353	{ // try to catch a valid hold position
354	GPS_SetHoldPosition();	354	GPS_SetHoldPosition();
355	GPS_Neutral();	355	GPS_Neutral();
356	}	356	}
357	}	357	}
358	break; // eof TSK_HOME	358	break; // eof TSK_HOME
359	default: // unhandled task	359	default: // unhandled task
360	GPS_Neutral();	360	GPS_Neutral();
361	break; // eof default	361	break; // eof default
362	} // eof switch GPS_Task	362	} // eof switch GPS_Task
363	} // eof 3D-FIX	363	} // eof 3D-FIX
364	else // no 3D-SATFIX	364	else // no 3D-SATFIX
365	{ // disable gps control	365	{ // disable gps control
366	GPS_Neutral();	366	GPS_Neutral();
367	if(GPS_Task != TSK_IDLE)	367	if(GPS_Task != TSK_IDLE)
368	{	368	{
369	satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats	369	satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats
370	if (satbeep < 0) satbeep = 0;	370	if (satbeep < 0) satbeep = 0;
371	BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms =	371	BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms =
372	}	372	}
373	}	373	}
374	// set current data as processed to avoid further calculations on the same gps data	374	// set current data as processed to avoid further calculations on the same gps data
375	GPSInfo.status = PROCESSED;	375	GPSInfo.status = PROCESSED;
376	break;	376	break;
377	} // eof GPSInfo.status	377	} // eof GPSInfo.status
378	DebugOut.Analog[14] = GPS_Pitch;	378	DebugOut.Analog[14] = GPS_Pitch;
379	DebugOut.Analog[15] = GPS_Roll;	379	DebugOut.Analog[15] = GPS_Roll;
380	}	380	}
381		381
382		382

Subversion Repositories FlightCtrl

(root)/branches/V0.68d CRK HexaLotte/GPS.c @ 1796 - Rev 830 → 844