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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 15 // 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 35 // 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 700 // 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 | uint8_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 = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048; |
165 | P_North = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048; |
166 | P_East = -((int32_t)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 = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
169 | I_North = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
170 | I_East = -((int32_t)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 = ((int32_t)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_North*PID_North + PID_East*PID_East); // the current PI-Part |
178 | temp = (int32_t)c_sqrt(PID_North*PID_North + PID_East*PID_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 = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512; |
197 | D_North = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512; |
198 | D_East = -((int32_t)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_Roll*PID_Roll + PID_Pitch*PID_Pitch); |
225 | temp = (int32_t)c_sqrt(PID_Roll*PID_Roll + PID_Pitch*PID_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 |