Rev 806 | Go to most recent revision | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 806 | Rev 812 | ||
---|---|---|---|
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 20 // 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 45 // limit of gps stick control to avoid critical flight attitudes |
17 | #define GPS_D_LIMIT_DIST 500 // for position deviations greater than 500cm the D-Part of the PD-Controller is limited |
- | |
18 | #define GPS_D_LIMIT 50 // PD-Controntroller D-Limit. |
17 | #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
19 | - | ||
20 | int16_t GPS_Pitch = 0; |
- | |
- | 18 | ||
21 | int16_t GPS_Roll = 0; |
19 | |
22 | 20 | int16_t GPS_Pitch = 0, GPS_Roll = 0; |
|
23 | int32_t GPS_P_Factor = 0, GPS_D_Factor = 0; |
21 | int32_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0; |
24 | 22 | ||
25 | 23 | ||
26 | 24 | ||
27 | typedef struct |
25 | typedef struct |
28 | { |
26 | { |
29 | int32_t Longitude; |
27 | int32_t Longitude; |
30 | int32_t Latitude; |
28 | int32_t Latitude; |
31 | int32_t Altitude; |
29 | int32_t Altitude; |
32 | uint8_t Status; |
30 | uint8_t Status; |
33 | } GPS_Pos_t; |
31 | } GPS_Pos_t; |
34 | 32 | ||
35 | // GPS coordinates for hold position |
33 | // GPS coordinates for hold position |
36 | GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
34 | GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
37 | // GPS coordinates for home position |
35 | // GPS coordinates for home position |
38 | GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
36 | GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
39 | 37 | ||
40 | 38 | ||
41 | // --------------------------------------------------------------------------------- |
39 | // --------------------------------------------------------------------------------- |
42 | 40 | ||
43 | // checks pitch and roll sticks for manual control |
41 | // checks pitch and roll sticks for manual control |
44 | uint8_t IsManualControlled(void) |
42 | uint8_t IsManualControlled(void) |
45 | { |
43 | { |
46 | if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0; |
44 | if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0; |
47 | else return 1; |
45 | else return 1; |
48 | } |
46 | } |
49 | 47 | ||
50 | // set home position to current positon |
48 | // set home position to current positon |
51 | void GPS_SetHomePosition(void) |
49 | void GPS_SetHomePosition(void) |
52 | { |
50 | { |
53 | if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
51 | if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
54 | { |
52 | { |
55 | HomePosition.Longitude = GPSInfo.longitude; |
53 | HomePosition.Longitude = GPSInfo.longitude; |
56 | HomePosition.Latitude = GPSInfo.latitude; |
54 | HomePosition.Latitude = GPSInfo.latitude; |
57 | HomePosition.Altitude = GPSInfo.altitude; |
55 | HomePosition.Altitude = GPSInfo.altitude; |
58 | HomePosition.Status = VALID; |
56 | HomePosition.Status = VALID; |
59 | BeepTime = 1000; // signal if new home position was set |
57 | BeepTime = 1000; // signal if new home position was set |
60 | } |
58 | } |
61 | else |
59 | else |
62 | { |
60 | { |
63 | HomePosition.Status = INVALID; |
61 | HomePosition.Status = INVALID; |
64 | } |
62 | } |
65 | } |
63 | } |
66 | 64 | ||
67 | // set hold position to current positon |
65 | // set hold position to current positon |
68 | void GPS_SetHoldPosition(void) |
66 | void GPS_SetHoldPosition(void) |
69 | { |
67 | { |
70 | if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
68 | if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
71 | { |
69 | { |
72 | HoldPosition.Longitude = GPSInfo.longitude; |
70 | HoldPosition.Longitude = GPSInfo.longitude; |
73 | HoldPosition.Latitude = GPSInfo.latitude; |
71 | HoldPosition.Latitude = GPSInfo.latitude; |
74 | HoldPosition.Altitude = GPSInfo.altitude; |
72 | HoldPosition.Altitude = GPSInfo.altitude; |
75 | HoldPosition.Status = VALID; |
73 | HoldPosition.Status = VALID; |
76 | } |
74 | } |
77 | else |
75 | else |
78 | { |
76 | { |
79 | HoldPosition.Status = INVALID; |
77 | HoldPosition.Status = INVALID; |
80 | } |
78 | } |
81 | } |
79 | } |
82 | 80 | ||
83 | // clear home position |
81 | // clear home position |
84 | void GPS_ClearHomePosition(void) |
82 | void GPS_ClearHomePosition(void) |
85 | { |
83 | { |
86 | HomePosition.Status = INVALID; |
84 | HomePosition.Status = INVALID; |
87 | } |
85 | } |
88 | 86 | ||
89 | // disable GPS control sticks |
87 | // disable GPS control sticks |
90 | void GPS_Neutral(void) |
88 | void GPS_Neutral(void) |
91 | { |
89 | { |
92 | GPS_Pitch = 0; |
90 | GPS_Pitch = 0; |
93 | GPS_Roll = 0; |
91 | GPS_Roll = 0; |
94 | } |
92 | } |
95 | 93 | ||
96 | // calculates the GPS control stick values from the deviation to target position |
94 | // calculates the GPS control stick values from the deviation to target position |
97 | // if the pointer to the target positin is NULL or is the target position invalid |
95 | // if the pointer to the target positin is NULL or is the target position invalid |
98 | // then the P part of the controller is deactivated. |
96 | // then the P part of the controller is deactivated. |
99 | void GPS_PDController(GPS_Pos_t *pTargetPos) |
97 | void GPS_PIDController(GPS_Pos_t *pTargetPos) |
100 | { |
98 | { |
101 | int32_t coscompass, sincompass; |
99 | int32_t coscompass, sincompass; |
102 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
100 | 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; |
101 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
104 | int32_t PD_North = 0, PD_East = 0; |
102 | int32_t PID_North = 0, PID_East = 0; |
- | 103 | uint8_t GPS_Stick_Limited = 0; |
|
105 | static int32_t cos_target_latitude = 1; |
104 | static int32_t cos_target_latitude = 1; |
- | 105 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
|
- | 106 | static GPS_Pos_t *pLastTargetPos = 0; |
|
106 | 107 | ||
107 | // if GPS data and Compass are ok |
108 | // if GPS data and Compass are ok |
108 | if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
109 | if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
109 | { |
110 | { |
110 | 111 | ||
111 | if(pTargetPos != NULL) // if there is a target position |
112 | if(pTargetPos != NULL) // if there is a target position |
112 | { |
113 | { |
113 | if(pTargetPos->Status != INVALID) // and the position data are valid |
114 | if(pTargetPos->Status != INVALID) // and the position data are valid |
114 | { // calculate position deviation from latitude and longitude differences |
- | |
115 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
- | |
116 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
- | |
117 | // recalculate the target latitude projection only if the target data are updated |
- | |
118 | // to save time |
- | |
119 | if (pTargetPos->Status != PROCESSED) |
- | |
120 | { |
115 | { |
- | 116 | // if the target data are updated or the target pointer has changed |
|
- | 117 | if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
|
- | 118 | { |
|
- | 119 | // reset error integral |
|
- | 120 | GPSPosDevIntegral_North = 0; |
|
- | 121 | GPSPosDevIntegral_East = 0; |
|
- | 122 | // recalculate latitude projection |
|
121 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
123 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
- | 124 | // remember last target pointer |
|
- | 125 | pLastTargetPos = pTargetPos; |
|
- | 126 | // mark data as processed |
|
122 | pTargetPos->Status = PROCESSED; |
127 | pTargetPos->Status = PROCESSED; |
123 | } |
128 | } |
- | 129 | // calculate position deviation from latitude and longitude differences |
|
- | 130 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
|
- | 131 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
|
124 | // calculate latitude projection |
132 | // calculate latitude projection |
125 | GPSPosDev_East *= cos_target_latitude; |
133 | GPSPosDev_East *= cos_target_latitude; |
126 | GPSPosDev_East /= 8192; |
134 | GPSPosDev_East /= 8192; |
127 | 135 | ||
128 | DebugOut.Analog[12] = GPSPosDev_North; |
136 | DebugOut.Analog[12] = GPSPosDev_North; |
129 | DebugOut.Analog[13] = GPSPosDev_East; |
137 | DebugOut.Analog[13] = GPSPosDev_East; |
130 | //DebugOut.Analog[12] = GPSInfo.velnorth; |
138 | //DebugOut.Analog[12] = GPSInfo.velnorth; |
131 | //DebugOut.Analog[13] = GPSInfo.veleast; |
139 | //DebugOut.Analog[13] = GPSInfo.veleast; |
132 | - | ||
133 | //Calculate P-components of the controller (negative sign for compensation) |
- | |
134 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
- | |
135 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
- | |
136 | } |
140 | } |
137 | else // not valid target position available |
141 | else // no valid target position available |
138 | { |
142 | { |
- | 143 | // reset error |
|
139 | GPSPosDev_North = 0; |
144 | GPSPosDev_North = 0; |
140 | GPSPosDev_East = 0; |
145 | GPSPosDev_East = 0; |
- | 146 | // reset error integral |
|
- | 147 | GPSPosDevIntegral_North = 0; |
|
- | 148 | GPSPosDevIntegral_East = 0; |
|
141 | } |
149 | } |
142 | } |
150 | } |
143 | else // not target position available |
151 | else // no target position available |
144 | { |
152 | { |
- | 153 | // reset error |
|
145 | GPSPosDev_North = 0; |
154 | GPSPosDev_North = 0; |
146 | GPSPosDev_East = 0; |
155 | GPSPosDev_East = 0; |
- | 156 | // reset error integral |
|
- | 157 | GPSPosDevIntegral_North = 0; |
|
- | 158 | GPSPosDevIntegral_East = 0; |
|
147 | } |
159 | } |
148 | 160 | ||
149 | //Calculate PD-components of the controller (negative sign for compensation) |
161 | //Calculate PID-components of the controller (negative sign for compensation) |
150 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
162 | P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
- | 163 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
|
- | 164 | I_North = -(GPS_I_Factor * GPSPosDevIntegral_North)/2048; |
|
151 | P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
165 | I_East = -(GPS_I_Factor * GPSPosDevIntegral_East)/2048; |
152 | D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
166 | D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
153 | D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
- | |
154 | // limit D-Part if position deviation is significant of the target position |
- | |
155 | // this accelerates flying to the target position |
- | |
156 | if( (abs(GPSPosDev_North) > GPS_D_LIMIT_DIST) || (abs(GPSPosDev_East) > GPS_D_LIMIT_DIST) ) |
- | |
157 | { |
- | |
158 | if (D_North > GPS_D_LIMIT) D_North = GPS_D_LIMIT; |
- | |
159 | else if (D_North < -GPS_D_LIMIT) D_North = -GPS_D_LIMIT; |
- | |
160 | if (D_East > GPS_D_LIMIT) D_East = GPS_D_LIMIT; |
- | |
161 | else if (D_East < -GPS_D_LIMIT) D_East = -GPS_D_LIMIT; |
- | |
162 | } |
167 | D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
163 | // PD-controller |
168 | // PD-controller |
164 | PD_North = P_North + D_North; |
169 | PID_North = P_North + I_North + D_North; |
165 | PD_East = P_East + D_East; |
170 | PID_East = P_East + I_East + D_East; |
166 | 171 | ||
167 | // GPS to pitch and roll settings |
172 | // GPS to pitch and roll settings |
168 | 173 | ||
169 | // A positive pitch angle moves head downwards (flying forward). |
174 | // A positive pitch angle moves head downwards (flying forward). |
170 | // A positive roll angle tilts left side downwards (flying left). |
175 | // A positive roll angle tilts left side downwards (flying left). |
171 | // If compass heading is 0 the head of the copter is in north direction. |
176 | // If compass heading is 0 the head of the copter is in north direction. |
172 | // A positive pitch angle will fly to north and a positive roll angle will fly to west. |
177 | // A positive pitch angle will fly to north and a positive roll angle will fly to west. |
173 | // In case of a positive north deviation/velocity the |
178 | // In case of a positive north deviation/velocity the |
174 | // copter should fly to south (negative pitch). |
179 | // copter should fly to south (negative pitch). |
175 | // In case of a positive east position deviation and a positive east velocity the |
180 | // In case of a positive east position deviation and a positive east velocity the |
176 | // copter should fly to west (positive roll). |
181 | // copter should fly to west (positive roll). |
177 | // The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values |
182 | // The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values |
178 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
183 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
179 | // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
184 | // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
180 | 185 | ||
181 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
186 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
182 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
187 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
183 | GPS_Roll = (int16_t)((coscompass * PD_East - sincompass * PD_North) / 8192); |
188 | GPS_Roll = (int16_t)((coscompass * PID_East - sincompass * PID_North) / 8192); |
184 | GPS_Pitch = -1*(int16_t)((sincompass * PD_East + coscompass * PD_North) / 8192); |
189 | GPS_Pitch = -1*(int16_t)((sincompass * PID_East + coscompass * PID_North) / 8192); |
185 | 190 | ||
186 | // limit GPS controls |
191 | // limit GPS controls |
- | 192 | if (GPS_Pitch > GPS_STICK_LIMIT) |
|
- | 193 | { |
|
- | 194 | GPS_Pitch = GPS_STICK_LIMIT; |
|
- | 195 | GPS_Stick_Limited = 1; |
|
187 | if (GPS_Pitch > GPS_STICK_LIMIT) GPS_Pitch = GPS_STICK_LIMIT; |
196 | } |
- | 197 | else if (GPS_Pitch < -GPS_STICK_LIMIT) |
|
- | 198 | { |
|
- | 199 | GPS_Pitch = -GPS_STICK_LIMIT; |
|
- | 200 | GPS_Stick_Limited = 1; |
|
188 | else if (GPS_Pitch < -GPS_STICK_LIMIT) GPS_Pitch = -GPS_STICK_LIMIT; |
201 | } |
- | 202 | if (GPS_Roll > GPS_STICK_LIMIT) |
|
- | 203 | { |
|
- | 204 | GPS_Roll = GPS_STICK_LIMIT; |
|
- | 205 | GPS_Stick_Limited = 1; |
|
189 | if (GPS_Roll > GPS_STICK_LIMIT) GPS_Roll = GPS_STICK_LIMIT; |
206 | } |
- | 207 | else if (GPS_Roll < -GPS_STICK_LIMIT) |
|
- | 208 | { |
|
- | 209 | GPS_Roll = -GPS_STICK_LIMIT; |
|
- | 210 | GPS_Stick_Limited = 1; |
|
- | 211 | } |
|
- | 212 | ||
- | 213 | if(!GPS_Stick_Limited) // prevent further growing if error integrals if control limit is reached |
|
- | 214 | { |
|
- | 215 | // calculate position error integrals |
|
- | 216 | GPSPosDevIntegral_North += GPSPosDev_North/4; |
|
- | 217 | if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
|
- | 218 | else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT; |
|
- | 219 | GPSPosDevIntegral_East += GPSPosDev_East/4; |
|
- | 220 | if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
|
- | 221 | else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT; |
|
- | 222 | } |
|
190 | else if (GPS_Roll < -GPS_STICK_LIMIT) GPS_Roll = -GPS_STICK_LIMIT; |
223 | |
191 | } |
224 | } |
192 | else // invalid GPS data |
225 | else // invalid GPS data |
193 | { |
226 | { |
194 | GPS_Neutral(); // do nothing |
227 | GPS_Neutral(); // do nothing |
- | 228 | // reset error integral |
|
- | 229 | GPSPosDevIntegral_North = 0; |
|
- | 230 | GPSPosDevIntegral_East = 0; |
|
195 | } |
231 | } |
196 | } |
232 | } |
197 | 233 | ||
- | 234 | ||
- | 235 | ||
198 | 236 | ||
199 | void GPS_Main(uint8_t ctrl) |
237 | void GPS_Main(uint8_t ctrl) |
200 | { |
238 | { |
201 | static uint8_t GPS_Task = TSK_IDLE; |
239 | static uint8_t GPS_Task = TSK_IDLE; |
202 | static uint8_t GPS_P_Delay = 0; |
240 | static uint8_t GPS_P_Delay = 0; |
203 | int16_t satbeep; |
241 | int16_t satbeep; |
204 | 242 | ||
205 | // ctrl enables the gps feature |
243 | // ctrl enables the gps feature |
206 | if(ctrl < 70) GPS_Task = TSK_IDLE; |
244 | if(ctrl < 70) GPS_Task = TSK_IDLE; |
207 | else if (ctrl < 160) GPS_Task = TSK_HOLD; |
245 | else if (ctrl < 160) GPS_Task = TSK_HOLD; |
208 | else GPS_Task = TSK_HOME; // ctrl >= 160 |
246 | else GPS_Task = TSK_HOME; // ctrl >= 160 |
209 | 247 | ||
210 | 248 | ||
211 | switch(GPSInfo.status) |
249 | switch(GPSInfo.status) |
212 | { |
250 | { |
213 | case INVALID: // invalid gps data |
251 | case INVALID: // invalid gps data |
214 | GPS_Neutral(); |
252 | GPS_Neutral(); |
215 | if(GPS_Task != TSK_IDLE) |
253 | if(GPS_Task != TSK_IDLE) |
216 | { |
254 | { |
217 | BeepTime = 100; // beep if signal is neccesary |
255 | BeepTime = 100; // beep if signal is neccesary |
218 | } |
256 | } |
219 | break; |
257 | break; |
220 | case PROCESSED: // if gps data are already processed do nothing |
258 | case PROCESSED: // if gps data are already processed do nothing |
221 | // downcount timeout |
259 | // downcount timeout |
222 | if(GPSTimeout) GPSTimeout--; |
260 | if(GPSTimeout) GPSTimeout--; |
223 | // if no new data arrived within timeout set current data invalid |
261 | // if no new data arrived within timeout set current data invalid |
224 | // and therefore disable GPS |
262 | // and therefore disable GPS |
225 | else |
263 | else |
226 | { |
264 | { |
227 | GPS_Neutral(); |
265 | GPS_Neutral(); |
228 | GPSInfo.status = INVALID; |
266 | GPSInfo.status = INVALID; |
229 | } |
267 | } |
230 | break; |
268 | break; |
231 | case VALID: // new valid data from gps device |
269 | case VALID: // new valid data from gps device |
232 | // if the gps data quality is good |
270 | // if the gps data quality is good |
233 | if (GPSInfo.satfix == SATFIX_3D) |
271 | if (GPSInfo.satfix == SATFIX_3D) |
234 | { |
272 | { |
235 | switch(GPS_Task) // check what's to do |
273 | switch(GPS_Task) // check what's to do |
236 | { |
274 | { |
237 | case TSK_IDLE: |
275 | case TSK_IDLE: |
238 | // update hold position to current gps position |
276 | // update hold position to current gps position |
239 | GPS_SetHoldPosition(); // can get invalid if gps signal is bad |
277 | GPS_SetHoldPosition(); // can get invalid if gps signal is bad |
240 | // disable gps control |
278 | // disable gps control |
241 | GPS_Neutral(); |
279 | GPS_Neutral(); |
242 | break; // eof TSK_IDLE |
280 | break; // eof TSK_IDLE |
243 | case TSK_HOLD: |
281 | case TSK_HOLD: |
244 | if(HoldPosition.Status != INVALID) |
282 | if(HoldPosition.Status != INVALID) |
245 | { |
283 | { |
246 | if( IsManualControlled() ) // MK controlled by user |
284 | if( IsManualControlled() ) // MK controlled by user |
247 | { |
285 | { |
248 | // update hold point to current gps position |
286 | // update hold point to current gps position |
249 | GPS_SetHoldPosition(); |
287 | GPS_SetHoldPosition(); |
250 | // disable gps control |
288 | // disable gps control |
251 | GPS_Neutral(); |
289 | GPS_Neutral(); |
252 | GPS_P_Delay = 0; |
290 | GPS_P_Delay = 0; |
253 | } |
291 | } |
254 | else // GPS control active |
292 | else // GPS control active |
255 | { |
293 | { |
256 | if(GPS_P_Delay<7) |
294 | if(GPS_P_Delay<7) |
257 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
295 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
258 | GPS_P_Delay++; |
296 | GPS_P_Delay++; |
259 | GPS_SetHoldPosition(); // update hold point to current gps position |
297 | GPS_SetHoldPosition(); // update hold point to current gps position |
260 | GPS_PDController(NULL); // activates only the D-Part |
298 | GPS_PIDController(NULL); // activates only the D-Part |
261 | } |
299 | } |
262 | else GPS_PDController(&HoldPosition);// activates the P&D-Part |
300 | else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
263 | } |
301 | } |
264 | } |
302 | } |
265 | else // invalid Hold Position |
303 | else // invalid Hold Position |
266 | { // try to catch a valid hold position from gps data input |
304 | { // try to catch a valid hold position from gps data input |
267 | GPS_SetHoldPosition(); |
305 | GPS_SetHoldPosition(); |
268 | GPS_Neutral(); |
306 | GPS_Neutral(); |
269 | } |
307 | } |
270 | break; // eof TSK_HOLD |
308 | break; // eof TSK_HOLD |
271 | case TSK_HOME: |
309 | case TSK_HOME: |
272 | if(HomePosition.Status != INVALID) |
310 | if(HomePosition.Status != INVALID) |
273 | { |
311 | { |
274 | // update hold point to current gps position |
312 | // update hold point to current gps position |
275 | // to avoid a flight back if home comming is deactivated |
313 | // to avoid a flight back if home comming is deactivated |
276 | GPS_SetHoldPosition(); |
314 | GPS_SetHoldPosition(); |
277 | if( IsManualControlled() ) // MK controlled by user |
315 | if( IsManualControlled() ) // MK controlled by user |
278 | { |
316 | { |
279 | GPS_Neutral(); |
317 | GPS_Neutral(); |
280 | } |
318 | } |
281 | else // GPS control active |
319 | else // GPS control active |
282 | { |
320 | { |
283 | GPS_PDController(&HomePosition); |
321 | GPS_PIDController(&HomePosition); |
284 | } |
322 | } |
285 | } |
323 | } |
286 | else // bad home position |
324 | else // bad home position |
287 | { |
325 | { |
288 | BeepTime = 50; // signal invalid home position |
326 | BeepTime = 50; // signal invalid home position |
289 | // try to hold at least the position as a fallback option |
327 | // try to hold at least the position as a fallback option |
290 | 328 | ||
291 | if (HoldPosition.Status != INVALID) |
329 | if (HoldPosition.Status != INVALID) |
292 | { |
330 | { |
293 | if( IsManualControlled() ) // MK controlled by user |
331 | if( IsManualControlled() ) // MK controlled by user |
294 | { |
332 | { |
295 | GPS_Neutral(); |
333 | GPS_Neutral(); |
296 | } |
334 | } |
297 | else // GPS control active |
335 | else // GPS control active |
298 | { |
336 | { |
299 | GPS_PDController(&HoldPosition); |
337 | GPS_PIDController(&HoldPosition); |
300 | } |
338 | } |
301 | } |
339 | } |
302 | else |
340 | else |
303 | { // try to catch a valid hold position |
341 | { // try to catch a valid hold position |
304 | GPS_SetHoldPosition(); |
342 | GPS_SetHoldPosition(); |
305 | GPS_Neutral(); |
343 | GPS_Neutral(); |
306 | } |
344 | } |
307 | } |
345 | } |
308 | break; // eof TSK_HOME |
346 | break; // eof TSK_HOME |
309 | default: // unhandled task |
347 | default: // unhandled task |
310 | GPS_Neutral(); |
348 | GPS_Neutral(); |
311 | break; // eof default |
349 | break; // eof default |
312 | } // eof switch GPS_Task |
350 | } // eof switch GPS_Task |
313 | } // eof 3D-FIX |
351 | } // eof 3D-FIX |
314 | else // no 3D-SATFIX |
352 | else // no 3D-SATFIX |
315 | { // disable gps control |
353 | { // disable gps control |
316 | GPS_Neutral(); |
354 | GPS_Neutral(); |
317 | if(GPS_Task != TSK_IDLE) |
355 | if(GPS_Task != TSK_IDLE) |
318 | { |
356 | { |
319 | satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats |
357 | satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats |
320 | if (satbeep < 0) satbeep = 0; |
358 | if (satbeep < 0) satbeep = 0; |
321 | BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms = |
359 | BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms = |
322 | } |
360 | } |
323 | } |
361 | } |
324 | // set current data as processed to avoid further calculations on the same gps data |
362 | // set current data as processed to avoid further calculations on the same gps data |
325 | GPSInfo.status = PROCESSED; |
363 | GPSInfo.status = PROCESSED; |
326 | break; |
364 | break; |
327 | } // eof GPSInfo.status |
365 | } // eof GPSInfo.status |
328 | DebugOut.Analog[14] = GPS_Pitch; |
366 | DebugOut.Analog[14] = GPS_Pitch; |
329 | DebugOut.Analog[15] = GPS_Roll; |
367 | DebugOut.Analog[15] = GPS_Roll; |
330 | } |
368 | } |
331 | 369 | ||
332 | 370 |