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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
| 3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 36 | // + with our written permission |
36 | // + with our written permission |
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 51 | #include <inttypes.h> |
51 | #include <inttypes.h> |
| 52 | #include <stdlib.h> |
52 | #include <stdlib.h> |
| 53 | //#include "mymath.h" |
53 | //#include "mymath.h" |
| 54 | #include "timer0.h" |
54 | #include "timer0.h" |
| 55 | #include "uart0.h" |
55 | #include "uart0.h" |
| 56 | #include "rc.h" |
56 | #include "rc.h" |
| 57 | #include "eeprom.h" |
57 | #include "eeprom.h" |
| 58 | 58 | ||
| 59 | typedef enum |
- | |
| 60 | { |
59 | typedef enum { |
| 61 | GPS_FLIGHT_MODE_UNDEF, |
60 | GPS_FLIGHT_MODE_UNDEF, |
| 62 | GPS_FLIGHT_MODE_FREE, |
61 | GPS_FLIGHT_MODE_FREE, |
| 63 | GPS_FLIGHT_MODE_AID, |
62 | GPS_FLIGHT_MODE_AID, |
| 64 | GPS_FLIGHT_MODE_HOME, |
63 | GPS_FLIGHT_MODE_HOME, |
| 65 | } FlightMode_t; |
64 | } FlightMode_t; |
| 66 | 65 | ||
| 67 | #define GPS_POSINTEGRAL_LIMIT 32000 |
66 | #define GPS_POSINTEGRAL_LIMIT 32000 |
| 68 | #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
67 | #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
| 69 | #define GPS_P_LIMIT 25 |
68 | #define GPS_P_LIMIT 25 |
| 70 | - | ||
| 71 | 69 | ||
| 72 | typedef struct |
- | |
| 73 | { |
70 | typedef struct { |
| 74 | int32_t Longitude; |
71 | int32_t Longitude; |
| 75 | int32_t Latitude; |
72 | int32_t Latitude; |
| 76 | int32_t Altitude; |
73 | int32_t Altitude; |
| 77 | Status_t Status; |
74 | Status_t Status; |
| 78 | } GPS_Pos_t; |
75 | } GPS_Pos_t; |
| 79 | 76 | ||
| 80 | // GPS coordinates for hold position |
77 | // GPS coordinates for hold position |
| 81 | GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
78 | GPS_Pos_t HoldPosition = { 0, 0, 0, INVALID }; |
| 82 | // GPS coordinates for home position |
79 | // GPS coordinates for home position |
| 83 | GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
80 | GPS_Pos_t HomePosition = { 0, 0, 0, INVALID }; |
| 84 | // the current flight mode |
81 | // the current flight mode |
| 85 | FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF; |
82 | FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF; |
| 86 | - | ||
| 87 | 83 | ||
| 88 | // --------------------------------------------------------------------------------- |
84 | // --------------------------------------------------------------------------------- |
| 89 | void GPS_UpdateParameter(void) { |
85 | void GPS_UpdateParameter(void) { |
| 90 | static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF; |
86 | static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF; |
| 91 | 87 | ||
| 92 | if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) { |
88 | if ((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) { |
| 93 | FlightMode = GPS_FLIGHT_MODE_FREE; |
89 | FlightMode = GPS_FLIGHT_MODE_FREE; |
| 94 | } else { |
90 | } else { |
| 95 | if (dynamicParams.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID; |
91 | if (dynamicParams.NaviGpsModeControl < 50) |
| - | 92 | FlightMode = GPS_FLIGHT_MODE_AID; |
|
| 96 | else if(dynamicParams.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE; |
93 | else if (dynamicParams.NaviGpsModeControl < 180) |
| - | 94 | FlightMode = GPS_FLIGHT_MODE_FREE; |
|
| - | 95 | else |
|
| 97 | else FlightMode = GPS_FLIGHT_MODE_HOME; |
96 | FlightMode = GPS_FLIGHT_MODE_HOME; |
| 98 | } |
97 | } |
| 99 | 98 | ||
| 100 | if (FlightMode != FlightModeOld) { |
99 | if (FlightMode != FlightModeOld) { |
| 101 | BeepTime = 100; |
100 | BeepTime = 100; |
| 102 | } |
101 | } |
| 103 | FlightModeOld = FlightMode; |
102 | FlightModeOld = FlightMode; |
| 104 | } |
103 | } |
| 105 | 104 | ||
| 106 | // --------------------------------------------------------------------------------- |
105 | // --------------------------------------------------------------------------------- |
| 107 | // This function defines a good GPS signal condition |
106 | // This function defines a good GPS signal condition |
| 108 | uint8_t GPS_IsSignalOK(void) { |
107 | uint8_t GPS_IsSignalOK(void) { |
| 109 | static uint8_t GPSFix = 0; |
108 | static uint8_t GPSFix = 0; |
| 110 | if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= staticParams.NaviGpsMinSat) || GPSFix)) { |
109 | if ((GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) |
| - | 110 | && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum |
|
| - | 111 | >= staticParams.NaviGpsMinSat) || GPSFix)) { |
|
| 111 | GPSFix = 1; |
112 | GPSFix = 1; |
| 112 | return 1; |
113 | return 1; |
| 113 | } |
114 | } else |
| 114 | else return (0); |
115 | return (0); |
| 115 | } |
116 | } |
| 116 | 117 | ||
| 117 | // --------------------------------------------------------------------------------- |
118 | // --------------------------------------------------------------------------------- |
| 118 | // rescale xy-vector length to limit |
119 | // rescale xy-vector length to limit |
| 119 | uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit) { |
120 | uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit) { |
| 120 | uint8_t retval = 0; |
121 | uint8_t retval = 0; |
| 121 | int32_t len; |
122 | int32_t len; |
| 122 | len = (int32_t)c_sqrt(*x * *x + *y * *y); |
123 | len = (int32_t) c_sqrt(*x * *x + *y * *y); |
| 123 | if (len > limit) { |
124 | if (len > limit) { |
| 124 | // normalize control vector components to the limit |
125 | // normalize control vector components to the limit |
| 125 | *x = (*x * limit) / len; |
126 | *x = (*x * limit) / len; |
| 126 | *y = (*y * limit) / len; |
127 | *y = (*y * limit) / len; |
| 127 | retval = 1; |
128 | retval = 1; |
| 128 | } |
129 | } |
| 129 | return(retval); |
130 | return (retval); |
| 130 | } |
131 | } |
| 131 | 132 | ||
| 132 | // checks nick and roll sticks for manual control |
133 | // checks nick and roll sticks for manual control |
| 133 | uint8_t GPS_IsManualControlled(void) { |
134 | uint8_t GPS_IsManualControlled(void) { |
| 134 | if ((abs(PPM_in[staticParams.ChannelAssignment[CH_NICK]]) < staticParams.NaviStickThreshold) && (abs(PPM_in[staticParams.ChannelAssignment[CH_ROLL]]) < staticParams.NaviStickThreshold)) return 0; |
135 | if ((abs(PPM_in[staticParams.ChannelAssignment[CH_NICK]]) |
| - | 136 | < staticParams.NaviStickThreshold) |
|
| - | 137 | && (abs(PPM_in[staticParams.ChannelAssignment[CH_ROLL]]) |
|
| - | 138 | < staticParams.NaviStickThreshold)) |
|
| - | 139 | return 0; |
|
| - | 140 | else |
|
| 135 | else return 1; |
141 | return 1; |
| 136 | } |
142 | } |
| 137 | 143 | ||
| 138 | // set given position to current gps position |
144 | // set given position to current gps position |
| 139 | uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) { |
145 | uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) { |
| 140 | uint8_t retval = 0; |
146 | uint8_t retval = 0; |
| - | 147 | if (pGPSPos == NULL) |
|
| 141 | if(pGPSPos == NULL) return(retval); // bad pointer |
148 | return (retval); // bad pointer |
| 142 | 149 | ||
| 143 | if(GPS_IsSignalOK()) { // is GPS signal condition is fine |
150 | if (GPS_IsSignalOK()) { // is GPS signal condition is fine |
| 144 | pGPSPos->Longitude = GPSInfo.longitude; |
151 | pGPSPos->Longitude = GPSInfo.longitude; |
| 145 | pGPSPos->Latitude = GPSInfo.latitude; |
152 | pGPSPos->Latitude = GPSInfo.latitude; |
| 146 | pGPSPos->Altitude = GPSInfo.altitude; |
153 | pGPSPos->Altitude = GPSInfo.altitude; |
| 147 | pGPSPos->Status = NEWDATA; |
154 | pGPSPos->Status = NEWDATA; |
| 148 | retval = 1; |
155 | retval = 1; |
| 149 | } else { // bad GPS signal condition |
156 | } else { // bad GPS signal condition |
| 150 | pGPSPos->Status = INVALID; |
157 | pGPSPos->Status = INVALID; |
| 151 | retval = 0; |
158 | retval = 0; |
| 152 | } |
159 | } |
| 153 | return(retval); |
160 | return (retval); |
| 154 | } |
161 | } |
| 155 | 162 | ||
| 156 | // clear position |
163 | // clear position |
| 157 | uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) { |
164 | uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) { |
| 158 | uint8_t retval = 0; |
165 | uint8_t retval = 0; |
| 159 | if(pGPSPos == NULL) |
166 | if (pGPSPos == NULL) |
| 160 | return retval; // bad pointer |
167 | return retval; // bad pointer |
| 161 | else { |
168 | else { |
| 162 | pGPSPos->Longitude = 0; |
169 | pGPSPos->Longitude = 0; |
| 163 | pGPSPos->Latitude = 0; |
170 | pGPSPos->Latitude = 0; |
| 164 | pGPSPos->Altitude = 0; |
171 | pGPSPos->Altitude = 0; |
| 165 | pGPSPos->Status = INVALID; |
172 | pGPSPos->Status = INVALID; |
| 166 | retval = 1; |
173 | retval = 1; |
| 167 | } |
174 | } |
| 168 | return (retval); |
175 | return (retval); |
| 169 | } |
176 | } |
| 170 | 177 | ||
| 171 | // disable GPS control sticks |
178 | // disable GPS control sticks |
| 172 | void GPS_Neutral(void) { |
179 | void GPS_Neutral(void) { |
| 173 | GPSStickNick = 0; |
180 | GPSStickNick = 0; |
| 174 | GPSStickRoll = 0; |
181 | GPSStickRoll = 0; |
| 175 | } |
182 | } |
| 176 | 183 | ||
| 177 | // calculates the GPS control stick values from the deviation to target position |
184 | // calculates the GPS control stick values from the deviation to target position |
| 178 | // if the pointer to the target positin is NULL or is the target position invalid |
185 | // if the pointer to the target positin is NULL or is the target position invalid |
| 179 | // then the P part of the controller is deactivated. |
186 | // then the P part of the controller is deactivated. |
| 180 | void GPS_PIDController(GPS_Pos_t *pTargetPos) { |
187 | void GPS_PIDController(GPS_Pos_t *pTargetPos) { |
| 181 | static int32_t PID_Nick, PID_Roll; |
188 | static int32_t PID_Nick, PID_Roll; |
| 182 | int32_t coscompass, sincompass; |
189 | int32_t coscompass, sincompass; |
| 183 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
190 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
| 184 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
191 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, |
| - | 192 | I_East = 0; |
|
| 185 | int32_t PID_North = 0, PID_East = 0; |
193 | int32_t PID_North = 0, PID_East = 0; |
| 186 | static int32_t cos_target_latitude = 1; |
194 | static int32_t cos_target_latitude = 1; |
| 187 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
195 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
| 188 | static GPS_Pos_t *pLastTargetPos = 0; |
196 | static GPS_Pos_t *pLastTargetPos = 0; |
| 189 | 197 | ||
| 190 | // if GPS data and Compass are ok |
198 | // if GPS data and Compass are ok |
| 191 | if( GPS_IsSignalOK() && (CompassHeading >= 0)) { |
199 | if (GPS_IsSignalOK() && (CompassHeading >= 0)) { |
| 192 | if(pTargetPos != NULL) // if there is a target position |
200 | if (pTargetPos != NULL) // if there is a target position |
| 193 | { |
201 | { |
| 194 | if(pTargetPos->Status != INVALID) // and the position data are valid |
202 | if (pTargetPos->Status != INVALID) // and the position data are valid |
| 195 | { |
203 | { |
| 196 | // if the target data are updated or the target pointer has changed |
204 | // if the target data are updated or the target pointer has changed |
| 197 | if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
205 | if ((pTargetPos->Status != PROCESSED) || (pTargetPos |
| 198 | { |
206 | != pLastTargetPos)) { |
| 199 | // reset error integral |
207 | // reset error integral |
| 200 | GPSPosDevIntegral_North = 0; |
208 | GPSPosDevIntegral_North = 0; |
| 201 | GPSPosDevIntegral_East = 0; |
209 | GPSPosDevIntegral_East = 0; |
| 202 | // recalculate latitude projection |
210 | // recalculate latitude projection |
| - | 211 | cos_target_latitude = (int32_t) c_cos_8192( |
|
| 203 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
212 | (int16_t) (pTargetPos->Latitude / 10000000L)); |
| 204 | // remember last target pointer |
213 | // remember last target pointer |
| 205 | pLastTargetPos = pTargetPos; |
214 | pLastTargetPos = pTargetPos; |
| 206 | // mark data as processed |
215 | // mark data as processed |
| 207 | pTargetPos->Status = PROCESSED; |
216 | pTargetPos->Status = PROCESSED; |
| 208 | } |
217 | } |
| 209 | // calculate position deviation from latitude and longitude differences |
218 | // calculate position deviation from latitude and longitude differences |
| 210 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
219 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
| 211 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
220 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
| 212 | // calculate latitude projection |
221 | // calculate latitude projection |
| 213 | GPSPosDev_East *= cos_target_latitude; |
222 | GPSPosDev_East *= cos_target_latitude; |
| 214 | GPSPosDev_East /= 8192; |
223 | GPSPosDev_East /= 8192; |
| 215 | } |
- | |
| 216 | else // no valid target position available |
224 | } else {// no valid target position available |
| 217 | { |
- | |
| 218 | // reset error |
225 | // reset error |
| 219 | GPSPosDev_North = 0; |
226 | GPSPosDev_North = 0; |
| 220 | GPSPosDev_East = 0; |
227 | GPSPosDev_East = 0; |
| 221 | // reset error integral |
228 | // reset error integral |
| 222 | GPSPosDevIntegral_North = 0; |
229 | GPSPosDevIntegral_North = 0; |
| 223 | GPSPosDevIntegral_East = 0; |
230 | GPSPosDevIntegral_East = 0; |
| 224 | } |
231 | } |
| 225 | } |
- | |
| 226 | else // no target position available |
232 | } else { // no target position available |
| 227 | { |
- | |
| 228 | // reset error |
233 | // reset error |
| 229 | GPSPosDev_North = 0; |
234 | GPSPosDev_North = 0; |
| 230 | GPSPosDev_East = 0; |
235 | GPSPosDev_East = 0; |
| 231 | // reset error integral |
236 | // reset error integral |
| 232 | GPSPosDevIntegral_North = 0; |
237 | GPSPosDevIntegral_North = 0; |
| 233 | GPSPosDevIntegral_East = 0; |
238 | GPSPosDevIntegral_East = 0; |
| 234 | } |
239 | } |
| 235 | 240 | ||
| 236 | //Calculate PID-components of the controller |
241 | //Calculate PID-components of the controller |
| 237 | 242 | ||
| 238 | // D-Part |
243 | // D-Part |
| 239 | D_North = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.velnorth)/512; |
244 | D_North = ((int32_t) dynamicParams.NaviGpsD * GPSInfo.velnorth) / 512; |
| 240 | D_East = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.veleast)/512; |
245 | D_East = ((int32_t) dynamicParams.NaviGpsD * GPSInfo.veleast) / 512; |
| 241 | 246 | ||
| 242 | // P-Part |
247 | // P-Part |
| 243 | P_North = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_North)/2048; |
248 | P_North = ((int32_t) dynamicParams.NaviGpsP * GPSPosDev_North) / 2048; |
| 244 | P_East = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_East)/2048; |
249 | P_East = ((int32_t) dynamicParams.NaviGpsP * GPSPosDev_East) / 2048; |
| 245 | 250 | ||
| 246 | // I-Part |
251 | // I-Part |
| 247 | I_North = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_North)/8192; |
252 | I_North = ((int32_t) dynamicParams.NaviGpsI * GPSPosDevIntegral_North) |
| - | 253 | / 8192; |
|
| 248 | I_East = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_East)/8192; |
254 | I_East = ((int32_t) dynamicParams.NaviGpsI * GPSPosDevIntegral_East) |
| - | 255 | / 8192; |
|
| 249 | 256 | ||
| 250 | // combine P & I |
257 | // combine P & I |
| 251 | PID_North = P_North + I_North; |
258 | PID_North = P_North + I_North; |
| 252 | PID_East = P_East + I_East; |
259 | PID_East = P_East + I_East; |
| 253 | if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT)) |
260 | if (!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT)) { |
| 254 | { |
- | |
| 255 | GPSPosDevIntegral_North += GPSPosDev_North/16; |
261 | GPSPosDevIntegral_North += GPSPosDev_North / 16; |
| 256 | GPSPosDevIntegral_East += GPSPosDev_East/16; |
262 | GPSPosDevIntegral_East += GPSPosDev_East / 16; |
| 257 | GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
263 | GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, |
| - | 264 | GPS_POSINTEGRAL_LIMIT); |
|
| 258 | } |
265 | } |
| 259 | 266 | ||
| 260 | // combine PI- and D-Part |
267 | // combine PI- and D-Part |
| 261 | PID_North += D_North; |
268 | PID_North += D_North; |
| 262 | PID_East += D_East; |
269 | PID_East += D_East; |
| 263 | 270 | ||
| 264 | // scale combination with gain. |
271 | // scale combination with gain. |
| 265 | PID_North = (PID_North * (int32_t)dynamicParams.NaviGpsGain) / 100; |
272 | PID_North = (PID_North * (int32_t) dynamicParams.NaviGpsGain) / 100; |
| 266 | PID_East = (PID_East * (int32_t)dynamicParams.NaviGpsGain) / 100; |
273 | PID_East = (PID_East * (int32_t) dynamicParams.NaviGpsGain) / 100; |
| 267 | 274 | ||
| 268 | // GPS to nick and roll settings |
275 | // GPS to nick and roll settings |
| 269 | // A positive nick angle moves head downwards (flying forward). |
276 | // A positive nick angle moves head downwards (flying forward). |
| 270 | // A positive roll angle tilts left side downwards (flying left). |
277 | // A positive roll angle tilts left side downwards (flying left). |
| 271 | // If compass heading is 0 the head of the copter is in north direction. |
278 | // If compass heading is 0 the head of the copter is in north direction. |
| 272 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
279 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
| 273 | // In case of a positive north deviation/velocity the |
280 | // In case of a positive north deviation/velocity the |
| 274 | // copter should fly to south (negative nick). |
281 | // copter should fly to south (negative nick). |
| 275 | // In case of a positive east position deviation and a positive east velocity the |
282 | // In case of a positive east position deviation and a positive east velocity the |
| 276 | // copter should fly to west (positive roll). |
283 | // copter should fly to west (positive roll). |
| 277 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
284 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
| 278 | // in the flight.c. Therefore a positive north deviation/velocity should result in a positive |
285 | // in the flight.c. Therefore a positive north deviation/velocity should result in a positive |
| 279 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
286 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
| 280 | 287 | ||
| 281 | coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
288 | coscompass = (int32_t) c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
| 282 | sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
289 | sincompass = (int32_t) c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
| 283 | PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192; |
290 | PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192; |
| 284 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192; |
291 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192; |
| 285 | 292 | ||
| 286 | // limit resulting GPS control vector |
293 | // limit resulting GPS control vector |
| 287 | GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
294 | GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
| 288 | 295 | ||
| 289 | GPSStickNick = (int16_t)PID_Nick; |
296 | GPSStickNick = (int16_t) PID_Nick; |
| 290 | GPSStickRoll = (int16_t)PID_Roll; |
297 | GPSStickRoll = (int16_t) PID_Roll; |
| 291 | } |
- | |
| 292 | else // invalid GPS data or bad compass reading |
298 | } else { // invalid GPS data or bad compass reading |
| 293 | { |
- | |
| 294 | GPS_Neutral(); // do nothing |
299 | GPS_Neutral(); // do nothing |
| 295 | // reset error integral |
300 | // reset error integral |
| 296 | GPSPosDevIntegral_North = 0; |
301 | GPSPosDevIntegral_North = 0; |
| 297 | GPSPosDevIntegral_East = 0; |
302 | GPSPosDevIntegral_East = 0; |
| 298 | } |
303 | } |
| 299 | } |
304 | } |
| 300 | 305 | ||
| 301 | void GPS_Main(void) { |
306 | void GPS_Main(void) { |
| 302 | static uint8_t GPS_P_Delay = 0; |
307 | static uint8_t GPS_P_Delay = 0; |
| 303 | static uint16_t beep_rythm = 0; |
308 | static uint16_t beep_rythm = 0; |
| 304 | 309 | ||
| 305 | GPS_UpdateParameter(); |
310 | GPS_UpdateParameter(); |
| 306 | 311 | ||
| 307 | // store home position if start of flight flag is set |
312 | // store home position if start of flight flag is set |
| 308 | if(MKFlags & MKFLAG_CALIBRATE) { |
313 | if (MKFlags & MKFLAG_CALIBRATE) { |
| 309 | if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700; |
314 | if (GPS_SetCurrPosition(&HomePosition)) |
| - | 315 | BeepTime = 700; |
|
| 310 | } |
316 | } |
| 311 | 317 | ||
| 312 | switch(GPSInfo.status) { |
318 | switch (GPSInfo.status) { |
| 313 | case INVALID: // invalid gps data |
319 | case INVALID: // invalid gps data |
| 314 | GPS_Neutral(); |
320 | GPS_Neutral(); |
| 315 | if(FlightMode != GPS_FLIGHT_MODE_FREE) { |
321 | if (FlightMode != GPS_FLIGHT_MODE_FREE) { |
| 316 | BeepTime = 100; // beep if signal is neccesary |
322 | BeepTime = 100; // beep if signal is neccesary |
| 317 | } |
323 | } |
| 318 | break; |
324 | break; |
| 319 | case PROCESSED: // if gps data are already processed do nothing |
325 | case PROCESSED: // if gps data are already processed do nothing |
| 320 | // downcount timeout |
326 | // downcount timeout |
| 321 | if(GPSTimeout) GPSTimeout--; |
327 | if (GPSTimeout) |
| - | 328 | GPSTimeout--; |
|
| 322 | // if no new data arrived within timeout set current data invalid |
329 | // if no new data arrived within timeout set current data invalid |
| 323 | // and therefore disable GPS |
330 | // and therefore disable GPS |
| 324 | else |
331 | else { |
| 325 | { |
- | |
| 326 | GPS_Neutral(); |
332 | GPS_Neutral(); |
| 327 | GPSInfo.status = INVALID; |
333 | GPSInfo.status = INVALID; |
| 328 | } |
334 | } |
| 329 | break; |
335 | break; |
| 330 | case NEWDATA: // new valid data from gps device |
336 | case NEWDATA: // new valid data from gps device |
| 331 | // if the gps data quality is good |
337 | // if the gps data quality is good |
| 332 | beep_rythm++; |
338 | beep_rythm++; |
| 333 | - | ||
| 334 | if (GPS_IsSignalOK()) |
339 | if (GPS_IsSignalOK()) { |
| 335 | { |
- | |
| 336 | switch(FlightMode) // check what's to do |
340 | switch (FlightMode) { // check what's to do |
| 337 | { |
- | |
| 338 | case GPS_FLIGHT_MODE_FREE: |
341 | case GPS_FLIGHT_MODE_FREE: |
| 339 | // update hold position to current gps position |
342 | // update hold position to current gps position |
| 340 | GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad |
343 | GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad |
| 341 | // disable gps control |
344 | // disable gps control |
| 342 | GPS_Neutral(); |
345 | GPS_Neutral(); |
| 343 | break; |
346 | break; |
| 344 | 347 | ||
| 345 | case GPS_FLIGHT_MODE_AID: |
348 | case GPS_FLIGHT_MODE_AID: |
| 346 | if(HoldPosition.Status != INVALID) |
349 | if (HoldPosition.Status != INVALID) { |
| 347 | { |
- | |
| 348 | if( GPS_IsManualControlled() ) // MK controlled by user |
350 | if (GPS_IsManualControlled()) { // MK controlled by user |
| 349 | { |
- | |
| 350 | // update hold point to current gps position |
351 | // update hold point to current gps position |
| 351 | GPS_SetCurrPosition(&HoldPosition); |
352 | GPS_SetCurrPosition(&HoldPosition); |
| 352 | // disable gps control |
353 | // disable gps control |
| 353 | GPS_Neutral(); |
354 | GPS_Neutral(); |
| 354 | GPS_P_Delay = 0; |
355 | GPS_P_Delay = 0; |
| 355 | } |
- | |
| 356 | else // GPS control active |
356 | } else { // GPS control active |
| 357 | { |
- | |
| 358 | if(GPS_P_Delay < 7) |
357 | if (GPS_P_Delay < 7) { |
| 359 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
358 | // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
| 360 | GPS_P_Delay++; |
359 | GPS_P_Delay++; |
| 361 | GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position |
360 | GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position |
| 362 | GPS_PIDController(NULL); // activates only the D-Part |
361 | GPS_PIDController(NULL); // activates only the D-Part |
| - | 362 | } else |
|
| - | 363 | GPS_PIDController(&HoldPosition);// activates the P&D-Part |
|
| 363 | } |
364 | } |
| 364 | else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
- | |
| 365 | } |
- | |
| 366 | } |
- | |
| 367 | else // invalid Hold Position |
365 | } else // invalid Hold Position |
| 368 | { // try to catch a valid hold position from gps data input |
366 | { // try to catch a valid hold position from gps data input |
| 369 | GPS_SetCurrPosition(&HoldPosition); |
367 | GPS_SetCurrPosition(&HoldPosition); |
| 370 | GPS_Neutral(); |
368 | GPS_Neutral(); |
| 371 | } |
369 | } |
| 372 | break; |
370 | break; |
| 373 | 371 | ||
| 374 | case GPS_FLIGHT_MODE_HOME: |
372 | case GPS_FLIGHT_MODE_HOME: |
| 375 | if(HomePosition.Status != INVALID) |
373 | if (HomePosition.Status != INVALID) { |
| 376 | { |
- | |
| 377 | // update hold point to current gps position |
374 | // update hold point to current gps position |
| 378 | // to avoid a flight back if home comming is deactivated |
375 | // to avoid a flight back if home comming is deactivated |
| 379 | GPS_SetCurrPosition(&HoldPosition); |
376 | GPS_SetCurrPosition(&HoldPosition); |
| 380 | if( GPS_IsManualControlled() ) // MK controlled by user |
377 | if (GPS_IsManualControlled()) // MK controlled by user |
| 381 | { |
378 | { |
| 382 | GPS_Neutral(); |
379 | GPS_Neutral(); |
| 383 | } |
- | |
| 384 | else // GPS control active |
380 | } else // GPS control active |
| 385 | { |
381 | { |
| 386 | GPS_PIDController(&HomePosition); |
382 | GPS_PIDController(&HomePosition); |
| 387 | } |
383 | } |
| 388 | } |
- | |
| 389 | else // bad home position |
384 | } else // bad home position |
| 390 | { |
385 | { |
| 391 | BeepTime = 50; // signal invalid home position |
386 | BeepTime = 50; // signal invalid home position |
| 392 | // try to hold at least the position as a fallback option |
387 | // try to hold at least the position as a fallback option |
| 393 | 388 | ||
| 394 | if (HoldPosition.Status != INVALID) |
- | |
| 395 | { |
389 | if (HoldPosition.Status != INVALID) { |
| 396 | if( GPS_IsManualControlled() ) // MK controlled by user |
390 | if (GPS_IsManualControlled()) // MK controlled by user |
| 397 | { |
391 | { |
| 398 | GPS_Neutral(); |
392 | GPS_Neutral(); |
| 399 | } |
- | |
| 400 | else // GPS control active |
393 | } else // GPS control active |
| 401 | { |
394 | { |
| 402 | GPS_PIDController(&HoldPosition); |
395 | GPS_PIDController(&HoldPosition); |
| 403 | } |
396 | } |
| 404 | } |
- | |
| 405 | else |
- | |
| 406 | { // try to catch a valid hold position |
397 | } else { // try to catch a valid hold position |
| 407 | GPS_SetCurrPosition(&HoldPosition); |
398 | GPS_SetCurrPosition(&HoldPosition); |
| 408 | GPS_Neutral(); |
399 | GPS_Neutral(); |
| 409 | } |
400 | } |
| 410 | } |
401 | } |
| 411 | break; // eof TSK_HOME |
402 | break; // eof TSK_HOME |
| 412 | default: // unhandled task |
403 | default: // unhandled task |
| 413 | GPS_Neutral(); |
404 | GPS_Neutral(); |
| 414 | break; // eof default |
405 | break; // eof default |
| 415 | } // eof switch GPS_Task |
406 | } // eof switch GPS_Task |
| 416 | } // eof gps data quality is good |
407 | } // eof gps data quality is good |
| 417 | else // gps data quality is bad |
408 | else // gps data quality is bad |
| 418 | { // disable gps control |
409 | { // disable gps control |
| 419 | GPS_Neutral(); |
410 | GPS_Neutral(); |
| 420 | if(FlightMode != GPS_FLIGHT_MODE_FREE) |
411 | if (FlightMode != GPS_FLIGHT_MODE_FREE) { |
| 421 | { |
- | |
| 422 | // beep if signal is not sufficient |
412 | // beep if signal is not sufficient |
| 423 | if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
413 | if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
| - | 414 | BeepTime = 100; |
|
| 424 | else if (GPSInfo.satnum < staticParams.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10; |
415 | else if (GPSInfo.satnum < staticParams.NaviGpsMinSat |
| - | 416 | && !(beep_rythm % 5)) |
|
| - | 417 | BeepTime = 10; |
|
| 425 | } |
418 | } |
| 426 | } |
419 | } |
| 427 | // set current data as processed to avoid further calculations on the same gps data |
420 | // set current data as processed to avoid further calculations on the same gps data |
| 428 | GPSInfo.status = PROCESSED; |
421 | GPSInfo.status = PROCESSED; |
| 429 | break; |
422 | break; |
| 430 | } // eof GPSInfo.status |
423 | } // eof GPSInfo.status |
| 431 | } |
424 | } |
| 432 | 425 | ||
| 433 | 426 | ||