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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /*#######################################################################################*/ |
2 | /*#######################################################################################*/ |
3 | 3 | ||
4 | // IMPORTANT NOTE: |
4 | // IMPORTANT NOTE: |
5 | 5 | ||
6 | // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
6 | // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
7 | 7 | ||
8 | // The GPS navigation routines are NOT included ! |
8 | // The GPS navigation routines are NOT included ! |
9 | 9 | ||
10 | /*#######################################################################################*/ |
10 | /*#######################################################################################*/ |
11 | /*#######################################################################################*/ |
11 | /*#######################################################################################*/ |
12 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
12 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
13 | /*#######################################################################################*/ |
13 | /*#######################################################################################*/ |
14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
15 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
16 | // + Nur für den privaten Gebrauch |
16 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
17 | // + FOR NON COMMERCIAL USE ONLY |
17 | // + FOR NON COMMERCIAL USE ONLY |
18 | // + www.MikroKopter.com |
18 | // + www.MikroKopter.com |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
20 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
21 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
21 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
22 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
22 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
23 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
23 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
24 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
24 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
25 | // + Verkauf von Luftbildaufnahmen, usw. |
25 | // + Verkauf von Luftbildaufnahmen, usw. |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
27 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
28 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
28 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
30 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
31 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
31 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
32 | // + eindeutig als Ursprung verlinkt werden |
32 | // + eindeutig als Ursprung verlinkt werden |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
34 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
35 | // + Benutzung auf eigene Gefahr |
35 | // + Benutzung auf eigene Gefahr |
36 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
36 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
37 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
37 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
38 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
38 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
39 | // + mit unserer Zustimmung zulässig |
39 | // + mit unserer Zustimmung zulässig |
40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
41 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
43 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
43 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
44 | // + this list of conditions and the following disclaimer. |
44 | // + this list of conditions and the following disclaimer. |
45 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
45 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
46 | // + from this software without specific prior written permission. |
46 | // + from this software without specific prior written permission. |
47 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
47 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
48 | // + for non-commercial use (directly or indirectly) |
48 | // + for non-commercial use (directly or indirectly) |
49 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
49 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
50 | // + with our written permission |
50 | // + with our written permission |
51 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
51 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
52 | // + clearly linked as origin |
52 | // + clearly linked as origin |
53 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
53 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
54 | // |
54 | // |
55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
65 | // + POSSIBILITY OF SUCH DAMAGE. |
65 | // + POSSIBILITY OF SUCH DAMAGE. |
66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
67 | #include <stdio.h> |
67 | #include <stdio.h> |
68 | #include <stdlib.h> |
68 | #include <stdlib.h> |
69 | #include <math.h> |
69 | #include <math.h> |
70 | #include "91x_lib.h" |
70 | #include "91x_lib.h" |
71 | #include "main.h" |
71 | #include "main.h" |
72 | #include "uart1.h" |
72 | #include "uart1.h" |
73 | #include "GPS.h" |
73 | #include "GPS.h" |
74 | #include "timer.h" |
74 | #include "timer.h" |
75 | #include "spi_slave.h" |
75 | #include "spi_slave.h" |
76 | #include "waypoints.h" |
76 | #include "waypoints.h" |
77 | #include "i2c.h" |
77 | #include "i2c.h" |
78 | 78 | ||
79 | 79 | ||
80 | #define M_PI_180 (M_PI / 180.0f) |
80 | #define M_PI_180 (M_PI / 180.0f) |
81 | #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
81 | #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
82 | typedef enum |
82 | typedef enum |
83 | { |
83 | { |
84 | GPS_FLIGHT_MODE_UNDEF, |
84 | GPS_FLIGHT_MODE_UNDEF, |
85 | GPS_FLIGHT_MODE_FREE, |
85 | GPS_FLIGHT_MODE_FREE, |
86 | GPS_FLIGHT_MODE_AID, |
86 | GPS_FLIGHT_MODE_AID, |
87 | GPS_FLIGHT_MODE_WAYPOINT |
87 | GPS_FLIGHT_MODE_WAYPOINT |
88 | } GPS_FlightMode_t; |
88 | } GPS_FlightMode_t; |
89 | 89 | ||
90 | typedef struct |
90 | typedef struct |
91 | { |
91 | { |
92 | float Gain; |
92 | float Gain; |
93 | float P; |
93 | float P; |
94 | float I; |
94 | float I; |
95 | float D; |
95 | float D; |
96 | float A; |
96 | float A; |
97 | float ACC; |
97 | float ACC; |
98 | s32 P_Limit; |
98 | s32 P_Limit; |
99 | s32 I_Limit; |
99 | s32 I_Limit; |
100 | s32 D_Limit; |
100 | s32 D_Limit; |
101 | s32 PID_Limit; |
101 | s32 PID_Limit; |
102 | u32 BrakingDuration; |
102 | u32 BrakingDuration; |
103 | u8 MinSat; |
103 | u8 MinSat; |
104 | s8 StickThreshold; |
104 | s8 StickThreshold; |
105 | float WindCorrection; |
105 | float WindCorrection; |
106 | s32 OperatingRadius; |
106 | s32 OperatingRadius; |
107 | GPS_FlightMode_t FlightMode; |
107 | GPS_FlightMode_t FlightMode; |
108 | } __attribute__((packed)) GPS_Parameter_t; |
108 | } __attribute__((packed)) GPS_Parameter_t; |
109 | 109 | ||
110 | typedef struct |
110 | typedef struct |
111 | { |
111 | { |
112 | u8 Status; // invalid, newdata, processed |
112 | u8 Status; // invalid, newdata, processed |
113 | s32 North; // in cm |
113 | s32 North; // in cm |
114 | s32 East; // in cm |
114 | s32 East; // in cm |
115 | s32 Bearing; // in deg |
115 | s32 Bearing; // in deg |
116 | s32 Distance; // in cm |
116 | s32 Distance; // in cm |
117 | } __attribute__((packed)) GPS_Deviation_t; |
117 | } __attribute__((packed)) GPS_Deviation_t; |
118 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
118 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
119 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
119 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
120 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
120 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
121 | 121 | ||
122 | GPS_Stick_t GPS_Stick; |
122 | GPS_Stick_t GPS_Stick; |
123 | GPS_Parameter_t GPS_Parameter; |
123 | GPS_Parameter_t GPS_Parameter; |
124 | 124 | ||
125 | // the gps reference positions |
125 | // the gps reference positions |
126 | GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
126 | GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
127 | GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
127 | GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
128 | GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
128 | GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
129 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
129 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
130 | 130 | ||
131 | //------------------------------------------------------------- |
131 | //------------------------------------------------------------- |
132 | // Update GPSParamter |
132 | // Update GPSParamter |
133 | void GPS_UpdateParameter(void) |
133 | void GPS_UpdateParameter(void) |
134 | { |
134 | { |
135 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
135 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
136 | // in case of bad receiving conditions |
136 | // in case of bad receiving conditions |
137 | if(FC.RC_Quality < 100) |
137 | if(FC.RC_Quality < 100) |
138 | { // set fixed parameter |
138 | { // set fixed parameter |
139 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
139 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
140 | GPS_Parameter.Gain = (float) 100; |
140 | GPS_Parameter.Gain = (float) 100; |
141 | GPS_Parameter.P = (float) 90; |
141 | GPS_Parameter.P = (float) 90; |
142 | GPS_Parameter.I = (float) 90; |
142 | GPS_Parameter.I = (float) 90; |
143 | GPS_Parameter.D = (float) 90; |
143 | GPS_Parameter.D = (float) 90; |
144 | GPS_Parameter.A = (float) 90; |
144 | GPS_Parameter.A = (float) 90; |
145 | GPS_Parameter.ACC = (float) 0; |
145 | GPS_Parameter.ACC = (float) 0; |
146 | GPS_Parameter.P_Limit = 90; |
146 | GPS_Parameter.P_Limit = 90; |
147 | GPS_Parameter.I_Limit = 90; |
147 | GPS_Parameter.I_Limit = 90; |
148 | GPS_Parameter.D_Limit = 90; |
148 | GPS_Parameter.D_Limit = 90; |
149 | GPS_Parameter.PID_Limit = 200; |
149 | GPS_Parameter.PID_Limit = 200; |
150 | GPS_Parameter.BrakingDuration = 0; |
150 | GPS_Parameter.BrakingDuration = 0; |
151 | GPS_Parameter.MinSat = 6; |
151 | GPS_Parameter.MinSat = 6; |
152 | GPS_Parameter.StickThreshold = 8; |
152 | GPS_Parameter.StickThreshold = 8; |
153 | GPS_Parameter.WindCorrection = 0.0; |
153 | GPS_Parameter.WindCorrection = 0.0; |
154 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
154 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
155 | 155 | ||
156 | } |
156 | } |
157 | else |
157 | else |
158 | { |
158 | { |
159 | // update parameter from FC |
159 | // update parameter from FC |
160 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
160 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
161 | else |
161 | else |
162 | { |
162 | { |
163 | if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
163 | if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
164 | else if(Parameter.NaviGpsModeControl < 180) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
164 | else if(Parameter.NaviGpsModeControl < 180) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
165 | else GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
165 | else GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
166 | } |
166 | } |
167 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
167 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
168 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
168 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
169 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
169 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
170 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
170 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
171 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
171 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
172 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
172 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
173 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
173 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
174 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
174 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
175 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
175 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
176 | GPS_Parameter.PID_Limit = 2* (s32)Parameter.NaviAngleLimitation; |
176 | GPS_Parameter.PID_Limit = 2* (s32)Parameter.NaviAngleLimitation; |
177 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
177 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
178 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
178 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
179 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
179 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
180 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
180 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
181 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
181 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
182 | } |
182 | } |
183 | // FlightMode changed? |
183 | // FlightMode changed? |
184 | if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
184 | if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
185 | FlightMode_Old = GPS_Parameter.FlightMode; |
185 | FlightMode_Old = GPS_Parameter.FlightMode; |
186 | } |
186 | } |
187 | 187 | ||
188 | //------------------------------------------------------------- |
188 | //------------------------------------------------------------- |
189 | // This function defines a good GPS signal condition |
189 | // This function defines a good GPS signal condition |
190 | u8 GPS_IsSignalOK(void) |
190 | u8 GPS_IsSignalOK(void) |
191 | { |
191 | { |
192 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
192 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
193 | else return(0); |
193 | else return(0); |
194 | } |
194 | } |
195 | 195 | ||
196 | //------------------------------------------------------------ |
196 | //------------------------------------------------------------ |
197 | // Checks for manual control action |
197 | // Checks for manual control action |
198 | u8 GPS_IsManuallyControlled(void) |
198 | u8 GPS_IsManuallyControlled(void) |
199 | { |
199 | { |
200 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0)) return 1; |
200 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0)) return 1; |
201 | else return 0; |
201 | else return 0; |
202 | } |
202 | } |
203 | 203 | ||
204 | //------------------------------------------------------------ |
204 | //------------------------------------------------------------ |
205 | // copy GPS position from source position to target position |
205 | // copy GPS position from source position to target position |
206 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
206 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
207 | { |
207 | { |
208 | u8 retval = 0; |
208 | u8 retval = 0; |
209 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
209 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
210 | // copy only valid positions |
210 | // copy only valid positions |
211 | if(pGPSPosSrc->Status != INVALID) |
211 | if(pGPSPosSrc->Status != INVALID) |
212 | { |
212 | { |
213 | // if the source GPS position is not invalid |
213 | // if the source GPS position is not invalid |
214 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
214 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
215 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
215 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
216 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
216 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
217 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
217 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
218 | retval = 1; |
218 | retval = 1; |
219 | } |
219 | } |
220 | return(retval); |
220 | return(retval); |
221 | } |
221 | } |
222 | 222 | ||
223 | //------------------------------------------------------------ |
223 | //------------------------------------------------------------ |
224 | // clear position data |
224 | // clear position data |
225 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
225 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
226 | { |
226 | { |
227 | u8 retval = FALSE; |
227 | u8 retval = FALSE; |
228 | if(pGPSPos == NULL) return(retval); // bad pointer |
228 | if(pGPSPos == NULL) return(retval); // bad pointer |
229 | else |
229 | else |
230 | { |
230 | { |
231 | pGPSPos->Longitude = 0; |
231 | pGPSPos->Longitude = 0; |
232 | pGPSPos->Latitude = 0; |
232 | pGPSPos->Latitude = 0; |
233 | pGPSPos->Altitude = 0; |
233 | pGPSPos->Altitude = 0; |
234 | pGPSPos->Status = INVALID; |
234 | pGPSPos->Status = INVALID; |
235 | retval = TRUE; |
235 | retval = TRUE; |
236 | } |
236 | } |
237 | return (retval); |
237 | return (retval); |
238 | } |
238 | } |
239 | 239 | ||
240 | 240 | ||
241 | //------------------------------------------------------------ |
241 | //------------------------------------------------------------ |
242 | void GPS_Neutral() |
242 | void GPS_Neutral() |
243 | { |
243 | { |
244 | GPS_Stick.Nick = 0; |
244 | GPS_Stick.Nick = 0; |
245 | GPS_Stick.Roll = 0; |
245 | GPS_Stick.Roll = 0; |
246 | GPS_Stick.Yaw = 0; |
246 | GPS_Stick.Yaw = 0; |
247 | } |
247 | } |
248 | 248 | ||
249 | //------------------------------------------------------------ |
249 | //------------------------------------------------------------ |
250 | void GPS_Init(void) |
250 | void GPS_Init(void) |
251 | { |
251 | { |
252 | SerialPutString("\r\n GPS init..."); |
252 | SerialPutString("\r\n GPS init..."); |
253 | UBX_Init(); |
253 | UBX_Init(); |
254 | GPS_Neutral(); |
254 | GPS_Neutral(); |
255 | GPS_ClearPosition(&GPS_HoldPosition); |
255 | GPS_ClearPosition(&GPS_HoldPosition); |
256 | GPS_ClearPosition(&GPS_HomePosition); |
256 | GPS_ClearPosition(&GPS_HomePosition); |
257 | GPS_pTargetPosition = NULL; |
257 | GPS_pTargetPosition = NULL; |
258 | WPList_Init(); |
258 | WPList_Init(); |
259 | GPS_pWaypoint = WPList_Begin(); |
259 | GPS_pWaypoint = WPList_Begin(); |
260 | GPS_UpdateParameter(); |
260 | GPS_UpdateParameter(); |
261 | SerialPutString("ok"); |
261 | SerialPutString("ok"); |
262 | } |
262 | } |
263 | 263 | ||
264 | //------------------------------------------------------------ |
264 | //------------------------------------------------------------ |
265 | // calculate the bearing to target position from its deviation |
265 | // calculate the bearing to target position from its deviation |
266 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
266 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
267 | { |
267 | { |
268 | s32 bearing; |
268 | s32 bearing; |
269 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
269 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
270 | bearing = (270L - bearing)%360L; |
270 | bearing = (270L - bearing)%360L; |
271 | return(bearing); |
271 | return(bearing); |
272 | } |
272 | } |
273 | 273 | ||
274 | 274 | ||
275 | //------------------------------------------------------------ |
275 | //------------------------------------------------------------ |
276 | // Rescale xy-vector length if length limit is violated |
276 | // Rescale xy-vector length if length limit is violated |
277 | void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
277 | void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
278 | { |
278 | { |
279 | s32 dist; |
279 | s32 dist; |
280 | dist = (s32)hypot(*x,*y); // the length of the vector |
280 | dist = (s32)hypot(*x,*y); // the length of the vector |
281 | if (dist == 0) |
281 | if (dist == 0) |
282 | { |
282 | { |
283 | *x = 0; |
283 | *x = 0; |
284 | *y = 0; |
284 | *y = 0; |
285 | } |
285 | } |
286 | else if (dist > limit) |
286 | else if (dist > limit) |
287 | // if vector length is larger than the given limit |
287 | // if vector length is larger than the given limit |
288 | { // scale vector compontents so that the length is cut off to limit |
288 | { // scale vector compontents so that the length is cut off to limit |
289 | *x = (*x * limit) / dist; |
289 | *x = (*x * limit) / dist; |
290 | *y = (*y * limit) / dist; |
290 | *y = (*y * limit) / dist; |
291 | } |
291 | } |
292 | } |
292 | } |
293 | 293 | ||
294 | //------------------------------------------------------------ |
294 | //------------------------------------------------------------ |
295 | // transform the integer deg into float radians |
295 | // transform the integer deg into float radians |
296 | inline double RadiansFromGPS(s32 deg) |
296 | inline double RadiansFromGPS(s32 deg) |
297 | { |
297 | { |
298 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
298 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
299 | } |
299 | } |
300 | 300 | ||
301 | //------------------------------------------------------------ |
301 | //------------------------------------------------------------ |
302 | // transform the integer deg into float deg |
302 | // transform the integer deg into float deg |
303 | inline double DegFromGPS(s32 deg) |
303 | inline double DegFromGPS(s32 deg) |
304 | { |
304 | { |
305 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
305 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
306 | } |
306 | } |
307 | 307 | ||
308 | //------------------------------------------------------------ |
308 | //------------------------------------------------------------ |
309 | // calculate the deviation from the current position to the target position |
309 | // calculate the deviation from the current position to the target position |
310 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
310 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
311 | { |
311 | { |
312 | double temp1, temp2; |
312 | double temp1, temp2; |
313 | // if given pointer is NULL |
313 | // if given pointer is NULL |
314 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
314 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
315 | // if positions are invalid |
315 | // if positions are invalid |
316 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
316 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
317 | 317 | ||
318 | // The deviation from the current to the target position along north and east direction is |
318 | // The deviation from the current to the target position along north and east direction is |
319 | // simple the lat/lon difference. To convert that angular deviation into an |
319 | // simple the lat/lon difference. To convert that angular deviation into an |
320 | // arc length the spherical projection has to be considered. |
320 | // arc length the spherical projection has to be considered. |
321 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
321 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
322 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
322 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
323 | // The arc length per longitude degree depends on the correspondig latitude and |
323 | // The arc length per longitude degree depends on the correspondig latitude and |
324 | // is 111.2km * cos(latitude). |
324 | // is 111.2km * cos(latitude). |
325 | 325 | ||
326 | // calculate the shortest longitude deviation from target |
326 | // calculate the shortest longitude deviation from target |
327 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
327 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
328 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
328 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
329 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
329 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
330 | if(temp1 > 180.0f) temp1 -= 360.0f; |
330 | if(temp1 > 180.0f) temp1 -= 360.0f; |
331 | else if (temp1 < -180.0f) temp1 += 360.0f; |
331 | else if (temp1 < -180.0f) temp1 += 360.0f; |
332 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
332 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
333 | // calculate latitude deviation from target |
333 | // calculate latitude deviation from target |
334 | // this is allways within -180 deg ... 180 deg |
334 | // this is allways within -180 deg ... 180 deg |
335 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
335 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
336 | // deviation from target position in cm |
336 | // deviation from target position in cm |
337 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
337 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
338 | 338 | ||
339 | pDeviationFromTarget->Status = INVALID; |
339 | pDeviationFromTarget->Status = INVALID; |
340 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
340 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
341 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
341 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
342 | // If the position deviation is small enough to neglect the earth curvature |
342 | // If the position deviation is small enough to neglect the earth curvature |
343 | // (this is for our application always fulfilled) the distance to target |
343 | // (this is for our application always fulfilled) the distance to target |
344 | // can be calculated by the pythagoras of north and east deviation. |
344 | // can be calculated by the pythagoras of north and east deviation. |
345 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
345 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
346 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
346 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
347 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
347 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
348 | pDeviationFromTarget->Status = NEWDATA; |
348 | pDeviationFromTarget->Status = NEWDATA; |
349 | return TRUE; |
349 | return TRUE; |
350 | 350 | ||
351 | baddata: |
351 | baddata: |
352 | pDeviationFromTarget->North = 0L; |
352 | pDeviationFromTarget->North = 0L; |
353 | pDeviationFromTarget->East = 0L; |
353 | pDeviationFromTarget->East = 0L; |
354 | pDeviationFromTarget->Distance = 0L; |
354 | pDeviationFromTarget->Distance = 0L; |
355 | pDeviationFromTarget->Bearing = 0L; |
355 | pDeviationFromTarget->Bearing = 0L; |
356 | pDeviationFromTarget->Status = INVALID; |
356 | pDeviationFromTarget->Status = INVALID; |
357 | return FALSE; |
357 | return FALSE; |
358 | } |
358 | } |
359 | 359 | ||
360 | //------------------------------------------------------------ |
360 | //------------------------------------------------------------ |
361 | void GPS_Navigation(void) |
361 | void GPS_Navigation(void) |
362 | { |
362 | { |
363 | static u32 beep_rythm; |
363 | static u32 beep_rythm; |
364 | static u32 GPSDataTimeout = 0; |
364 | static u32 GPSDataTimeout = 0; |
365 | 365 | ||
366 | // pointer to current target position |
366 | // pointer to current target position |
367 | static GPS_Pos_t * pTargetPositionOld = NULL; |
367 | static GPS_Pos_t * pTargetPositionOld = NULL; |
368 | static Waypoint_t* GPS_pWaypointOld = NULL; |
368 | static Waypoint_t* GPS_pWaypointOld = NULL; |
369 | 369 | ||
370 | static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius |
370 | static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius |
371 | static s32 OperatingRadiusOld = -1; |
371 | static s32 OperatingRadiusOld = -1; |
372 | static u8 WPArrived = FALSE; |
372 | static u8 WPArrived = FALSE; |
373 | static u32 WPTime = 0; |
373 | static u32 WPTime = 0; |
374 | 374 | ||
375 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
375 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
376 | //+ Check for new data from GPS-receiver |
376 | //+ Check for new data from GPS-receiver |
377 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
377 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
378 | switch(GPSData.Status) |
378 | switch(GPSData.Status) |
379 | { |
379 | { |
380 | case INVALID: // no gps data available |
380 | case INVALID: // no gps data available |
381 | // do nothing |
381 | // do nothing |
382 | GPS_Parameter.PID_Limit = 0; // disables PID output |
382 | GPS_Parameter.PID_Limit = 0; // disables PID output |
383 | break; |
383 | break; |
384 | 384 | ||
385 | case PROCESSED: // the current data have been allready processed |
385 | case PROCESSED: // the current data have been allready processed |
386 | // if no new data are available within the timeout switch to invalid state. |
386 | // if no new data are available within the timeout switch to invalid state. |
387 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
387 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
388 | // wait for new gps data |
388 | // wait for new gps data |
389 | break; |
389 | break; |
390 | 390 | ||
391 | case NEWDATA: // handle new gps data |
391 | case NEWDATA: // handle new gps data |
392 | 392 | ||
393 | // update GPS Parameter from FC-Data via SPI interface |
393 | // update GPS Parameter from FC-Data via SPI interface |
394 | GPS_UpdateParameter(); |
394 | GPS_UpdateParameter(); |
395 | 395 | ||
396 | // wait maximum of 3 times the normal data update time before data timemout |
396 | // wait maximum of 3 times the normal data update time before data timemout |
397 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
397 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
398 | beep_rythm++; |
398 | beep_rythm++; |
399 | 399 | ||
400 | // debug |
400 | // debug |
401 | DebugOut.Analog[21] = (u16)GPSData.Speed_North; |
401 | DebugOut.Analog[21] = (u16)GPSData.Speed_North; |
402 | DebugOut.Analog[22] = (u16)GPSData.Speed_East; |
402 | DebugOut.Analog[22] = (u16)GPSData.Speed_East; |
403 | DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
403 | DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
404 | 404 | ||
405 | // If GPS signal condition is sufficient for a reliable position measurement |
405 | // If GPS signal condition is sufficient for a reliable position measurement |
406 | if(GPS_IsSignalOK()) |
406 | if(GPS_IsSignalOK()) |
407 | { |
407 | { |
408 | // update home deviation info |
408 | // update home deviation info |
409 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
409 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
410 | 410 | ||
411 | // if the MK is starting or the home position is invalid then store the home position |
411 | // if the MK is starting or the home position is invalid then store the home position |
412 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
412 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
413 | { // try to update the home position from the current position |
413 | { // try to update the home position from the current position |
414 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
414 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
415 | { |
415 | { |
416 | BeepTime = 700; // beep on success |
416 | BeepTime = 700; // beep on success |
417 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
417 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
418 | } |
418 | } |
419 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
419 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
420 | } |
420 | } |
421 | 421 | ||
422 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
422 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
423 | 423 | ||
424 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
424 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
425 | switch(GPS_Parameter.FlightMode) |
425 | switch(GPS_Parameter.FlightMode) |
426 | { |
426 | { |
427 | // the GPS control is deactived |
427 | // the GPS control is deactived |
428 | case GPS_FLIGHT_MODE_FREE: |
428 | case GPS_FLIGHT_MODE_FREE: |
429 | NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
429 | NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
430 | NaviData.NCFlags |= NC_FLAG_FREE; |
430 | NaviData.NCFlags |= NC_FLAG_FREE; |
431 | GPS_Parameter.PID_Limit = 0; // disables PID output |
431 | GPS_Parameter.PID_Limit = 0; // disables PID output |
432 | // update hold position |
432 | // update hold position |
433 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
433 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
434 | // no target position |
434 | // no target position |
435 | GPS_pTargetPosition = NULL; |
435 | GPS_pTargetPosition = NULL; |
436 | break; |
436 | break; |
437 | 437 | ||
438 | // the GPS supports the position hold, if the pilot takes no action |
438 | // the GPS supports the position hold, if the pilot takes no action |
439 | case GPS_FLIGHT_MODE_AID: |
439 | case GPS_FLIGHT_MODE_AID: |
440 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
440 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
441 | NaviData.NCFlags |= NC_FLAG_PH; |
441 | NaviData.NCFlags |= NC_FLAG_PH; |
442 | // reset WPList to begin |
442 | // reset WPList to begin |
443 | GPS_pWaypoint = WPList_Begin(); |
443 | GPS_pWaypoint = WPList_Begin(); |
444 | 444 | ||
445 | if(GPS_IsManuallyControlled()) |
445 | if(GPS_IsManuallyControlled()) |
446 | { |
446 | { |
447 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
447 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
448 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
448 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
449 | GPS_pTargetPosition = NULL; |
449 | GPS_pTargetPosition = NULL; |
450 | } |
450 | } |
451 | else |
451 | else |
452 | { |
452 | { |
453 | GPS_pTargetPosition = &GPS_HoldPosition; |
453 | GPS_pTargetPosition = &GPS_HoldPosition; |
454 | } |
454 | } |
455 | break; |
455 | break; |
456 | 456 | ||
457 | // the GPS control is directed to a target position |
457 | // the GPS control is directed to a target position |
458 | // given by a waypoint or by the home position |
458 | // given by a waypoint or by the home position |
459 | case GPS_FLIGHT_MODE_WAYPOINT: |
459 | case GPS_FLIGHT_MODE_WAYPOINT: |
460 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
460 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
461 | NaviData.NCFlags |= NC_FLAG_CH; |
461 | NaviData.NCFlags |= NC_FLAG_CH; |
462 | 462 | ||
463 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
463 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
464 | { |
464 | { |
465 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
465 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
466 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
466 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
467 | GPS_pTargetPosition = NULL; // set target position invalid |
467 | GPS_pTargetPosition = NULL; // set target position invalid |
468 | } |
468 | } |
469 | else // no manual control -> gps position hold active |
469 | else // no manual control -> gps position hold active |
470 | { |
470 | { |
471 | // waypoint trigger logic |
471 | // waypoint trigger logic |
472 | if(GPS_pWaypoint != NULL) // waypoint exist |
472 | if(GPS_pWaypoint != NULL) // waypoint exist |
473 | { |
473 | { |
474 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
474 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
475 | { |
475 | { |
476 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
476 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
477 | WPArrived = FALSE; |
477 | WPArrived = FALSE; |
478 | BeepTime = 255; |
478 | BeepTime = 255; |
479 | } |
479 | } |
480 | else // waypoint position is valid |
480 | else // waypoint position is valid |
481 | { |
481 | { |
482 | // check if the pointer to the waypoint has been changed or the data have been updated |
482 | // check if the pointer to the waypoint has been changed or the data have been updated |
483 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
483 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
484 | { |
484 | { |
485 | GPS_pWaypointOld = GPS_pWaypoint; |
485 | GPS_pWaypointOld = GPS_pWaypoint; |
486 | // reset the arrived bit to break a pending HoldTime of the old WP |
486 | // reset the arrived bit to break a pending HoldTime of the old WP |
487 | WPArrived = FALSE; |
487 | WPArrived = FALSE; |
488 | } |
488 | } |
489 | 489 | ||
490 | if(CurrentTargetDeviation.Status != INVALID) |
490 | if(CurrentTargetDeviation.Status != INVALID) |
491 | { // if the waypoint was not catched and the target area has been reached |
491 | { // if the waypoint was not catched and the target area has been reached |
492 | if(!WPArrived && (CurrentTargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
492 | if(!WPArrived && (CurrentTargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
493 | { |
493 | { |
494 | WPArrived = TRUE; |
494 | WPArrived = TRUE; |
495 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
495 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
496 | } |
496 | } |
497 | } |
497 | } |
498 | // if WP has been reached once, wait hold time before trigger to next one |
498 | // if WP has been reached once, wait hold time before trigger to next one |
499 | if(WPArrived) |
499 | if(WPArrived) |
500 | { |
500 | { |
501 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
501 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
502 | if(CheckDelay(WPTime)) |
502 | if(CheckDelay(WPTime)) |
503 | { |
503 | { |
504 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
504 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
505 | WPArrived = FALSE; // which is not arrived |
505 | WPArrived = FALSE; // which is not arrived |
506 | } |
506 | } |
507 | } // EOF if(WPArrived) |
507 | } // EOF if(WPArrived) |
508 | } |
508 | } |
509 | } // EOF waypoint trigger logic |
509 | } // EOF waypoint trigger logic |
510 | 510 | ||
511 | if(GPS_pWaypoint != NULL) // Waypoint exist |
511 | if(GPS_pWaypoint != NULL) // Waypoint exist |
512 | { |
512 | { |
513 | // update the hold position |
513 | // update the hold position |
514 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
514 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
515 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
515 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
516 | } |
516 | } |
517 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
517 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
518 | { |
518 | { |
519 | // fly back to home postion |
519 | // fly back to home postion |
520 | if(GPS_HomePosition.Status == INVALID) |
520 | if(GPS_HomePosition.Status == INVALID) |
521 | { |
521 | { |
522 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
522 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
523 | BeepTime = 255; // beep to indicate missin home position |
523 | BeepTime = 255; // beep to indicate missin home position |
524 | } |
524 | } |
525 | else // the home position is valid |
525 | else // the home position is valid |
526 | { |
526 | { |
527 | // update the hold position |
527 | // update the hold position |
528 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
528 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
529 | // set target to home position |
529 | // set target to home position |
530 | GPS_pTargetPosition = &GPS_HomePosition; |
530 | GPS_pTargetPosition = &GPS_HomePosition; |
531 | } |
531 | } |
532 | } |
532 | } |
533 | } // EOF no manual control |
533 | } // EOF no manual control |
534 | break; |
534 | break; |
535 | 535 | ||
536 | case GPS_FLIGHT_MODE_UNDEF: |
536 | case GPS_FLIGHT_MODE_UNDEF: |
537 | default: |
537 | default: |
538 | GPS_Parameter.PID_Limit = 0; // disables PID output |
538 | GPS_Parameter.PID_Limit = 0; // disables PID output |
539 | // update hold position |
539 | // update hold position |
540 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
540 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
541 | // no target position |
541 | // no target position |
542 | GPS_pTargetPosition = NULL; |
542 | GPS_pTargetPosition = NULL; |
543 | break; |
543 | break; |
544 | 544 | ||
545 | }// EOF GPS Mode Handling |
545 | }// EOF GPS Mode Handling |
546 | 546 | ||
547 | 547 | ||
548 | /* Calculation of range target based on the real target */ |
548 | /* Calculation of range target based on the real target */ |
549 | 549 | ||
550 | // if no target position exist clear the ranged target position |
550 | // if no target position exist clear the ranged target position |
551 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
551 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
552 | else |
552 | else |
553 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
553 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
554 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
554 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
555 | { |
555 | { |
556 | BeepTime = 255; // beep to indicate setting of a new target position |
556 | BeepTime = 255; // beep to indicate setting of a new target position |
557 | // calculate deviation of new target position from home position |
557 | // calculate deviation of new target position from home position |
558 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
558 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
559 | { |
559 | { |
560 | // check distance from home position |
560 | // check distance from home position |
561 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
561 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
562 | { |
562 | { |
563 | //calculate ranged target position to be within the operation radius area |
563 | //calculate ranged target position to be within the operation radius area |
564 | NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
564 | NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
565 | 565 | ||
566 | TargetHomeDeviation.North *= GPS_Parameter.OperatingRadius; |
566 | TargetHomeDeviation.North *= GPS_Parameter.OperatingRadius; |
567 | TargetHomeDeviation.North /= TargetHomeDeviation.Distance; |
567 | TargetHomeDeviation.North /= TargetHomeDeviation.Distance; |
568 | TargetHomeDeviation.East *= GPS_Parameter.OperatingRadius; |
568 | TargetHomeDeviation.East *= GPS_Parameter.OperatingRadius; |
569 | TargetHomeDeviation.East /= TargetHomeDeviation.Distance; |
569 | TargetHomeDeviation.East /= TargetHomeDeviation.Distance; |
570 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
570 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
571 | 571 | ||
572 | RangedTargetPosition.Status = INVALID; |
572 | RangedTargetPosition.Status = INVALID; |
573 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
573 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
574 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
574 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
575 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
575 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
576 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
576 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
577 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
577 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
578 | RangedTargetPosition.Status = NEWDATA; |
578 | RangedTargetPosition.Status = NEWDATA; |
579 | } |
579 | } |
580 | else |
580 | else |
581 | { // the target is located within the operation radius area |
581 | { // the target is located within the operation radius area |
582 | // simple copy the loaction to the ranged target position |
582 | // simple copy the loaction to the ranged target position |
583 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
583 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
584 | NaviData.NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
584 | NaviData.NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
585 | } |
585 | } |
586 | } |
586 | } |
587 | else |
587 | else |
588 | { // deviation could not be determined |
588 | { // deviation could not be determined |
589 | GPS_ClearPosition(&RangedTargetPosition); |
589 | GPS_ClearPosition(&RangedTargetPosition); |
590 | } |
590 | } |
591 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
591 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
592 | } |
592 | } |
593 | } |
593 | } |
594 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
594 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
595 | // remember last target position pointer |
595 | // remember last target position pointer |
596 | pTargetPositionOld = GPS_pTargetPosition; |
596 | pTargetPositionOld = GPS_pTargetPosition; |
597 | 597 | ||
598 | /* Calculate position deviation from ranged target */ |
598 | /* Calculate position deviation from ranged target */ |
599 | 599 | ||
600 | // calculate deviation of current position to ranged target position in cm |
600 | // calculate deviation of current position to ranged target position in cm |
601 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
601 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
602 | { |
602 | { |
603 | // implement your control code here based |
603 | // implement your control code here based |
604 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
604 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
605 | GPS_Stick.Nick = 0; |
605 | GPS_Stick.Nick = 0; |
606 | GPS_Stick.Roll = 0; |
606 | GPS_Stick.Roll = 0; |
607 | GPS_Stick.Yaw = 0; |
607 | GPS_Stick.Yaw = 0; |
608 | } |
608 | } |
609 | else // deviation could not be calculated |
609 | else // deviation could not be calculated |
610 | { // do nothing on gps sticks! |
610 | { // do nothing on gps sticks! |
611 | GPS_Neutral(); |
611 | GPS_Neutral(); |
612 | } |
612 | } |
613 | 613 | ||
614 | }// eof if GPSSignal is OK |
614 | }// eof if GPSSignal is OK |
615 | else // GPSSignal not OK |
615 | else // GPSSignal not OK |
616 | { |
616 | { |
617 | GPS_Neutral(); |
617 | GPS_Neutral(); |
618 | // beep if signal is not sufficient |
618 | // beep if signal is not sufficient |
619 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
619 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
620 | { |
620 | { |
621 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
621 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
622 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
622 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
623 | } |
623 | } |
624 | } |
624 | } |
625 | GPSData.Status = PROCESSED; // mark as processed |
625 | GPSData.Status = PROCESSED; // mark as processed |
626 | break; |
626 | break; |
627 | } |
627 | } |
628 | 628 | ||
629 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
629 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
630 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
630 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
631 | DebugOut.Analog[29] = GPS_Stick.Nick; |
631 | DebugOut.Analog[29] = GPS_Stick.Nick; |
632 | DebugOut.Analog[30] = GPS_Stick.Roll; |
632 | DebugOut.Analog[30] = GPS_Stick.Roll; |
633 | 633 | ||
634 | // update navi data, send back to ground station |
634 | // update navi data, send back to ground station |
635 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
635 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
636 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
636 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
637 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
637 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
638 | NaviData.SatsInUse = GPSData.NumOfSats; |
638 | NaviData.SatsInUse = GPSData.NumOfSats; |
639 | NaviData.TargetPositionDeviation.Distance = CurrentTargetDeviation.Distance; |
639 | NaviData.TargetPositionDeviation.Distance = CurrentTargetDeviation.Distance; |
640 | NaviData.TargetPositionDeviation.Bearing = CurrentTargetDeviation.Bearing; |
640 | NaviData.TargetPositionDeviation.Bearing = CurrentTargetDeviation.Bearing; |
641 | NaviData.HomePositionDeviation.Distance = CurrentHomeDeviation.Distance; |
641 | NaviData.HomePositionDeviation.Distance = CurrentHomeDeviation.Distance; |
642 | NaviData.HomePositionDeviation.Bearing = CurrentHomeDeviation.Bearing; |
642 | NaviData.HomePositionDeviation.Bearing = CurrentHomeDeviation.Bearing; |
643 | NaviData.UBat = FC.UBat; |
643 | NaviData.UBat = FC.UBat; |
644 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
644 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
645 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
645 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
646 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
646 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
647 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
647 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
648 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
648 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
649 | NaviData.RC_Quality = (u8) FC.RC_Quality; |
649 | NaviData.RC_Quality = (u8) FC.RC_Quality; |
650 | NaviData.MKFlags = (u8)FC.MKFlags; |
650 | NaviData.MKFlags = (u8)FC.MKFlags; |
651 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
651 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
652 | 652 | ||
653 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
653 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
654 | return; |
654 | return; |
655 | } |
655 | } |
656 | 656 | ||
657 | 657 |