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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 |
| 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 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 this software (or part of it) to systems (other than 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; |
|
| - | 99 | s32 I_Limit; |
|
| - | 100 | s32 D_Limit; |
|
| - | 101 | s32 PID_Limit; |
|
| - | 102 | u32 BrakingDuration; |
|
| 98 | u8 MinSat; |
103 | u8 MinSat; |
| 99 | s8 StickThreshold; |
104 | s8 StickThreshold; |
| 100 | float WindCorrection; |
105 | float WindCorrection; |
| 101 | s32 OperatingRadius; |
106 | s32 OperatingRadius; |
| 102 | u32 NaviAngleLimitation; |
- | |
| 103 | GPS_FlightMode_t FlightMode; |
107 | GPS_FlightMode_t FlightMode; |
| 104 | } __attribute__((packed)) GPS_Parameter_t; |
108 | } __attribute__((packed)) GPS_Parameter_t; |
| 105 | 109 | ||
| 106 | typedef struct |
110 | typedef struct |
| 107 | { |
111 | { |
| 108 | u8 Status; // invalid, newdata, processed |
112 | u8 Status; // invalid, newdata, processed |
| 109 | s32 North; // in cm |
113 | s32 North; // in cm |
| 110 | s32 East; // in cm |
114 | s32 East; // in cm |
| 111 | s32 Bearing; // in deg |
115 | s32 Bearing; // in deg |
| 112 | s32 Distance; // in cm |
116 | s32 Distance; // in cm |
| 113 | } __attribute__((packed)) GPS_Deviation_t; |
117 | } __attribute__((packed)) GPS_Deviation_t; |
| 114 | GPS_Deviation_t TargetDeviation; |
118 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
| - | 119 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
|
| - | 120 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
|
| 115 | 121 | ||
| 116 | GPS_Stick_t GPS_Stick; |
122 | GPS_Stick_t GPS_Stick; |
| 117 | GPS_Parameter_t GPS_Parameter; |
123 | GPS_Parameter_t GPS_Parameter; |
| 118 | 124 | ||
| 119 | // the gps reference positions |
125 | // the gps reference positions |
| 120 | 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 |
| 121 | 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 |
| 122 | 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 |
| 123 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
129 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
| 124 | 130 | ||
| 125 | //------------------------------------------------------------- |
131 | //------------------------------------------------------------- |
| 126 | // Update GPSParamter |
132 | // Update GPSParamter |
| 127 | void GPS_UpdateParameter(void) |
133 | void GPS_UpdateParameter(void) |
| 128 | { |
134 | { |
| 129 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
135 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
| 130 | // in case of bad receiving conditions |
136 | // in case of bad receiving conditions |
| 131 | if(FC.RC_Quality < 100) |
137 | if(FC.RC_Quality < 100) |
| 132 | { // set fixed parameter |
138 | { // set fixed parameter |
| 133 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
139 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| 134 | GPS_Parameter.Gain = (float) 100; |
140 | GPS_Parameter.Gain = (float) 100; |
| 135 | GPS_Parameter.P = (float) 90; |
141 | GPS_Parameter.P = (float) 90; |
| 136 | GPS_Parameter.I = (float) 90; |
142 | GPS_Parameter.I = (float) 90; |
| 137 | GPS_Parameter.D = (float) 90; |
143 | GPS_Parameter.D = (float) 90; |
| 138 | GPS_Parameter.A = (float) 90; |
144 | GPS_Parameter.A = (float) 90; |
| 139 | GPS_Parameter.ACC = (float) 0; |
145 | GPS_Parameter.ACC = (float) 0; |
| - | 146 | GPS_Parameter.P_Limit = 90; |
|
| - | 147 | GPS_Parameter.I_Limit = 90; |
|
| - | 148 | GPS_Parameter.D_Limit = 90; |
|
| - | 149 | GPS_Parameter.PID_Limit = 200; |
|
| - | 150 | GPS_Parameter.BrakingDuration = 0; |
|
| 140 | GPS_Parameter.MinSat = 6; |
151 | GPS_Parameter.MinSat = 6; |
| 141 | GPS_Parameter.StickThreshold = 8; |
152 | GPS_Parameter.StickThreshold = 8; |
| 142 | GPS_Parameter.WindCorrection = 0.0; |
153 | GPS_Parameter.WindCorrection = 0.0; |
| 143 | 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 |
| 144 | GPS_Parameter.NaviAngleLimitation = 125; |
- | |
| - | 155 | ||
| 145 | } |
156 | } |
| 146 | else |
157 | else |
| 147 | { |
158 | { |
| 148 | // update parameter from FC |
159 | // update parameter from FC |
| 149 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
160 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| 150 | else |
161 | else |
| 151 | { |
162 | { |
| 152 | if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
163 | if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
| 153 | 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; |
| 154 | else GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
165 | else GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
| 155 | } |
166 | } |
| 156 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
167 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
| 157 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
168 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
| 158 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
169 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
| 159 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
170 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
| 160 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
171 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
| 161 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
172 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
| - | 173 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
|
| - | 174 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
|
| - | 175 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
|
| - | 176 | GPS_Parameter.PID_Limit = 2* (s32)Parameter.NaviAngleLimitation; |
|
| - | 177 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
|
| 162 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
178 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
| 163 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
179 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
| 164 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
180 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
| 165 | 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 |
| 166 | GPS_Parameter.NaviAngleLimitation = (u32) Parameter.NaviAngleLimitation * 2; |
- | |
| 167 | } |
182 | } |
| 168 | // FlightMode changed? |
183 | // FlightMode changed? |
| 169 | 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 |
| 170 | FlightMode_Old = GPS_Parameter.FlightMode; |
185 | FlightMode_Old = GPS_Parameter.FlightMode; |
| 171 | } |
186 | } |
| 172 | 187 | ||
| 173 | //------------------------------------------------------------- |
188 | //------------------------------------------------------------- |
| 174 | // This function defines a good GPS signal condition |
189 | // This function defines a good GPS signal condition |
| 175 | u8 GPS_IsSignalOK(void) |
190 | u8 GPS_IsSignalOK(void) |
| 176 | { |
191 | { |
| 177 | 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); |
| 178 | else return(0); |
193 | else return(0); |
| 179 | } |
194 | } |
| 180 | 195 | ||
| 181 | //------------------------------------------------------------ |
196 | //------------------------------------------------------------ |
| 182 | // Checks for manual control action |
197 | // Checks for manual control action |
| 183 | u8 GPS_IsManuallyControlled(void) |
198 | u8 GPS_IsManuallyControlled(void) |
| 184 | { |
199 | { |
| 185 | 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; |
| 186 | else return 0; |
201 | else return 0; |
| 187 | } |
202 | } |
| 188 | 203 | ||
| 189 | //------------------------------------------------------------ |
204 | //------------------------------------------------------------ |
| 190 | // copy GPS position from source position to target position |
205 | // copy GPS position from source position to target position |
| 191 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
206 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
| 192 | { |
207 | { |
| 193 | u8 retval = 0; |
208 | u8 retval = 0; |
| 194 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
209 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
| 195 | // copy only valid positions |
210 | // copy only valid positions |
| 196 | if(pGPSPosSrc->Status != INVALID) |
211 | if(pGPSPosSrc->Status != INVALID) |
| 197 | { |
212 | { |
| 198 | // if the source GPS position is not invalid |
213 | // if the source GPS position is not invalid |
| 199 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
214 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
| 200 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
215 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
| 201 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
216 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
| 202 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
217 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
| 203 | retval = 1; |
218 | retval = 1; |
| 204 | } |
219 | } |
| 205 | return(retval); |
220 | return(retval); |
| 206 | } |
221 | } |
| 207 | 222 | ||
| 208 | //------------------------------------------------------------ |
223 | //------------------------------------------------------------ |
| 209 | // clear position data |
224 | // clear position data |
| 210 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
225 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
| 211 | { |
226 | { |
| 212 | u8 retval = FALSE; |
227 | u8 retval = FALSE; |
| 213 | if(pGPSPos == NULL) return(retval); // bad pointer |
228 | if(pGPSPos == NULL) return(retval); // bad pointer |
| 214 | else |
229 | else |
| 215 | { |
230 | { |
| 216 | pGPSPos->Longitude = 0; |
231 | pGPSPos->Longitude = 0; |
| 217 | pGPSPos->Latitude = 0; |
232 | pGPSPos->Latitude = 0; |
| 218 | pGPSPos->Altitude = 0; |
233 | pGPSPos->Altitude = 0; |
| 219 | pGPSPos->Status = INVALID; |
234 | pGPSPos->Status = INVALID; |
| 220 | retval = TRUE; |
235 | retval = TRUE; |
| 221 | } |
236 | } |
| 222 | return (retval); |
237 | return (retval); |
| 223 | } |
238 | } |
| 224 | 239 | ||
| 225 | 240 | ||
| 226 | //------------------------------------------------------------ |
241 | //------------------------------------------------------------ |
| 227 | void GPS_Neutral() |
242 | void GPS_Neutral() |
| 228 | { |
243 | { |
| 229 | GPS_Stick.Nick = 0; |
244 | GPS_Stick.Nick = 0; |
| 230 | GPS_Stick.Roll = 0; |
245 | GPS_Stick.Roll = 0; |
| 231 | GPS_Stick.Yaw = 0; |
246 | GPS_Stick.Yaw = 0; |
| 232 | } |
247 | } |
| 233 | 248 | ||
| 234 | //------------------------------------------------------------ |
249 | //------------------------------------------------------------ |
| 235 | void GPS_Init(void) |
250 | void GPS_Init(void) |
| 236 | { |
251 | { |
| 237 | SerialPutString("\r\n GPS init..."); |
252 | SerialPutString("\r\n GPS init..."); |
| 238 | UBX_Init(); |
253 | UBX_Init(); |
| 239 | GPS_Neutral(); |
254 | GPS_Neutral(); |
| 240 | GPS_ClearPosition(&GPS_HoldPosition); |
255 | GPS_ClearPosition(&GPS_HoldPosition); |
| 241 | GPS_ClearPosition(&GPS_HomePosition); |
256 | GPS_ClearPosition(&GPS_HomePosition); |
| 242 | GPS_pTargetPosition = NULL; |
257 | GPS_pTargetPosition = NULL; |
| 243 | WPList_Init(); |
258 | WPList_Init(); |
| 244 | GPS_pWaypoint = WPList_Begin(); |
259 | GPS_pWaypoint = WPList_Begin(); |
| 245 | GPS_UpdateParameter(); |
260 | GPS_UpdateParameter(); |
| 246 | SerialPutString("ok"); |
261 | SerialPutString("ok"); |
| 247 | } |
262 | } |
| 248 | 263 | ||
| 249 | //------------------------------------------------------------ |
264 | //------------------------------------------------------------ |
| 250 | // calculate the bearing to target position from its deviation |
265 | // calculate the bearing to target position from its deviation |
| 251 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
266 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
| 252 | { |
267 | { |
| 253 | s32 bearing; |
268 | s32 bearing; |
| 254 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
269 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
| 255 | bearing = (270L - bearing)%360L; |
270 | bearing = (270L - bearing)%360L; |
| 256 | return(bearing); |
271 | return(bearing); |
| 257 | } |
272 | } |
| 258 | 273 | ||
| 259 | 274 | ||
| 260 | //------------------------------------------------------------ |
275 | //------------------------------------------------------------ |
| 261 | // Rescale xy-vector length if length limit is violated |
276 | // Rescale xy-vector length if length limit is violated |
| 262 | void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
277 | void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
| 263 | { |
278 | { |
| 264 | s32 dist; |
279 | s32 dist; |
| 265 | 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) |
|
| - | 282 | { |
|
| - | 283 | *x = 0; |
|
| - | 284 | *y = 0; |
|
| - | 285 | } |
|
| 266 | if ((dist != 0L) && (dist > limit)) |
286 | else if (dist > limit) |
| 267 | // if vector length is larger than the given limit |
287 | // if vector length is larger than the given limit |
| 268 | { // 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 |
| 269 | *x = (*x * limit) / dist; |
289 | *x = (*x * limit) / dist; |
| 270 | *y = (*y * limit) / dist; |
290 | *y = (*y * limit) / dist; |
| 271 | } |
291 | } |
| 272 | } |
292 | } |
| 273 | 293 | ||
| 274 | //------------------------------------------------------------ |
294 | //------------------------------------------------------------ |
| 275 | // transform the integer deg into float radians |
295 | // transform the integer deg into float radians |
| 276 | inline double RadiansFromGPS(s32 deg) |
296 | inline double RadiansFromGPS(s32 deg) |
| 277 | { |
297 | { |
| 278 | 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 |
| 279 | } |
299 | } |
| 280 | 300 | ||
| 281 | //------------------------------------------------------------ |
301 | //------------------------------------------------------------ |
| 282 | // transform the integer deg into float deg |
302 | // transform the integer deg into float deg |
| 283 | inline double DegFromGPS(s32 deg) |
303 | inline double DegFromGPS(s32 deg) |
| 284 | { |
304 | { |
| 285 | 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 |
| 286 | } |
306 | } |
| 287 | 307 | ||
| 288 | //------------------------------------------------------------ |
308 | //------------------------------------------------------------ |
| 289 | // calculate the deviation from the current position to the target position |
309 | // calculate the deviation from the current position to the target position |
| 290 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos) |
310 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
| 291 | { |
311 | { |
| 292 | double temp1, temp2; |
312 | double temp1, temp2; |
| 293 | // if given pointer is NULL |
313 | // if given pointer is NULL |
| 294 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
314 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
| 295 | // if positions are invalid |
315 | // if positions are invalid |
| 296 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
316 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
| 297 | 317 | ||
| 298 | // 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 |
| 299 | // 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 |
| 300 | // arc length the spherical projection has to be considered. |
320 | // arc length the spherical projection has to be considered. |
| 301 | // 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 |
| 302 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
322 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
| 303 | // 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 |
| 304 | // is 111.2km * cos(latitude). |
324 | // is 111.2km * cos(latitude). |
| 305 | 325 | ||
| 306 | // calculate the shortest longitude deviation from target |
326 | // calculate the shortest longitude deviation from target |
| 307 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
327 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
| 308 | // 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 |
| 309 | // 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. |
| 310 | if(temp1 > 180.0f) temp1 -= 360.0f; |
330 | if(temp1 > 180.0f) temp1 -= 360.0f; |
| 311 | else if (temp1 < -180.0f) temp1 += 360.0f; |
331 | else if (temp1 < -180.0f) temp1 += 360.0f; |
| 312 | temp1 *= cos(RadiansFromGPS(pTargetPos->Latitude)); |
332 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
| 313 | // calculate latitude deviation from target |
333 | // calculate latitude deviation from target |
| 314 | // this is allways within -180 deg ... 180 deg |
334 | // this is allways within -180 deg ... 180 deg |
| 315 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
335 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
| 316 | // deviation from target position in cm |
336 | // deviation from target position in cm |
| 317 | // 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 |
| 318 | 338 | ||
| 319 | TargetDeviation.Status = INVALID; |
339 | pDeviationFromTarget->Status = INVALID; |
| 320 | TargetDeviation.North = (s32)(11119492.7f * temp2); |
340 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
| 321 | TargetDeviation.East = (s32)(11119492.7f * temp1); |
341 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
| 322 | // 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 |
| 323 | // (this is for our application always fulfilled) the distance to target |
343 | // (this is for our application always fulfilled) the distance to target |
| 324 | // can be calculated by the pythagoras of north and east deviation. |
344 | // can be calculated by the pythagoras of north and east deviation. |
| 325 | TargetDeviation.Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
345 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
| 326 | if (TargetDeviation.Distance == 0L) TargetDeviation.Bearing = 0L; |
346 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
| 327 | else TargetDeviation.Bearing = DirectionToTarget_N_E(temp2, temp1); |
347 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
| 328 | TargetDeviation.Status = NEWDATA; |
348 | pDeviationFromTarget->Status = NEWDATA; |
| 329 | return TRUE; |
349 | return TRUE; |
| 330 | 350 | ||
| 331 | baddata: |
351 | baddata: |
| 332 | TargetDeviation.North = 0L; |
352 | pDeviationFromTarget->North = 0L; |
| 333 | TargetDeviation.East = 0L; |
353 | pDeviationFromTarget->East = 0L; |
| 334 | TargetDeviation.Distance = 0L; |
354 | pDeviationFromTarget->Distance = 0L; |
| 335 | TargetDeviation.Bearing = 0L; |
355 | pDeviationFromTarget->Bearing = 0L; |
| 336 | TargetDeviation.Status = INVALID; |
356 | pDeviationFromTarget->Status = INVALID; |
| 337 | return FALSE; |
357 | return FALSE; |
| 338 | } |
358 | } |
| 339 | 359 | ||
| 340 | //------------------------------------------------------------ |
360 | //------------------------------------------------------------ |
| 341 | void GPS_Navigation(void) |
361 | void GPS_Navigation(void) |
| 342 | { |
362 | { |
| 343 | static u32 beep_rythm; |
363 | static u32 beep_rythm; |
| 344 | static u32 GPSDataTimeout = 0; |
364 | static u32 GPSDataTimeout = 0; |
| 345 | 365 | ||
| 346 | // pointer to current target position |
366 | // pointer to current target position |
| 347 | static GPS_Pos_t * pTargetPositionOld = NULL; |
367 | static GPS_Pos_t * pTargetPositionOld = NULL; |
| 348 | static Waypoint_t* GPS_pWaypointOld = NULL; |
368 | static Waypoint_t* GPS_pWaypointOld = NULL; |
| 349 | 369 | ||
| 350 | 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 |
| 351 | static s32 OperatingRadiusOld = -1; |
371 | static s32 OperatingRadiusOld = -1; |
| 352 | static u8 WPArrived = FALSE; |
372 | static u8 WPArrived = FALSE; |
| 353 | static u32 WPTime = 0; |
373 | static u32 WPTime = 0; |
| 354 | 374 | ||
| 355 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
375 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 356 | //+ Check for new data from GPS-receiver |
376 | //+ Check for new data from GPS-receiver |
| 357 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
377 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 358 | switch(GPSData.Status) |
378 | switch(GPSData.Status) |
| 359 | { |
379 | { |
| 360 | case INVALID: // no gps data available |
380 | case INVALID: // no gps data available |
| 361 | // do nothing |
381 | // do nothing |
| - | 382 | GPS_Parameter.PID_Limit = 0; // disables PID output |
|
| 362 | break; |
383 | break; |
| 363 | 384 | ||
| 364 | case PROCESSED: // the current data have been allready processed |
385 | case PROCESSED: // the current data have been allready processed |
| 365 | // 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. |
| 366 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
387 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
| 367 | // wait for new gps data |
388 | // wait for new gps data |
| 368 | break; |
389 | break; |
| 369 | 390 | ||
| 370 | case NEWDATA: // handle new gps data |
391 | case NEWDATA: // handle new gps data |
| 371 | 392 | ||
| 372 | // update GPS Parameter from FC-Data via SPI interface |
393 | // update GPS Parameter from FC-Data via SPI interface |
| 373 | GPS_UpdateParameter(); |
394 | GPS_UpdateParameter(); |
| 374 | 395 | ||
| 375 | // 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 |
| 376 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
397 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
| 377 | beep_rythm++; |
398 | beep_rythm++; |
| 378 | 399 | ||
| 379 | // debug |
400 | // debug |
| 380 | DebugOut.Analog[21] = (u16)GPSData.Speed_North; |
401 | DebugOut.Analog[21] = (u16)GPSData.Speed_North; |
| 381 | DebugOut.Analog[22] = (u16)GPSData.Speed_East; |
402 | DebugOut.Analog[22] = (u16)GPSData.Speed_East; |
| 382 | DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
403 | DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
| 383 | 404 | ||
| 384 | // If GPS signal condition is sufficient for a reliable position measurement |
405 | // If GPS signal condition is sufficient for a reliable position measurement |
| 385 | if(GPS_IsSignalOK()) |
406 | if(GPS_IsSignalOK()) |
| 386 | { |
407 | { |
| - | 408 | // update home deviation info |
|
| - | 409 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
|
| - | 410 | ||
| 387 | // 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 |
| 388 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
412 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
| 389 | { // try to update the home position from the current position |
413 | { // try to update the home position from the current position |
| 390 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
414 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
| 391 | { |
415 | { |
| 392 | BeepTime = 700; // beep on success |
416 | BeepTime = 700; // beep on success |
| 393 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
417 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
| 394 | } |
418 | } |
| 395 | 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 |
| 396 | } |
420 | } |
| 397 | 421 | ||
| 398 | /* 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 */ |
| 399 | 423 | ||
| 400 | // 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 |
| 401 | switch(GPS_Parameter.FlightMode) |
425 | switch(GPS_Parameter.FlightMode) |
| 402 | { |
426 | { |
| 403 | // the GPS control is deactived |
427 | // the GPS control is deactived |
| 404 | case GPS_FLIGHT_MODE_FREE: |
428 | case GPS_FLIGHT_MODE_FREE: |
| 405 | NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
429 | NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
| 406 | NaviData.NCFlags |= NC_FLAG_FREE; |
430 | NaviData.NCFlags |= NC_FLAG_FREE; |
| 407 | - | ||
| - | 431 | GPS_Parameter.PID_Limit = 0; // disables PID output |
|
| 408 | // update hold position |
432 | // update hold position |
| 409 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
433 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 410 | // no target position |
434 | // no target position |
| 411 | GPS_pTargetPosition = NULL; |
435 | GPS_pTargetPosition = NULL; |
| 412 | break; |
436 | break; |
| 413 | 437 | ||
| 414 | // 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 |
| 415 | case GPS_FLIGHT_MODE_AID: |
439 | case GPS_FLIGHT_MODE_AID: |
| 416 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
440 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
| 417 | NaviData.NCFlags |= NC_FLAG_PH; |
441 | NaviData.NCFlags |= NC_FLAG_PH; |
| 418 | // reset WPList to begin |
442 | // reset WPList to begin |
| 419 | GPS_pWaypoint = WPList_Begin(); |
443 | GPS_pWaypoint = WPList_Begin(); |
| 420 | 444 | ||
| 421 | if(GPS_IsManuallyControlled()) |
445 | if(GPS_IsManuallyControlled()) |
| 422 | { |
446 | { |
| - | 447 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
|
| 423 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
448 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 424 | GPS_pTargetPosition = NULL; |
449 | GPS_pTargetPosition = NULL; |
| 425 | } |
450 | } |
| 426 | else |
451 | else |
| 427 | { |
452 | { |
| 428 | GPS_pTargetPosition = &GPS_HoldPosition; |
453 | GPS_pTargetPosition = &GPS_HoldPosition; |
| 429 | } |
454 | } |
| 430 | break; |
455 | break; |
| 431 | 456 | ||
| 432 | // the GPS control is directed to a target position |
457 | // the GPS control is directed to a target position |
| 433 | // given by a waypoint or by the home position |
458 | // given by a waypoint or by the home position |
| 434 | case GPS_FLIGHT_MODE_WAYPOINT: |
459 | case GPS_FLIGHT_MODE_WAYPOINT: |
| 435 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
460 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
| 436 | NaviData.NCFlags |= NC_FLAG_CH; |
461 | NaviData.NCFlags |= NC_FLAG_CH; |
| - | 462 | ||
| - | 463 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
|
| - | 464 | { |
|
| - | 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 |
|
| - | 467 | GPS_pTargetPosition = NULL; // set target position invalid |
|
| - | 468 | } |
|
| - | 469 | else // no manual control -> gps position hold active |
|
| 437 | 470 | { |
|
| 438 | // waypoint trigger logic |
471 | // waypoint trigger logic |
| 439 | if(GPS_pWaypoint != NULL) // waypoint exist |
472 | if(GPS_pWaypoint != NULL) // waypoint exist |
| 440 | { |
473 | { |
| 441 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
474 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
| 442 | { |
475 | { |
| 443 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
476 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
| 444 | WPArrived = FALSE; |
477 | WPArrived = FALSE; |
| 445 | BeepTime = 255; |
478 | BeepTime = 255; |
| 446 | } |
479 | } |
| 447 | else // waypoint position is valid |
480 | else // waypoint position is valid |
| 448 | { |
481 | { |
| 449 | // 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 |
| 450 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
483 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
| 451 | { |
484 | { |
| 452 | GPS_pWaypointOld = GPS_pWaypoint; |
485 | GPS_pWaypointOld = GPS_pWaypoint; |
| 453 | // 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 |
| 454 | WPArrived = FALSE; |
487 | WPArrived = FALSE; |
| 455 | } |
488 | } |
| 456 | 489 | ||
| 457 | if(TargetDeviation.Status != INVALID) |
490 | if(CurrentTargetDeviation.Status != INVALID) |
| 458 | { // 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 |
| 459 | if(!WPArrived && (TargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
492 | if(!WPArrived && (CurrentTargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
| 460 | { |
493 | { |
| 461 | WPArrived = TRUE; |
494 | WPArrived = TRUE; |
| 462 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
495 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
| 463 | } |
496 | } |
| 464 | } |
497 | } |
| 465 | // 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 |
| 466 | if(WPArrived) |
499 | if(WPArrived) |
| 467 | { |
500 | { |
| 468 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
501 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
| 469 | if(CheckDelay(WPTime)) |
502 | if(CheckDelay(WPTime)) |
| 470 | { |
503 | { |
| 471 | 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 |
| 472 | WPArrived = FALSE; // which is not arrived |
505 | WPArrived = FALSE; // which is not arrived |
| 473 | } |
506 | } |
| 474 | } // EOF if(WPArrived) |
507 | } // EOF if(WPArrived) |
| 475 | } |
508 | } |
| 476 | } // EOF waypoint trigger logic |
509 | } // EOF waypoint trigger logic |
| 477 | 510 | ||
| 478 | if(GPS_pWaypoint != NULL) // Waypoint exist |
511 | if(GPS_pWaypoint != NULL) // Waypoint exist |
| 479 | { |
512 | { |
| 480 | // update the hold position |
513 | // update the hold position |
| 481 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
514 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 482 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
515 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
| 483 | } |
516 | } |
| 484 | 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 |
| 485 | { |
518 | { |
| 486 | // fly back to home postion |
519 | // fly back to home postion |
| 487 | if(GPS_HomePosition.Status == INVALID) |
520 | if(GPS_HomePosition.Status == INVALID) |
| 488 | { |
521 | { |
| 489 | 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 |
| 490 | BeepTime = 255; // beep to indicate missin home position |
523 | BeepTime = 255; // beep to indicate missin home position |
| 491 | } |
524 | } |
| 492 | else // the home position is valid |
525 | else // the home position is valid |
| 493 | { |
526 | { |
| 494 | // update the hold position |
527 | // update the hold position |
| 495 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
528 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 496 | // set target to home position |
529 | // set target to home position |
| 497 | GPS_pTargetPosition = &GPS_HomePosition; |
530 | GPS_pTargetPosition = &GPS_HomePosition; |
| 498 | } |
531 | } |
| 499 | } |
532 | } |
| - | 533 | } // EOF no manual control |
|
| 500 | break; |
534 | break; |
| 501 | 535 | ||
| 502 | case GPS_FLIGHT_MODE_UNDEF: |
536 | case GPS_FLIGHT_MODE_UNDEF: |
| 503 | default: |
537 | default: |
| - | 538 | GPS_Parameter.PID_Limit = 0; // disables PID output |
|
| 504 | // update hold position |
539 | // update hold position |
| 505 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
540 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 506 | // no target position |
541 | // no target position |
| 507 | GPS_pTargetPosition = NULL; |
542 | GPS_pTargetPosition = NULL; |
| 508 | break; |
543 | break; |
| 509 | 544 | ||
| 510 | }// EOF GPS Mode Handling |
545 | }// EOF GPS Mode Handling |
| 511 | 546 | ||
| 512 | 547 | ||
| 513 | /* Calculation of range target based on the real target */ |
548 | /* Calculation of range target based on the real target */ |
| 514 | 549 | ||
| 515 | // if no target position exist clear the ranged target position |
550 | // if no target position exist clear the ranged target position |
| 516 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
551 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
| 517 | else |
552 | else |
| 518 | { // 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 |
| 519 | 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) ) |
| 520 | { |
555 | { |
| - | 556 | BeepTime = 255; // beep to indicate setting of a new target position |
|
| 521 | // calculate deviation of new target position from home position |
557 | // calculate deviation of new target position from home position |
| 522 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition)) |
558 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
| 523 | { |
559 | { |
| 524 | // check distance from home position |
560 | // check distance from home position |
| 525 | if(TargetDeviation.Distance > GPS_Parameter.OperatingRadius) |
561 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
| 526 | { |
562 | { |
| 527 | //calculate ranged target position to be within the operation radius area |
563 | //calculate ranged target position to be within the operation radius area |
| 528 | NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
564 | NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
| - | 565 | ||
| 529 | TargetDeviation.Distance = GPS_Parameter.OperatingRadius; |
566 | TargetHomeDeviation.North *= GPS_Parameter.OperatingRadius; |
| 530 | GPS_LimitXY(&(TargetDeviation.East), &(TargetDeviation.North), TargetDeviation.Distance); |
567 | TargetHomeDeviation.North /= TargetHomeDeviation.Distance; |
| - | 568 | TargetHomeDeviation.East *= GPS_Parameter.OperatingRadius; |
|
| - | 569 | TargetHomeDeviation.East /= TargetHomeDeviation.Distance; |
|
| - | 570 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
|
| 531 | 571 | ||
| 532 | RangedTargetPosition.Status = INVALID; |
572 | RangedTargetPosition.Status = INVALID; |
| 533 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
573 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
| 534 | RangedTargetPosition.Latitude += (s32)((float)TargetDeviation.North / 1.11194927f); |
574 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
| 535 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
575 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
| 536 | RangedTargetPosition.Longitude += (s32)((float)TargetDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
576 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
| 537 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
577 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
| 538 | RangedTargetPosition.Status = NEWDATA; |
578 | RangedTargetPosition.Status = NEWDATA; |
| 539 | } |
579 | } |
| 540 | else |
580 | else |
| 541 | { // the target is located within the operation radius area |
581 | { // the target is located within the operation radius area |
| 542 | // simple copy the loaction to the ranged target position |
582 | // simple copy the loaction to the ranged target position |
| 543 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
583 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
| 544 | NaviData.NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
584 | NaviData.NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
| 545 | } |
585 | } |
| 546 | } |
586 | } |
| 547 | else |
587 | else |
| 548 | { // deviation could not be determined |
588 | { // deviation could not be determined |
| 549 | GPS_ClearPosition(&RangedTargetPosition); |
589 | GPS_ClearPosition(&RangedTargetPosition); |
| 550 | } |
590 | } |
| 551 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
591 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
| 552 | } |
592 | } |
| 553 | } |
593 | } |
| 554 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
594 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
| 555 | // remember last target position pointer |
595 | // remember last target position pointer |
| 556 | pTargetPositionOld = GPS_pTargetPosition; |
596 | pTargetPositionOld = GPS_pTargetPosition; |
| 557 | 597 | ||
| 558 | /* Calculate position deviation from ranged target */ |
598 | /* Calculate position deviation from ranged target */ |
| 559 | 599 | ||
| 560 | // calculate deviation of current position to ranged target position in cm |
600 | // calculate deviation of current position to ranged target position in cm |
| 561 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition)) |
601 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
| 562 | { |
602 | { |
| 563 | // implement your control code here based |
603 | // implement your control code here based |
| 564 | // in the info available in the TargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
604 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
| 565 | GPS_Stick.Nick = 0; |
605 | GPS_Stick.Nick = 0; |
| 566 | GPS_Stick.Roll = 0; |
606 | GPS_Stick.Roll = 0; |
| 567 | GPS_Stick.Yaw = 0; |
607 | GPS_Stick.Yaw = 0; |
| 568 | } |
608 | } |
| 569 | else // deviation could not be calculated |
609 | else // deviation could not be calculated |
| 570 | { // do nothing on gps sticks! |
610 | { // do nothing on gps sticks! |
| 571 | GPS_Neutral(); |
611 | GPS_Neutral(); |
| 572 | } |
612 | } |
| 573 | 613 | ||
| 574 | }// eof if GPSSignal is OK |
614 | }// eof if GPSSignal is OK |
| 575 | else // GPSSignal not OK |
615 | else // GPSSignal not OK |
| 576 | { |
616 | { |
| 577 | GPS_Neutral(); |
617 | GPS_Neutral(); |
| 578 | // beep if signal is not sufficient |
618 | // beep if signal is not sufficient |
| 579 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
619 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
| 580 | { |
620 | { |
| 581 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
621 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
| 582 | 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; |
| 583 | } |
623 | } |
| 584 | } |
624 | } |
| 585 | GPSData.Status = PROCESSED; // mark as processed |
625 | GPSData.Status = PROCESSED; // mark as processed |
| 586 | break; |
626 | break; |
| 587 | } |
627 | } |
| 588 | 628 | ||
| 589 | DebugOut.Analog[27] = (s16)TargetDeviation.North; |
629 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
| 590 | DebugOut.Analog[28] = (s16)TargetDeviation.East; |
630 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
| 591 | DebugOut.Analog[29] = GPS_Stick.Nick; |
631 | DebugOut.Analog[29] = GPS_Stick.Nick; |
| 592 | DebugOut.Analog[30] = GPS_Stick.Roll; |
632 | DebugOut.Analog[30] = GPS_Stick.Roll; |
| 593 | 633 | ||
| 594 | // update navi data, send back to ground station |
634 | // update navi data, send back to ground station |
| 595 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
635 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
| 596 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
636 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
| - | 637 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
|
| 597 | NaviData.SatsInUse = GPSData.NumOfSats; |
638 | NaviData.SatsInUse = GPSData.NumOfSats; |
| 598 | NaviData.TargetPositionDeviation.Distance = TargetDeviation.Distance; |
639 | NaviData.TargetPositionDeviation.Distance = CurrentTargetDeviation.Distance; |
| 599 | NaviData.TargetPositionDeviation.Bearing = TargetDeviation.Bearing; |
640 | NaviData.TargetPositionDeviation.Bearing = CurrentTargetDeviation.Bearing; |
| - | 641 | NaviData.HomePositionDeviation.Distance = CurrentHomeDeviation.Distance; |
|
| - | 642 | NaviData.HomePositionDeviation.Bearing = CurrentHomeDeviation.Bearing; |
|
| 600 | NaviData.UBat = FC.UBat; |
643 | NaviData.UBat = FC.UBat; |
| 601 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
644 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
| 602 | NaviData.Heading = (s16)GPSData.Heading; |
645 | NaviData.Heading = (s16)GPSData.Heading; |
| 603 | NaviData.CompassHeading = FromFlightCtrl.GyroHeading / 10; // in deg |
646 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
| 604 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
647 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
| 605 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
648 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
| 606 | NaviData.RC_Quality = (u8) FC.RC_Quality; |
649 | NaviData.RC_Quality = (u8) FC.RC_Quality; |
| 607 | NaviData.MKFlags = (u8)FC.MKFlags; |
650 | NaviData.MKFlags = (u8)FC.MKFlags; |
| - | 651 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
|
| 608 | 652 | ||
| 609 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
653 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 610 | return; |
654 | return; |
| 611 | } |
655 | } |
| 612 | 656 | ||
| 613 | 657 | ||