WebSVN - FlightCtrl - Diff - Rev 813 and 818 - /branches/V0.68d CRK HexaLotte/GPS.c


#include <inttypes.h>
#include <stdlib.h>
#include "fc.h"
#include "ubx.h"
#include "mymath.h"
#include "timer0.h"
#include "uart.h"
#include "rc.h"
#include "eeprom.h"
 
#define TSK_IDLE                0
#define TSK_HOLD                1
#define TSK_HOME                2
 
#define GPS_STICK_SENSE         20              // must be at least in a range where 90% of the trimming does not switch of the GPS function
#define GPS_STICK_LIMIT         45              // limit of gps stick control to avoid critical flight attitudes
#define GPS_POSDEV_INTEGRAL_LIMIT  32000  // limit for the position error integral
 
 
int16_t GPS_Pitch = 0, GPS_Roll = 0;
int32_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0;
 
 
 
typedef struct
{
        int32_t Longitude;
        int32_t Latitude;
        int32_t Altitude;
        uint8_t Status;
} GPS_Pos_t;
 
// GPS coordinates for hold position
GPS_Pos_t HoldPosition  = {0,0,0,INVALID};
// GPS coordinates for home position
GPS_Pos_t HomePosition  = {0,0,0,INVALID};
 
 
// ---------------------------------------------------------------------------------
 
// checks pitch and roll sticks for manual control
uint8_t IsManualControlled(void)
{
        if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0;
        else return 1;
}
 
// set home position to current positon
void GPS_SetHomePosition(void)
{
        if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)
        {
                HomePosition.Longitude = GPSInfo.longitude;
                HomePosition.Latitude = GPSInfo.latitude;
                HomePosition.Altitude = GPSInfo.altitude;
                HomePosition.Status = VALID;
                BeepTime = 1000; // signal if new home position was set
        }
        else
        {
                HomePosition.Status = INVALID;
        }
}
 
// set hold position to current positon
void GPS_SetHoldPosition(void)
{
        if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)
        {
                HoldPosition.Longitude = GPSInfo.longitude;
                HoldPosition.Latitude = GPSInfo.latitude;
                HoldPosition.Altitude = GPSInfo.altitude;
                HoldPosition.Status = VALID;
        }
        else
        {
                HoldPosition.Status = INVALID;
        }
}
 
// clear home position
void GPS_ClearHomePosition(void)
{
                HomePosition.Status = INVALID;
}
 
// disable GPS control sticks
void GPS_Neutral(void)
{
        GPS_Pitch = 0;
        GPS_Roll = 0;
}
 
// calculates the GPS control stick values from the deviation to target position
// if the pointer to the target positin is NULL or is the target position invalid
// then the P part of the controller is deactivated.
void GPS_PIDController(GPS_Pos_t *pTargetPos)
{
        int32_t coscompass, sincompass;
        int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
        int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;
        int32_t PID_North = 0, PID_East = 0;
        uint8_t GPS_Stick_Limited = 0;
        static int32_t cos_target_latitude = 1;
        static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;
        static GPS_Pos_t *pLastTargetPos = 0;
 
        // if GPS data and Compass are ok
        if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) )
        {
 
                if(pTargetPos != NULL) // if there is a target position
                {
                        if(pTargetPos->Status != INVALID) // and the position data are valid
                        {
                                // if the target data are updated or the target pointer has changed
                                if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) )
                                {
                                        // reset error integral
                                        GPSPosDevIntegral_North = 0;
                                        GPSPosDevIntegral_East = 0;
                                        // recalculate latitude projection
                                        cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));
                                        // remember last target pointer
                                        pLastTargetPos = pTargetPos;
                                        // mark data as processed
                                        pTargetPos->Status = PROCESSED;
                                }
                                // calculate position deviation from latitude and longitude differences
                                GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally
                                GPSPosDev_East  = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally
                                // calculate latitude projection
                                GPSPosDev_East  *= cos_target_latitude;
                                GPSPosDev_East /= 8192;
 
                        DebugOut.Analog[12] = GPSPosDev_North;
                                DebugOut.Analog[13] = GPSPosDev_East;
                                //DebugOut.Analog[12] = GPSInfo.velnorth;
                                //DebugOut.Analog[13] = GPSInfo.veleast;
                        }
                        else // no valid target position available
                        {
                                // reset error
                                GPSPosDev_North = 0;
                                GPSPosDev_East = 0;
                                // reset error integral
                                GPSPosDevIntegral_North = 0;
                                GPSPosDevIntegral_East = 0;
                        }
                }
                else // no target position available
                {
                        // reset error
                        GPSPosDev_North = 0;
                        GPSPosDev_East = 0;
                        // reset error integral
                        GPSPosDevIntegral_North = 0;
                        GPSPosDevIntegral_East = 0;
                }
 
                //Calculate PID-components of the controller (negative sign for compensation)
                P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;
                P_East =  -(GPS_P_Factor * GPSPosDev_East)/2048;
                I_North = -(GPS_I_Factor * GPSPosDevIntegral_North)/8192;
                I_East =  -(GPS_I_Factor * GPSPosDevIntegral_East)/8192;
                D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512;
                D_East =  -(GPS_D_Factor * GPSInfo.veleast)/512;
                // PD-controller
                PID_North = P_North + I_North + D_North;
                PID_East  = P_East  + I_East  + D_East;
 
                // GPS to pitch and roll settings
 
                // A positive pitch angle moves head downwards (flying forward).
                // A positive roll angle tilts left side downwards (flying left).
                // If compass heading is 0 the head of the copter is in north direction.
                // A positive pitch angle will fly to north and a positive roll angle will fly to west.
                // In case of a positive north deviation/velocity the
                // copter should fly to south (negative pitch).
                // In case of a positive east position deviation and a positive east velocity the
                // copter should fly to west (positive roll).
                // The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values
                // in the fc.c. Therefore a positive north deviation/velocity should result in a positive
                // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll.
 
                coscompass = (int32_t)c_cos_8192(CompassHeading);
                sincompass = (int32_t)c_sin_8192(CompassHeading);
                GPS_Roll  =    (int16_t)((coscompass * PID_East - sincompass * PID_North) / 8192);
                GPS_Pitch = -1*(int16_t)((sincompass * PID_East + coscompass * PID_North) / 8192);
 
                // limit GPS controls
                if (GPS_Pitch > GPS_STICK_LIMIT)
                {
                        GPS_Pitch =  GPS_STICK_LIMIT;
                        GPS_Stick_Limited = 1;
                }
                else if (GPS_Pitch < -GPS_STICK_LIMIT)
                {
                        GPS_Pitch = -GPS_STICK_LIMIT;
                        GPS_Stick_Limited = 1;
                }
                if (GPS_Roll > GPS_STICK_LIMIT)
                {
                        GPS_Roll = GPS_STICK_LIMIT;
                        GPS_Stick_Limited = 1;
                }
                else if (GPS_Roll < -GPS_STICK_LIMIT)
                {
                        GPS_Roll = -GPS_STICK_LIMIT;
                        GPS_Stick_Limited = 1;
                }
 
                if(!GPS_Stick_Limited) // prevent further growing of error integrals if control limit is reached
                {
                        // calculate position error integrals
                        GPSPosDevIntegral_North += GPSPosDev_North/16;
                        if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT;
                        else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT;
                        GPSPosDevIntegral_East += GPSPosDev_East/16;
                        if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT;
                        else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT;
                }
 
        }
        else // invalid GPS data or bad compass reading
        {
                GPS_Neutral(); // do nothing
                // reset error integral
                GPSPosDevIntegral_North = 0;
                GPSPosDevIntegral_East = 0;
        }
}
 
 
 
 
void GPS_Main(uint8_t ctrl)
{
        static uint8_t GPS_Task = TSK_IDLE;
        static uint8_t GPS_P_Delay = 0;
        int16_t satbeep;
 
        // ctrl enables the gps feature
        if(ctrl < 70) GPS_Task = TSK_IDLE;
        else if (ctrl < 160) GPS_Task = TSK_HOLD;
        else GPS_Task = TSK_HOME; // ctrl >= 160
 
 
        switch(GPSInfo.status)
        {
        case INVALID:  // invalid gps data
                GPS_Neutral();
                if(GPS_Task != TSK_IDLE)
                {
                        BeepTime = 100; // beep if signal is neccesary
                }
                break;
        case PROCESSED: // if gps data are already processed do nothing
                // downcount timeout
                if(GPSTimeout) GPSTimeout--;
                // if no new data arrived within timeout set current data invalid
                // and therefore disable GPS
                else
                {
                        GPS_Neutral();
                        GPSInfo.status = INVALID;
                }
                break;
        case VALID: // new valid data from gps device
                // if the gps data quality is good
                if (GPSInfo.satfix == SATFIX_3D)
                {
                        switch(GPS_Task) // check what's to do
                        {
                                case TSK_IDLE:
                                        // update hold position to current gps position
                                        GPS_SetHoldPosition(); // can get invalid if gps signal is bad
                                        // disable gps control
                                        GPS_Neutral();
                                        break; // eof TSK_IDLE
                                case TSK_HOLD:
                                        if(HoldPosition.Status != INVALID)
                                        {
                                                if( IsManualControlled() ) // MK controlled by user
                                                {
                                                        // update hold point to current gps position
                                                        GPS_SetHoldPosition();
                                                        // disable gps control
                                                        GPS_Neutral();
                                                        GPS_P_Delay = 0;
                                                }
                                                else // GPS control active
                                                {
                                                        if(GPS_P_Delay<7)
                                                        { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
                                                                GPS_P_Delay++;
                                                                GPS_SetHoldPosition();  // update hold point to current gps position
                                                                GPS_PIDController(NULL); // activates only the D-Part
                                                        }
                                                        else GPS_PIDController(&HoldPosition);// activates the P&D-Part
                                                }
                                        }
                                        else // invalid Hold Position
                                        {  // try to catch a valid hold position from gps data input
                                                GPS_SetHoldPosition();
                                                GPS_Neutral();
                                        }
                                        break; // eof TSK_HOLD
                                case TSK_HOME:
                                        if(HomePosition.Status != INVALID)
                                        {
                                                // update hold point to current gps position
                                                // to avoid a flight back if home comming is deactivated
                                                GPS_SetHoldPosition();
                                                if( IsManualControlled() ) // MK controlled by user
                                                {
                                                        GPS_Neutral();
                                                }
                                                else // GPS control active
                                                {
                                                        GPS_PIDController(&HomePosition);
                                                }
                                        }
                                        else // bad home position
                                        {
                                                BeepTime = 50; // signal invalid home position
                                                // try to hold at least the position as a fallback option
 
                                                if (HoldPosition.Status != INVALID)
                                                {
                                                        if( IsManualControlled() ) // MK controlled by user
                                                        {
                                                                GPS_Neutral();
                                                        }
                                                        else // GPS control active
                                                        {
                                                                GPS_PIDController(&HoldPosition);
                                                        }
                                                }
                                                else
                                                { // try to catch a valid hold position
                                                        GPS_SetHoldPosition();
                                                        GPS_Neutral();
                                                }
                                        }
                                        break; // eof TSK_HOME
                                default: // unhandled task
                                        GPS_Neutral();
                                        break; // eof default
                        } // eof switch GPS_Task
                } // eof 3D-FIX
                else // no 3D-SATFIX
                {       // disable gps control
                        GPS_Neutral();
                        if(GPS_Task != TSK_IDLE)
                        {
                                satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats
                                if (satbeep < 0) satbeep = 0;
                                BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms =
                        }
                }
                // set current data as processed to avoid further calculations on the same gps data
                GPSInfo.status = PROCESSED;
                break;
        } // eof GPSInfo.status
        DebugOut.Analog[14] = GPS_Pitch;
        DebugOut.Analog[15] = GPS_Roll;
}
 
 

Rev 813	Rev 818
1	#include <inttypes.h>	1	#include <inttypes.h>
2	#include <stdlib.h>	2	#include <stdlib.h>
3	#include "fc.h"	3	#include "fc.h"
4	#include "ubx.h"	4	#include "ubx.h"
5	#include "mymath.h"	5	#include "mymath.h"
6	#include "timer0.h"	6	#include "timer0.h"
7	#include "uart.h"	7	#include "uart.h"
8	#include "rc.h"	8	#include "rc.h"
9	#include "eeprom.h"	9	#include "eeprom.h"
10		10
11	#define TSK_IDLE 0	11	#define TSK_IDLE 0
12	#define TSK_HOLD 1	12	#define TSK_HOLD 1
13	#define TSK_HOME 2	13	#define TSK_HOME 2
14		14
15	#define GPS_STICK_SENSE 20 // must be at least in a range where 90% of the trimming does not switch of the GPS function	15	#define GPS_STICK_SENSE 20 // must be at least in a range where 90% of the trimming does not switch of the GPS function
16	#define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes	16	#define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes
17	#define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral	17	#define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral
18		18
19		19
20	int16_t GPS_Pitch = 0, GPS_Roll = 0;	20	int16_t GPS_Pitch = 0, GPS_Roll = 0;
21	int32_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0;	21	int32_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0;
22		22
23		23
24		24
25	typedef struct	25	typedef struct
26	{	26	{
27	int32_t Longitude;	27	int32_t Longitude;
28	int32_t Latitude;	28	int32_t Latitude;
29	int32_t Altitude;	29	int32_t Altitude;
30	uint8_t Status;	30	uint8_t Status;
31	} GPS_Pos_t;	31	} GPS_Pos_t;
32		32
33	// GPS coordinates for hold position	33	// GPS coordinates for hold position
34	GPS_Pos_t HoldPosition = {0,0,0,INVALID};	34	GPS_Pos_t HoldPosition = {0,0,0,INVALID};
35	// GPS coordinates for home position	35	// GPS coordinates for home position
36	GPS_Pos_t HomePosition = {0,0,0,INVALID};	36	GPS_Pos_t HomePosition = {0,0,0,INVALID};
37		37
38		38
39	// ---------------------------------------------------------------------------------	39	// ---------------------------------------------------------------------------------
40		40
41	// checks pitch and roll sticks for manual control	41	// checks pitch and roll sticks for manual control
42	uint8_t IsManualControlled(void)	42	uint8_t IsManualControlled(void)
43	{	43	{
44	if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0;	44	if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0;
45	else return 1;	45	else return 1;
46	}	46	}
47		47
48	// set home position to current positon	48	// set home position to current positon
49	void GPS_SetHomePosition(void)	49	void GPS_SetHomePosition(void)
50	{	50	{
51	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)	51	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)
52	{	52	{
53	HomePosition.Longitude = GPSInfo.longitude;	53	HomePosition.Longitude = GPSInfo.longitude;
54	HomePosition.Latitude = GPSInfo.latitude;	54	HomePosition.Latitude = GPSInfo.latitude;
55	HomePosition.Altitude = GPSInfo.altitude;	55	HomePosition.Altitude = GPSInfo.altitude;
56	HomePosition.Status = VALID;	56	HomePosition.Status = VALID;
57	BeepTime = 1000; // signal if new home position was set	57	BeepTime = 1000; // signal if new home position was set
58	}	58	}
59	else	59	else
60	{	60	{
61	HomePosition.Status = INVALID;	61	HomePosition.Status = INVALID;
62	}	62	}
63	}	63	}
64		64
65	// set hold position to current positon	65	// set hold position to current positon
66	void GPS_SetHoldPosition(void)	66	void GPS_SetHoldPosition(void)
67	{	67	{
68	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)	68	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)
69	{	69	{
70	HoldPosition.Longitude = GPSInfo.longitude;	70	HoldPosition.Longitude = GPSInfo.longitude;
71	HoldPosition.Latitude = GPSInfo.latitude;	71	HoldPosition.Latitude = GPSInfo.latitude;
72	HoldPosition.Altitude = GPSInfo.altitude;	72	HoldPosition.Altitude = GPSInfo.altitude;
73	HoldPosition.Status = VALID;	73	HoldPosition.Status = VALID;
74	}	74	}
75	else	75	else
76	{	76	{
77	HoldPosition.Status = INVALID;	77	HoldPosition.Status = INVALID;
78	}	78	}
79	}	79	}
80		80
81	// clear home position	81	// clear home position
82	void GPS_ClearHomePosition(void)	82	void GPS_ClearHomePosition(void)
83	{	83	{
84	HomePosition.Status = INVALID;	84	HomePosition.Status = INVALID;
85	}	85	}
86		86
87	// disable GPS control sticks	87	// disable GPS control sticks
88	void GPS_Neutral(void)	88	void GPS_Neutral(void)
89	{	89	{
90	GPS_Pitch = 0;	90	GPS_Pitch = 0;
91	GPS_Roll = 0;	91	GPS_Roll = 0;
92	}	92	}
93		93
94	// calculates the GPS control stick values from the deviation to target position	94	// calculates the GPS control stick values from the deviation to target position
95	// if the pointer to the target positin is NULL or is the target position invalid	95	// if the pointer to the target positin is NULL or is the target position invalid
96	// then the P part of the controller is deactivated.	96	// then the P part of the controller is deactivated.
97	void GPS_PIDController(GPS_Pos_t *pTargetPos)	97	void GPS_PIDController(GPS_Pos_t *pTargetPos)
98	{	98	{
99	int32_t coscompass, sincompass;	99	int32_t coscompass, sincompass;
100	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm	100	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
101	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;	101	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;
102	int32_t PID_North = 0, PID_East = 0;	102	int32_t PID_North = 0, PID_East = 0;
103	uint8_t GPS_Stick_Limited = 0;	103	uint8_t GPS_Stick_Limited = 0;
104	static int32_t cos_target_latitude = 1;	104	static int32_t cos_target_latitude = 1;
105	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;	105	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;
106	static GPS_Pos_t *pLastTargetPos = 0;	106	static GPS_Pos_t *pLastTargetPos = 0;
107		107
108	// if GPS data and Compass are ok	108	// if GPS data and Compass are ok
109	if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) )	109	if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) )
110	{	110	{
111		111
112	if(pTargetPos != NULL) // if there is a target position	112	if(pTargetPos != NULL) // if there is a target position
113	{	113	{
114	if(pTargetPos->Status != INVALID) // and the position data are valid	114	if(pTargetPos->Status != INVALID) // and the position data are valid
115	{	115	{
116	// if the target data are updated or the target pointer has changed	116	// if the target data are updated or the target pointer has changed
117	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )	117	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )
118	{	118	{
119	// reset error integral	119	// reset error integral
120	GPSPosDevIntegral_North = 0;	120	GPSPosDevIntegral_North = 0;
121	GPSPosDevIntegral_East = 0;	121	GPSPosDevIntegral_East = 0;
122	// recalculate latitude projection	122	// recalculate latitude projection
123	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));	123	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));
124	// remember last target pointer	124	// remember last target pointer
125	pLastTargetPos = pTargetPos;	125	pLastTargetPos = pTargetPos;
126	// mark data as processed	126	// mark data as processed
127	pTargetPos->Status = PROCESSED;	127	pTargetPos->Status = PROCESSED;
128	}	128	}
129	// calculate position deviation from latitude and longitude differences	129	// calculate position deviation from latitude and longitude differences
130	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally	130	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally
131	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally	131	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally
132	// calculate latitude projection	132	// calculate latitude projection
133	GPSPosDev_East *= cos_target_latitude;	133	GPSPosDev_East *= cos_target_latitude;
134	GPSPosDev_East /= 8192;	134	GPSPosDev_East /= 8192;
135		135
136	DebugOut.Analog[12] = GPSPosDev_North;	136	DebugOut.Analog[12] = GPSPosDev_North;
137	DebugOut.Analog[13] = GPSPosDev_East;	137	DebugOut.Analog[13] = GPSPosDev_East;
138	//DebugOut.Analog[12] = GPSInfo.velnorth;	138	//DebugOut.Analog[12] = GPSInfo.velnorth;
139	//DebugOut.Analog[13] = GPSInfo.veleast;	139	//DebugOut.Analog[13] = GPSInfo.veleast;
140	}	140	}
141	else // no valid target position available	141	else // no valid target position available
142	{	142	{
143	// reset error	143	// reset error
144	GPSPosDev_North = 0;	144	GPSPosDev_North = 0;
145	GPSPosDev_East = 0;	145	GPSPosDev_East = 0;
146	// reset error integral	146	// reset error integral
147	GPSPosDevIntegral_North = 0;	147	GPSPosDevIntegral_North = 0;
148	GPSPosDevIntegral_East = 0;	148	GPSPosDevIntegral_East = 0;
149	}	149	}
150	}	150	}
151	else // no target position available	151	else // no target position available
152	{	152	{
153	// reset error	153	// reset error
154	GPSPosDev_North = 0;	154	GPSPosDev_North = 0;
155	GPSPosDev_East = 0;	155	GPSPosDev_East = 0;
156	// reset error integral	156	// reset error integral
157	GPSPosDevIntegral_North = 0;	157	GPSPosDevIntegral_North = 0;
158	GPSPosDevIntegral_East = 0;	158	GPSPosDevIntegral_East = 0;
159	}	159	}
160		160
161	//Calculate PID-components of the controller (negative sign for compensation)	161	//Calculate PID-components of the controller (negative sign for compensation)
162	P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;	162	P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;
163	P_East = -(GPS_P_Factor * GPSPosDev_East)/2048;	163	P_East = -(GPS_P_Factor * GPSPosDev_East)/2048;
164	I_North = -(GPS_I_Factor * GPSPosDevIntegral_North)/2048;	164	I_North = -(GPS_I_Factor * GPSPosDevIntegral_North)/8192;
165	I_East = -(GPS_I_Factor * GPSPosDevIntegral_East)/2048;	165	I_East = -(GPS_I_Factor * GPSPosDevIntegral_East)/8192;
166	D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512;	166	D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512;
167	D_East = -(GPS_D_Factor * GPSInfo.veleast)/512;	167	D_East = -(GPS_D_Factor * GPSInfo.veleast)/512;
168	// PD-controller	168	// PD-controller
169	PID_North = P_North + I_North + D_North;	169	PID_North = P_North + I_North + D_North;
170	PID_East = P_East + I_East + D_East;	170	PID_East = P_East + I_East + D_East;
171		171
172	// GPS to pitch and roll settings	172	// GPS to pitch and roll settings
173		173
174	// A positive pitch angle moves head downwards (flying forward).	174	// A positive pitch angle moves head downwards (flying forward).
175	// A positive roll angle tilts left side downwards (flying left).	175	// A positive roll angle tilts left side downwards (flying left).
176	// If compass heading is 0 the head of the copter is in north direction.	176	// If compass heading is 0 the head of the copter is in north direction.
177	// A positive pitch angle will fly to north and a positive roll angle will fly to west.	177	// A positive pitch angle will fly to north and a positive roll angle will fly to west.
178	// In case of a positive north deviation/velocity the	178	// In case of a positive north deviation/velocity the
179	// copter should fly to south (negative pitch).	179	// copter should fly to south (negative pitch).
180	// In case of a positive east position deviation and a positive east velocity the	180	// In case of a positive east position deviation and a positive east velocity the
181	// copter should fly to west (positive roll).	181	// copter should fly to west (positive roll).
182	// The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values	182	// The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values
183	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive	183	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive
184	// GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll.	184	// GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll.
185		185
186	coscompass = (int32_t)c_cos_8192(CompassHeading);	186	coscompass = (int32_t)c_cos_8192(CompassHeading);
187	sincompass = (int32_t)c_sin_8192(CompassHeading);	187	sincompass = (int32_t)c_sin_8192(CompassHeading);
188	GPS_Roll = (int16_t)((coscompass * PID_East - sincompass * PID_North) / 8192);	188	GPS_Roll = (int16_t)((coscompass * PID_East - sincompass * PID_North) / 8192);
189	GPS_Pitch = -1(int16_t)((sincompass PID_East + coscompass * PID_North) / 8192);	189	GPS_Pitch = -1(int16_t)((sincompass PID_East + coscompass * PID_North) / 8192);
190		190
191	// limit GPS controls	191	// limit GPS controls
192	if (GPS_Pitch > GPS_STICK_LIMIT)	192	if (GPS_Pitch > GPS_STICK_LIMIT)
193	{	193	{
194	GPS_Pitch = GPS_STICK_LIMIT;	194	GPS_Pitch = GPS_STICK_LIMIT;
195	GPS_Stick_Limited = 1;	195	GPS_Stick_Limited = 1;
196	}	196	}
197	else if (GPS_Pitch < -GPS_STICK_LIMIT)	197	else if (GPS_Pitch < -GPS_STICK_LIMIT)
198	{	198	{
199	GPS_Pitch = -GPS_STICK_LIMIT;	199	GPS_Pitch = -GPS_STICK_LIMIT;
200	GPS_Stick_Limited = 1;	200	GPS_Stick_Limited = 1;
201	}	201	}
202	if (GPS_Roll > GPS_STICK_LIMIT)	202	if (GPS_Roll > GPS_STICK_LIMIT)
203	{	203	{
204	GPS_Roll = GPS_STICK_LIMIT;	204	GPS_Roll = GPS_STICK_LIMIT;
205	GPS_Stick_Limited = 1;	205	GPS_Stick_Limited = 1;
206	}	206	}
207	else if (GPS_Roll < -GPS_STICK_LIMIT)	207	else if (GPS_Roll < -GPS_STICK_LIMIT)
208	{	208	{
209	GPS_Roll = -GPS_STICK_LIMIT;	209	GPS_Roll = -GPS_STICK_LIMIT;
210	GPS_Stick_Limited = 1;	210	GPS_Stick_Limited = 1;
211	}	211	}
212		212
213	if(!GPS_Stick_Limited) // prevent further growing of error integrals if control limit is reached	213	if(!GPS_Stick_Limited) // prevent further growing of error integrals if control limit is reached
214	{	214	{
215	// calculate position error integrals	215	// calculate position error integrals
216	GPSPosDevIntegral_North += GPSPosDev_North/4;	216	GPSPosDevIntegral_North += GPSPosDev_North/16;
217	if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT;	217	if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT;
218	else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT;	218	else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT;
219	GPSPosDevIntegral_East += GPSPosDev_East/4;	219	GPSPosDevIntegral_East += GPSPosDev_East/16;
220	if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT;	220	if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT;
221	else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT;	221	else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT;
222	}	222	}
223		223
224	}	224	}
225	else // invalid GPS data	225	else // invalid GPS data or bad compass reading
226	{	226	{
227	GPS_Neutral(); // do nothing	227	GPS_Neutral(); // do nothing
228	// reset error integral	228	// reset error integral
229	GPSPosDevIntegral_North = 0;	229	GPSPosDevIntegral_North = 0;
230	GPSPosDevIntegral_East = 0;	230	GPSPosDevIntegral_East = 0;
231	}	231	}
232	}	232	}
233		233
234		234
235		235
236		236
237	void GPS_Main(uint8_t ctrl)	237	void GPS_Main(uint8_t ctrl)
238	{	238	{
239	static uint8_t GPS_Task = TSK_IDLE;	239	static uint8_t GPS_Task = TSK_IDLE;
240	static uint8_t GPS_P_Delay = 0;	240	static uint8_t GPS_P_Delay = 0;
241	int16_t satbeep;	241	int16_t satbeep;
242		242
243	// ctrl enables the gps feature	243	// ctrl enables the gps feature
244	if(ctrl < 70) GPS_Task = TSK_IDLE;	244	if(ctrl < 70) GPS_Task = TSK_IDLE;
245	else if (ctrl < 160) GPS_Task = TSK_HOLD;	245	else if (ctrl < 160) GPS_Task = TSK_HOLD;
246	else GPS_Task = TSK_HOME; // ctrl >= 160	246	else GPS_Task = TSK_HOME; // ctrl >= 160
247		247
248		248
249	switch(GPSInfo.status)	249	switch(GPSInfo.status)
250	{	250	{
251	case INVALID: // invalid gps data	251	case INVALID: // invalid gps data
252	GPS_Neutral();	252	GPS_Neutral();
253	if(GPS_Task != TSK_IDLE)	253	if(GPS_Task != TSK_IDLE)
254	{	254	{
255	BeepTime = 100; // beep if signal is neccesary	255	BeepTime = 100; // beep if signal is neccesary
256	}	256	}
257	break;	257	break;
258	case PROCESSED: // if gps data are already processed do nothing	258	case PROCESSED: // if gps data are already processed do nothing
259	// downcount timeout	259	// downcount timeout
260	if(GPSTimeout) GPSTimeout--;	260	if(GPSTimeout) GPSTimeout--;
261	// if no new data arrived within timeout set current data invalid	261	// if no new data arrived within timeout set current data invalid
262	// and therefore disable GPS	262	// and therefore disable GPS
263	else	263	else
264	{	264	{
265	GPS_Neutral();	265	GPS_Neutral();
266	GPSInfo.status = INVALID;	266	GPSInfo.status = INVALID;
267	}	267	}
268	break;	268	break;
269	case VALID: // new valid data from gps device	269	case VALID: // new valid data from gps device
270	// if the gps data quality is good	270	// if the gps data quality is good
271	if (GPSInfo.satfix == SATFIX_3D)	271	if (GPSInfo.satfix == SATFIX_3D)
272	{	272	{
273	switch(GPS_Task) // check what's to do	273	switch(GPS_Task) // check what's to do
274	{	274	{
275	case TSK_IDLE:	275	case TSK_IDLE:
276	// update hold position to current gps position	276	// update hold position to current gps position
277	GPS_SetHoldPosition(); // can get invalid if gps signal is bad	277	GPS_SetHoldPosition(); // can get invalid if gps signal is bad
278	// disable gps control	278	// disable gps control
279	GPS_Neutral();	279	GPS_Neutral();
280	break; // eof TSK_IDLE	280	break; // eof TSK_IDLE
281	case TSK_HOLD:	281	case TSK_HOLD:
282	if(HoldPosition.Status != INVALID)	282	if(HoldPosition.Status != INVALID)
283	{	283	{
284	if( IsManualControlled() ) // MK controlled by user	284	if( IsManualControlled() ) // MK controlled by user
285	{	285	{
286	// update hold point to current gps position	286	// update hold point to current gps position
287	GPS_SetHoldPosition();	287	GPS_SetHoldPosition();
288	// disable gps control	288	// disable gps control
289	GPS_Neutral();	289	GPS_Neutral();
290	GPS_P_Delay = 0;	290	GPS_P_Delay = 0;
291	}	291	}
292	else // GPS control active	292	else // GPS control active
293	{	293	{
294	if(GPS_P_Delay<7)	294	if(GPS_P_Delay<7)
295	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)	295	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
296	GPS_P_Delay++;	296	GPS_P_Delay++;
297	GPS_SetHoldPosition(); // update hold point to current gps position	297	GPS_SetHoldPosition(); // update hold point to current gps position
298	GPS_PIDController(NULL); // activates only the D-Part	298	GPS_PIDController(NULL); // activates only the D-Part
299	}	299	}
300	else GPS_PIDController(&HoldPosition);// activates the P&D-Part	300	else GPS_PIDController(&HoldPosition);// activates the P&D-Part
301	}	301	}
302	}	302	}
303	else // invalid Hold Position	303	else // invalid Hold Position
304	{ // try to catch a valid hold position from gps data input	304	{ // try to catch a valid hold position from gps data input
305	GPS_SetHoldPosition();	305	GPS_SetHoldPosition();
306	GPS_Neutral();	306	GPS_Neutral();
307	}	307	}
308	break; // eof TSK_HOLD	308	break; // eof TSK_HOLD
309	case TSK_HOME:	309	case TSK_HOME:
310	if(HomePosition.Status != INVALID)	310	if(HomePosition.Status != INVALID)
311	{	311	{
312	// update hold point to current gps position	312	// update hold point to current gps position
313	// to avoid a flight back if home comming is deactivated	313	// to avoid a flight back if home comming is deactivated
314	GPS_SetHoldPosition();	314	GPS_SetHoldPosition();
315	if( IsManualControlled() ) // MK controlled by user	315	if( IsManualControlled() ) // MK controlled by user
316	{	316	{
317	GPS_Neutral();	317	GPS_Neutral();
318	}	318	}
319	else // GPS control active	319	else // GPS control active
320	{	320	{
321	GPS_PIDController(&HomePosition);	321	GPS_PIDController(&HomePosition);
322	}	322	}
323	}	323	}
324	else // bad home position	324	else // bad home position
325	{	325	{
326	BeepTime = 50; // signal invalid home position	326	BeepTime = 50; // signal invalid home position
327	// try to hold at least the position as a fallback option	327	// try to hold at least the position as a fallback option
328		328
329	if (HoldPosition.Status != INVALID)	329	if (HoldPosition.Status != INVALID)
330	{	330	{
331	if( IsManualControlled() ) // MK controlled by user	331	if( IsManualControlled() ) // MK controlled by user
332	{	332	{
333	GPS_Neutral();	333	GPS_Neutral();
334	}	334	}
335	else // GPS control active	335	else // GPS control active
336	{	336	{
337	GPS_PIDController(&HoldPosition);	337	GPS_PIDController(&HoldPosition);
338	}	338	}
339	}	339	}
340	else	340	else
341	{ // try to catch a valid hold position	341	{ // try to catch a valid hold position
342	GPS_SetHoldPosition();	342	GPS_SetHoldPosition();
343	GPS_Neutral();	343	GPS_Neutral();
344	}	344	}
345	}	345	}
346	break; // eof TSK_HOME	346	break; // eof TSK_HOME
347	default: // unhandled task	347	default: // unhandled task
348	GPS_Neutral();	348	GPS_Neutral();
349	break; // eof default	349	break; // eof default
350	} // eof switch GPS_Task	350	} // eof switch GPS_Task
351	} // eof 3D-FIX	351	} // eof 3D-FIX
352	else // no 3D-SATFIX	352	else // no 3D-SATFIX
353	{ // disable gps control	353	{ // disable gps control
354	GPS_Neutral();	354	GPS_Neutral();
355	if(GPS_Task != TSK_IDLE)	355	if(GPS_Task != TSK_IDLE)
356	{	356	{
357	satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats	357	satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats
358	if (satbeep < 0) satbeep = 0;	358	if (satbeep < 0) satbeep = 0;
359	BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms =	359	BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms =
360	}	360	}
361	}	361	}
362	// set current data as processed to avoid further calculations on the same gps data	362	// set current data as processed to avoid further calculations on the same gps data
363	GPSInfo.status = PROCESSED;	363	GPSInfo.status = PROCESSED;
364	break;	364	break;
365	} // eof GPSInfo.status	365	} // eof GPSInfo.status
366	DebugOut.Analog[14] = GPS_Pitch;	366	DebugOut.Analog[14] = GPS_Pitch;
367	DebugOut.Analog[15] = GPS_Roll;	367	DebugOut.Analog[15] = GPS_Roll;
368	}	368	}
369		369
370		370

Subversion Repositories FlightCtrl

(root)/branches/V0.68d CRK HexaLotte/GPS.c @ 1894 - Rev 813 → 818