WebSVN - FlightCtrl - Diff - Rev 792 and 794 - /branches/V0.68d Code Redesign killagreg/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_D_LIMIT_DIST        500             // for position deviations greater than 500cm the D-Part of the PD-Controller is limited
#define GPS_D_LIMIT                     50              // PD-Controntroller D-Limit.
 
int16_t GPS_Pitch = 0;
int16_t GPS_Roll = 0;
 
int32_t GPS_P_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_PDController(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;
        int32_t PD_North = 0, PD_East = 0;
        static int32_t cos_target_latitude = 1;
 
        // 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
                        { // 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
                                // recalculate the target latitude projection only if the target data are updated
                                // to save time
                                if (pTargetPos->Status != PROCESSED)
                                {
                                        cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));
                                        pTargetPos->Status = PROCESSED;
                                }
                                // 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;
 
                                //Calculate P-components of the controller (negative sign for compensation)
                                P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;
                                P_East =  -(GPS_P_Factor * GPSPosDev_East)/2048;
                        }
                        else // not valid target position available
                        {
                                GPSPosDev_North = 0;
                                GPSPosDev_East = 0;
                        }
                }
                else // not target position available
                {
                        GPSPosDev_North = 0;
                        GPSPosDev_East = 0;
                }
 
                //Calculate PD-components of the controller (negative sign for compensation)
                P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;
                P_East =  -(GPS_P_Factor * GPSPosDev_East)/2048;
                D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512;
                D_East =  -(GPS_D_Factor * GPSInfo.veleast)/512;
                // limit D-Part if position deviation is significant of the target position
                // this accelerates flying to the target position
                if( (abs(GPSPosDev_North) > GPS_D_LIMIT_DIST) ||  (abs(GPSPosDev_East) > GPS_D_LIMIT_DIST) )
                {
                        if (D_North > GPS_D_LIMIT) D_North = GPS_D_LIMIT;
                        else if (D_North < -GPS_D_LIMIT) D_North = -GPS_D_LIMIT;
                        if (D_East > GPS_D_LIMIT)  D_East  = GPS_D_LIMIT;
                        else if (D_East  < -GPS_D_LIMIT) D_East  = -GPS_D_LIMIT;
                }
                // PD-controller
                PD_North = P_North + D_North;
                PD_East  = P_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 * PD_East - sincompass * PD_North) / 8192);
                GPS_Pitch = -1*(int16_t)((sincompass * PD_East + coscompass * PD_North) / 8192);
 
                // limit GPS controls
                if (GPS_Pitch >  GPS_STICK_LIMIT) GPS_Pitch =  GPS_STICK_LIMIT;
                else if (GPS_Pitch < -GPS_STICK_LIMIT) GPS_Pitch = -GPS_STICK_LIMIT;
                if (GPS_Roll  >  GPS_STICK_LIMIT)  GPS_Roll =  GPS_STICK_LIMIT;
                else if (GPS_Roll  < -GPS_STICK_LIMIT)  GPS_Roll = -GPS_STICK_LIMIT;
        }
        else // invalid GPS data
        {
                GPS_Neutral(); // do nothing
        }
}
 
 
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_PDController(NULL); // activates only the D-Part
                                                        }
                                                        else GPS_PDController(&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_PDController(&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_PDController(&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 = 1800 - (int16_t)GPSInfo.satnum * 225; // is zero at 8 sats
                                if (satbeep < 0) satbeep = 0;
                                BeepTime = 50 + (uint16_t)satbeep; // max 1850 * 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 792	Rev 794
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"
-		9	#include "eeprom.h"
8		10
9	#define TSK_IDLE 0	11	#define TSK_IDLE 0
10	#define TSK_HOLD 1	12	#define TSK_HOLD 1
11	#define TSK_HOME 2	13	#define TSK_HOME 2
12		14
13	#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
14	#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
15	#define GPS_D_LIMIT_DIST 500 // for position deviations greater than 500cm the D-Part of the PD-Controller is limited	17	#define GPS_D_LIMIT_DIST 500 // for position deviations greater than 500cm the D-Part of the PD-Controller is limited
16	#define GPS_D_LIMIT 50 // PD-Controntroller D-Limit.	18	#define GPS_D_LIMIT 50 // PD-Controntroller D-Limit.
17		19
18	int16_t GPS_Pitch = 0;	20	int16_t GPS_Pitch = 0;
19	int16_t GPS_Roll = 0;	21	int16_t GPS_Roll = 0;
20		22
21	int32_t GPS_P_Factor = 0, GPS_D_Factor = 0;	23	int32_t GPS_P_Factor = 0, GPS_D_Factor = 0;
22		24
23		25
24		26
25	typedef struct	27	typedef struct
26	{	28	{
27	int32_t Longitude;	29	int32_t Longitude;
28	int32_t Latitude;	30	int32_t Latitude;
-		31	int32_t Altitude;
29	uint8_t Status;	32	uint8_t Status;
30	} GPS_Pos_t;	33	} GPS_Pos_t;
31		34
32	// GPS coordinates for hold position	35	// GPS coordinates for hold position
33	GPS_Pos_t HoldPosition = {0,0, INVALID};	36	GPS_Pos_t HoldPosition = {0,0,0,INVALID};
34	// GPS coordinates for home position	37	// GPS coordinates for home position
35	GPS_Pos_t HomePosition = {0,0, INVALID};	38	GPS_Pos_t HomePosition = {0,0,0,INVALID};
36		39
37		40
38	// ---------------------------------------------------------------------------------	41	// ---------------------------------------------------------------------------------
-		42
-		43	// checks pitch and roll sticks for manual control
-		44	uint8_t IsManualControlled(void)
-		45	{
-		46	if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0;
-		47	else return 1;
-		48	}
39		49
40	// set home position to current positon	50	// set home position to current positon
41	void GPS_SetHomePosition(void)	51	void GPS_SetHomePosition(void)
42	{	52	{
43	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)	53	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)
44	{	54	{
45	HomePosition.Longitude = GPSInfo.longitude;	55	HomePosition.Longitude = GPSInfo.longitude;
46	HomePosition.Latitude = GPSInfo.latitude;	56	HomePosition.Latitude = GPSInfo.latitude;
-		57	HomePosition.Altitude = GPSInfo.altitude;
47	HomePosition.Status = VALID;	58	HomePosition.Status = VALID;
48	BeepTime = 1000; // signal if new home position was set	59	BeepTime = 1000; // signal if new home position was set
49	}	60	}
50	else	61	else
51	{	62	{
52	HomePosition.Status = INVALID;	63	HomePosition.Status = INVALID;
53	}	64	}
54	}	65	}
55		66
56	// set hold position to current positon	67	// set hold position to current positon
57	void GPS_SetHoldPosition(void)	68	void GPS_SetHoldPosition(void)
58	{	69	{
59	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)	70	if( ((GPSInfo.status == VALID) \|\| (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D)
60	{	71	{
61	HoldPosition.Longitude = GPSInfo.longitude;	72	HoldPosition.Longitude = GPSInfo.longitude;
62	HoldPosition.Latitude = GPSInfo.latitude;	73	HoldPosition.Latitude = GPSInfo.latitude;
-		74	HoldPosition.Altitude = GPSInfo.altitude;
63	HoldPosition.Status = VALID;	75	HoldPosition.Status = VALID;
64	}	76	}
65	else	77	else
66	{	78	{
67	HoldPosition.Status = INVALID;	79	HoldPosition.Status = INVALID;
68	}	80	}
69	}	81	}
70		82
71	// clear home position	83	// clear home position
72	void GPS_ClearHomePosition(void)	84	void GPS_ClearHomePosition(void)
73	{	85	{
74	HomePosition.Status = INVALID;	86	HomePosition.Status = INVALID;
75	}	87	}
76		88
77	// disable GPS control sticks	89	// disable GPS control sticks
78	void GPS_Neutral(void)	90	void GPS_Neutral(void)
79	{	91	{
80	GPS_Pitch = 0;	92	GPS_Pitch = 0;
81	GPS_Roll = 0;	93	GPS_Roll = 0;
82	}	94	}
83		95
84	// calculates the GPS control stick values from the deviation to target position	96	// calculates the GPS control stick values from the deviation to target position
85	// if the pointer to the target positin is NULL or is the target position invalid	97	// if the pointer to the target positin is NULL or is the target position invalid
86	// then the P part of the controller is deactivated.	98	// then the P part of the controller is deactivated.
87	void GPS_PDController(GPS_Pos_t *pTargetPos)	99	void GPS_PDController(GPS_Pos_t *pTargetPos)
88	{	100	{
89	int32_t coscompass, sincompass;	101	int32_t coscompass, sincompass;
90	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm	102	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
91	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0;	103	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0;
92	int32_t PD_North = 0, PD_East = 0;	104	int32_t PD_North = 0, PD_East = 0;
93	static int32_t cos_target_latitude = 1;	105	static int32_t cos_target_latitude = 1;
94		106
95	// if GPS data and Compass are ok	107	// if GPS data and Compass are ok
96	if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) )	108	if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) )
97	{	109	{
98		110
99	if(pTargetPos != NULL) // if there is a target position	111	if(pTargetPos != NULL) // if there is a target position
100	{	112	{
101	if(pTargetPos->Status != INVALID) // and the position data are valid	113	if(pTargetPos->Status != INVALID) // and the position data are valid
102	{ // calculate position deviation from latitude and longitude differences	114	{ // calculate position deviation from latitude and longitude differences
103	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally	115	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally
104	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally	116	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally
105	// recalculate the target latitude projection only if the target data are updated	117	// recalculate the target latitude projection only if the target data are updated
106	// to save time	118	// to save time
107	if (pTargetPos->Status != PROCESSED)	119	if (pTargetPos->Status != PROCESSED)
108	{	120	{
109	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));	121	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));
110	pTargetPos->Status = PROCESSED;	122	pTargetPos->Status = PROCESSED;
111	}	123	}
112	// calculate latitude projection	124	// calculate latitude projection
113	GPSPosDev_East *= cos_target_latitude;	125	GPSPosDev_East *= cos_target_latitude;
114	GPSPosDev_East /= 8192;	126	GPSPosDev_East /= 8192;
115		127
116	DebugOut.Analog[12] = GPSPosDev_North;	128	DebugOut.Analog[12] = GPSPosDev_North;
117	DebugOut.Analog[13] = GPSPosDev_East;	129	DebugOut.Analog[13] = GPSPosDev_East;
118	//DebugOut.Analog[12] = GPSInfo.velnorth;	130	//DebugOut.Analog[12] = GPSInfo.velnorth;
119	//DebugOut.Analog[13] = GPSInfo.veleast;	131	//DebugOut.Analog[13] = GPSInfo.veleast;
120		132
121	//Calculate P-components of the controller (negative sign for compensation)	133	//Calculate P-components of the controller (negative sign for compensation)
122	P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;	134	P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;
123	P_East = -(GPS_P_Factor * GPSPosDev_East)/2048;	135	P_East = -(GPS_P_Factor * GPSPosDev_East)/2048;
124	}	136	}
125	else // not valid target position available	137	else // not valid target position available
126	{	138	{
127	GPSPosDev_North = 0;	139	GPSPosDev_North = 0;
128	GPSPosDev_East = 0;	140	GPSPosDev_East = 0;
129	}	141	}
130	}	142	}
131	else // not target position available	143	else // not target position available
132	{	144	{
133	GPSPosDev_North = 0;	145	GPSPosDev_North = 0;
134	GPSPosDev_East = 0;	146	GPSPosDev_East = 0;
135	}	147	}
136		148
137	//Calculate PD-components of the controller (negative sign for compensation)	149	//Calculate PD-components of the controller (negative sign for compensation)
138	P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;	150	P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;
139	P_East = -(GPS_P_Factor * GPSPosDev_East)/2048;	151	P_East = -(GPS_P_Factor * GPSPosDev_East)/2048;
140	D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512;	152	D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512;
141	D_East = -(GPS_D_Factor * GPSInfo.veleast)/512;	153	D_East = -(GPS_D_Factor * GPSInfo.veleast)/512;
142	// limit D-Part if position deviation is significant of the target position	154	// limit D-Part if position deviation is significant of the target position
143	// this accelerates flying to the target position	155	// this accelerates flying to the target position
144	if( (abs(GPSPosDev_North) > GPS_D_LIMIT_DIST) \|\| (abs(GPSPosDev_East) > GPS_D_LIMIT_DIST) )	156	if( (abs(GPSPosDev_North) > GPS_D_LIMIT_DIST) \|\| (abs(GPSPosDev_East) > GPS_D_LIMIT_DIST) )
145	{	157	{
146	if (D_North > GPS_D_LIMIT) D_North = GPS_D_LIMIT;	158	if (D_North > GPS_D_LIMIT) D_North = GPS_D_LIMIT;
147	else if (D_North < -GPS_D_LIMIT) D_North = -GPS_D_LIMIT;	159	else if (D_North < -GPS_D_LIMIT) D_North = -GPS_D_LIMIT;
148	if (D_East > GPS_D_LIMIT) D_East = GPS_D_LIMIT;	160	if (D_East > GPS_D_LIMIT) D_East = GPS_D_LIMIT;
149	else if (D_East < -GPS_D_LIMIT) D_East = -GPS_D_LIMIT;	161	else if (D_East < -GPS_D_LIMIT) D_East = -GPS_D_LIMIT;
150	}	162	}
151	// PD-controller	163	// PD-controller
152	PD_North = P_North + D_North;	164	PD_North = P_North + D_North;
153	PD_East = P_East + D_East;	165	PD_East = P_East + D_East;
154		166
155	// GPS to pitch and roll settings	167	// GPS to pitch and roll settings
156		168
157	// A positive pitch angle moves head downwards (flying forward).	169	// A positive pitch angle moves head downwards (flying forward).
158	// A positive roll angle tilts left side downwards (flying left).	170	// A positive roll angle tilts left side downwards (flying left).
159	// If compass heading is 0 the head of the copter is in north direction.	171	// If compass heading is 0 the head of the copter is in north direction.
160	// A positive pitch angle will fly to north and a positive roll angle will fly to west.	172	// A positive pitch angle will fly to north and a positive roll angle will fly to west.
161	// In case of a positive north deviation/velocity the	173	// In case of a positive north deviation/velocity the
162	// copter should fly to south (negative pitch).	174	// copter should fly to south (negative pitch).
163	// In case of a positive east position deviation and a positive east velocity the	175	// In case of a positive east position deviation and a positive east velocity the
164	// copter should fly to west (positive roll).	176	// copter should fly to west (positive roll).
165	// The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values	177	// The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values
166	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive	178	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive
167	// GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll.	179	// GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll.
168		180
169	coscompass = (int32_t)c_cos_8192(CompassHeading);	181	coscompass = (int32_t)c_cos_8192(CompassHeading);
170	sincompass = (int32_t)c_sin_8192(CompassHeading);	182	sincompass = (int32_t)c_sin_8192(CompassHeading);
171	GPS_Roll = (int16_t)((coscompass * PD_East - sincompass * PD_North) / 8192);	183	GPS_Roll = (int16_t)((coscompass * PD_East - sincompass * PD_North) / 8192);
172	GPS_Pitch = -1(int16_t)((sincompass PD_East + coscompass * PD_North) / 8192);	184	GPS_Pitch = -1(int16_t)((sincompass PD_East + coscompass * PD_North) / 8192);
173		185
174	// limit GPS controls	186	// limit GPS controls
175	if (GPS_Pitch > GPS_STICK_LIMIT) GPS_Pitch = GPS_STICK_LIMIT;	187	if (GPS_Pitch > GPS_STICK_LIMIT) GPS_Pitch = GPS_STICK_LIMIT;
176	else if (GPS_Pitch < -GPS_STICK_LIMIT) GPS_Pitch = -GPS_STICK_LIMIT;	188	else if (GPS_Pitch < -GPS_STICK_LIMIT) GPS_Pitch = -GPS_STICK_LIMIT;
177	if (GPS_Roll > GPS_STICK_LIMIT) GPS_Roll = GPS_STICK_LIMIT;	189	if (GPS_Roll > GPS_STICK_LIMIT) GPS_Roll = GPS_STICK_LIMIT;
178	else if (GPS_Roll < -GPS_STICK_LIMIT) GPS_Roll = -GPS_STICK_LIMIT;	190	else if (GPS_Roll < -GPS_STICK_LIMIT) GPS_Roll = -GPS_STICK_LIMIT;
179	}	191	}
180	else // invalid GPS data	192	else // invalid GPS data
181	{	193	{
182	GPS_Neutral(); // do nothing	194	GPS_Neutral(); // do nothing
183	}	195	}
184	}	196	}
185		197
186		198
187	void GPS_Main(uint8_t ctrl)	199	void GPS_Main(uint8_t ctrl)
188	{	200	{
189	static uint8_t GPS_Task = TSK_IDLE;	201	static uint8_t GPS_Task = TSK_IDLE;
190	static uint8_t GPS_P_Delay = 0;	202	static uint8_t GPS_P_Delay = 0;
191	int16_t satbeep;	203	int16_t satbeep;
192		204
193	// ctrl enables the gps feature	205	// ctrl enables the gps feature
194	if(ctrl < 70) GPS_Task = TSK_IDLE;	206	if(ctrl < 70) GPS_Task = TSK_IDLE;
195	else if (ctrl < 160) GPS_Task = TSK_HOLD;	207	else if (ctrl < 160) GPS_Task = TSK_HOLD;
196	else GPS_Task = TSK_HOME; // ctrl >= 160	208	else GPS_Task = TSK_HOME; // ctrl >= 160
197		209
198		210
199	switch(GPSInfo.status)	211	switch(GPSInfo.status)
200	{	212	{
201	case INVALID: // invalid gps data	213	case INVALID: // invalid gps data
202	GPS_Neutral();	214	GPS_Neutral();
203	if(GPS_Task != TSK_IDLE)	215	if(GPS_Task != TSK_IDLE)
204	{	216	{
205	BeepTime = 100; // beep if signal is neccesary	217	BeepTime = 100; // beep if signal is neccesary
206	}	218	}
207	break;	219	break;
208	case PROCESSED: // if gps data are already processed do nothing	220	case PROCESSED: // if gps data are already processed do nothing
209	// downcount timeout	221	// downcount timeout
210	if(GPSTimeout) GPSTimeout--;	222	if(GPSTimeout) GPSTimeout--;
211	// if no new data arrived within timeout set current data invalid	223	// if no new data arrived within timeout set current data invalid
212	// and therefore disable GPS	224	// and therefore disable GPS
213	else	225	else
214	{	226	{
215	GPS_Neutral();	227	GPS_Neutral();
216	GPSInfo.status = INVALID;	228	GPSInfo.status = INVALID;
217	}	229	}
218	break;	230	break;
219	case VALID: // new valid data from gps device	231	case VALID: // new valid data from gps device
220	// if the gps data quality is good	232	// if the gps data quality is good
221	if (GPSInfo.satfix == SATFIX_3D)	233	if (GPSInfo.satfix == SATFIX_3D)
222	{	234	{
223	switch(GPS_Task) // check what's to do	235	switch(GPS_Task) // check what's to do
224	{	236	{
225	case TSK_IDLE:	237	case TSK_IDLE:
226	// update hold position to current gps position	238	// update hold position to current gps position
227	GPS_SetHoldPosition(); // can get invalid if gps signal is bad	239	GPS_SetHoldPosition(); // can get invalid if gps signal is bad
228	// disable gps control	240	// disable gps control
229	GPS_Neutral();	241	GPS_Neutral();
230	break; // eof TSK_IDLE	242	break; // eof TSK_IDLE
231	case TSK_HOLD:	243	case TSK_HOLD:
232	if(HoldPosition.Status != INVALID)	244	if(HoldPosition.Status != INVALID)
233	{	245	{
234	// if sticks are centered (no manual control)	246	if( IsManualControlled() ) // MK controlled by user
-		247	{
235	if ((MaxStickPitch < GPS_STICK_SENSE) && (MaxStickRoll < GPS_STICK_SENSE))	248	// update hold point to current gps position
-		249	GPS_SetHoldPosition();
-		250	// disable gps control
-		251	GPS_Neutral();
-		252	GPS_P_Delay = 0;
-		253	}
-		254	else // GPS control active
236	{	255	{
237	if(GPS_P_Delay<7)	256	if(GPS_P_Delay<7)
238	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)	257	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
239	GPS_P_Delay++;	258	GPS_P_Delay++;
240	GPS_SetHoldPosition(); // update hold point to current gps position	259	GPS_SetHoldPosition(); // update hold point to current gps position
241	GPS_PDController(NULL); // activates only the D-Part	260	GPS_PDController(NULL); // activates only the D-Part
242	}	261	}
243	else GPS_PDController(&HoldPosition);// activates the P&D-Part	262	else GPS_PDController(&HoldPosition);// activates the P&D-Part
244	}	263	}
245	else // MK controlled by user	-
246	{	-
247	// update hold point to current gps position	-
248	GPS_SetHoldPosition();	-
249	// disable gps control	-
250	GPS_Neutral();	-
251	GPS_P_Delay = 0;	-
252	}	-
253	}	264	}
254	else // invalid Hold Position	265	else // invalid Hold Position
255	{ // try to catch a valid hold position from gps data input	266	{ // try to catch a valid hold position from gps data input
256	GPS_SetHoldPosition();	267	GPS_SetHoldPosition();
257	GPS_Neutral();	268	GPS_Neutral();
258	}	269	}
259	break; // eof TSK_HOLD	270	break; // eof TSK_HOLD
260	case TSK_HOME:	271	case TSK_HOME:
261	if(HomePosition.Status != INVALID)	272	if(HomePosition.Status != INVALID)
262	{	273	{
263	// update hold point to current gps position	274	// update hold point to current gps position
264	// to avoid a flight back if home comming is deactivated	275	// to avoid a flight back if home comming is deactivated
265	GPS_SetHoldPosition();	276	GPS_SetHoldPosition();
266	// if sticks are centered (no manual control)	277	if( IsManualControlled() ) // MK controlled by user
267	if((MaxStickPitch < GPS_STICK_SENSE) && (MaxStickRoll < GPS_STICK_SENSE))	-
268	{	278	{
269	GPS_PDController(&HomePosition);	279	GPS_Neutral();
270	}	280	}
271	else // manual control	281	else // GPS control active
272	{	282	{
273	GPS_Neutral();	283	GPS_PDController(&HomePosition);
274	}	284	}
275	}	285	}
276	else // bad home position	286	else // bad home position
277	{	287	{
278	BeepTime = 50; // signal invalid home position	288	BeepTime = 50; // signal invalid home position
279	// try to hold at least the position as a fallback option	289	// try to hold at least the position as a fallback option
280		290
281	if (HoldPosition.Status != INVALID)	291	if (HoldPosition.Status != INVALID)
282	{	292	{
283	// if sticks are centered (no manual control)	293	if( IsManualControlled() ) // MK controlled by user
284	if((MaxStickPitch < GPS_STICK_SENSE) && (MaxStickRoll < GPS_STICK_SENSE))	-
285	{	294	{
286	GPS_PDController(&HoldPosition);	295	GPS_Neutral();
287	}	296	}
288	else // manual control or no reference position	297	else // GPS control active
289	{	298	{
290	GPS_Neutral();	299	GPS_PDController(&HoldPosition);
291	}	300	}
292	}	301	}
293	else	302	else
294	{ // try to catch a valid hold position	303	{ // try to catch a valid hold position
295	GPS_SetHoldPosition();	304	GPS_SetHoldPosition();
296	GPS_Neutral();	305	GPS_Neutral();
297	}	306	}
298	}	307	}
299	break; // eof TSK_HOME	308	break; // eof TSK_HOME
300	default: // unhandled task	309	default: // unhandled task
301	GPS_Neutral();	310	GPS_Neutral();
302	break; // eof default	311	break; // eof default
303	} // eof switch GPS_Task	312	} // eof switch GPS_Task
304	} // eof 3D-FIX	313	} // eof 3D-FIX
305	else // no 3D-SATFIX	314	else // no 3D-SATFIX
306	{ // disable gps control	315	{ // disable gps control
307	GPS_Neutral();	316	GPS_Neutral();
308	if(GPS_Task != TSK_IDLE)	317	if(GPS_Task != TSK_IDLE)
309	{	318	{
310	satbeep = 1800 - (int16_t)GPSInfo.satnum * 225; // is zero at 8 sats	319	satbeep = 1800 - (int16_t)GPSInfo.satnum * 225; // is zero at 8 sats
311	if (satbeep < 0) satbeep = 0;	320	if (satbeep < 0) satbeep = 0;
312	BeepTime = 50 + (uint16_t)satbeep; // max 1850 * 0.1 ms =	321	BeepTime = 50 + (uint16_t)satbeep; // max 1850 * 0.1 ms =
313	}	322	}
314	}	323	}
315	// set current data as processed to avoid further calculations on the same gps data	324	// set current data as processed to avoid further calculations on the same gps data
316	GPSInfo.status = PROCESSED;	325	GPSInfo.status = PROCESSED;
317	break;	326	break;
318	} // eof GPSInfo.status	327	} // eof GPSInfo.status
319	DebugOut.Analog[14] = GPS_Pitch;	328	DebugOut.Analog[14] = GPS_Pitch;
320	DebugOut.Analog[15] = GPS_Roll;	329	DebugOut.Analog[15] = GPS_Roll;
321	}	330	}
322		331
323		332

Subversion Repositories FlightCtrl

(root)/branches/V0.68d Code Redesign killagreg/GPS.c @ 922 - Rev 792 → 794