WebSVN - FlightCtrl - Diff - Rev 938 and 939 - /branches/V0.70d 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"
 
typedef enum
{
        GPS_FLIGHT_MODE_UNDEF,
        GPS_FLIGHT_MODE_FREE,
        GPS_FLIGHT_MODE_AID,
        GPS_FLIGHT_MODE_HOME,
} FlightMode_t;
 
#define GPS_POSINTEGRAL_LIMIT 3000
#define GPS_STICK_LIMIT         500             // limit of gps stick control to avoid critical flight attitudes
#define GPS_I_LIMIT             156             // limit for the position error integral
#define GPS_D_LIMIT                     625
#define GPS_P_LIMIT                     312
 
 
typedef struct
{
        int32_t Longitude;
        int32_t Latitude;
        int32_t Altitude;
        Status_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};
// the current flight mode
FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;
 
 
// ---------------------------------------------------------------------------------
void GPS_UpdateParameter(void)
{
        static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;
 
        if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING))
        {
                FlightMode = GPS_FLIGHT_MODE_FREE;
        }
        else
        {
                if     (FCParam.NaviGpsModeControl <  50) FlightMode = GPS_FLIGHT_MODE_AID;
                else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;
                else                                              FlightMode = GPS_FLIGHT_MODE_HOME;
        }
        if (FlightMode != FlightModeOld)
        {
                BeepTime = 100;
        }
        FlightModeOld = FlightMode;
}
 
 
 
// ---------------------------------------------------------------------------------
// This function defines a good GPS signal condition
uint8_t GPS_IsSignalOK(void)
{
        static uint8_t GPSFix = 0;
        if( (GPSInfo.status != INVALID)  && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) || GPSFix))
        {
                GPSFix = 1;
                return(1);
 
        }
        else return (0);
 
}
// ---------------------------------------------------------------------------------
// rescale xy-vector length to  limit
uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit)
{
        uint8_t retval = 0;
        int32_t len;
        len = (int32_t)c_sqrt(*x * *x + *y * *y);
        if (len > limit)
        {
                // normalize control vector components to the limit
                *x  = (*x  * limit) / len;
                *y  = (*y  * limit) / len;
                retval = 1;
        }
        return(retval);
}
 
// checks nick and roll sticks for manual control
uint8_t GPS_IsManualControlled(void)
{
        if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < ParamSet.NaviStickThreshold) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < ParamSet.NaviStickThreshold)) return 0;
        else return 1;
}
 
// set given position to current gps position
uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos)
{
        uint8_t retval = 0;
        if(pGPSPos == NULL) return(retval);     // bad pointer
 
        if(GPS_IsSignalOK())
        {       // is GPS signal condition is fine
                pGPSPos->Longitude      = GPSInfo.longitude;
                pGPSPos->Latitude       = GPSInfo.latitude;
                pGPSPos->Altitude       = GPSInfo.altitude;
                pGPSPos->Status         = NEWDATA;
                retval = 1;
        }
        else
        {       // bad GPS signal condition
                pGPSPos->Status = INVALID;
                retval = 0;
        }
        return(retval);
}
 
// clear position
uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos)
{
        uint8_t retval = 0;
        if(pGPSPos == NULL) return(retval);     // bad pointer
        else
        {
                pGPSPos->Longitude      = 0;
                pGPSPos->Latitude       = 0;
                pGPSPos->Altitude       = 0;
                pGPSPos->Status         = INVALID;
                retval = 1;
        }
        return (retval);
}
 
// disable GPS control sticks
void GPS_Neutral(void)
{
        GPS_Nick = 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)
{
        static int32_t PID_Nick, PID_Roll;
        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;
        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( GPS_IsSignalOK() && (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;
                        }
                        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;
                }
 
                GPSPosDevIntegral_North += GPSPosDev_North;
                GPSPosDevIntegral_East  += GPSPosDev_East;
                GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);
 
                //Calculate PID-components of the controller
 
                // D-Part
                D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/256;
                D_East =  ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/256;
                GPS_LimitXY(&D_North, &D_East, GPS_D_LIMIT);
 
                // P-Part
                P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/1024;
                P_East =  ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/1024;
                GPS_LimitXY(&P_North, &P_East, GPS_P_LIMIT);
 
 
 
 
 
 
 
                // I-Part
 
 
 
 
 
 
 
 
 
 
 
 
 
 
                I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/8192;
                I_East =  ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/8192;
                GPS_LimitXY(&I_North, &I_East, GPS_I_LIMIT);
 
                // combine P & I & D-Part
                PID_North = P_North + I_North + D_North;
                PID_East  = P_East  + I_East  + D_East;
 
                // scale combination with gain.
                PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100;
                PID_East  = (PID_East  * (int32_t)FCParam.NaviGpsGain) / 100;
 
                // GPS to nick and roll settings
 
                // A positive nick 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 nick 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 nick).
                // 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_Nick 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_Nick and a positive east deviation/velocity should result in a negative GPS_Roll.
 
                coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);
                sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);
                PID_Nick =   (PID_Nick + (coscompass * PID_North + sincompass * PID_East) / 8192)/2;
                PID_Roll  =  (PID_Roll + (sincompass * PID_North - coscompass * PID_East) / 8192)/2;
 
 
                // limit resulting GPS control vector
                GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);
 
                GPS_Nick = (int16_t)PID_Nick;
                GPS_Roll = (int16_t)PID_Roll;
        }
        else // invalid GPS data or bad compass reading
        {
                GPS_Neutral(); // do nothing
                // reset error integral
                GPSPosDevIntegral_North = 0;
                GPSPosDevIntegral_East = 0;
        }
}
 
 
 
 
void GPS_Main(void)
{
        static uint8_t GPS_P_Delay = 0;
        static uint16_t beep_rythm = 0;
 
        GPS_UpdateParameter();
 
        // store home position if start of flight flag is set
        if(MKFlags & MKFLAG_CALIBRATE)
        {
                if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;
        }
 
        switch(GPSInfo.status)
        {
        case INVALID:  // invalid gps data
                GPS_Neutral();
                if(FlightMode != GPS_FLIGHT_MODE_FREE)
                {
                        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 NEWDATA: // new valid data from gps device
                // if the gps data quality is good
                beep_rythm++;
 
                if (GPS_IsSignalOK())
                {
                        switch(FlightMode) // check what's to do
                        {
                                case GPS_FLIGHT_MODE_FREE:
                                        // update hold position to current gps position
                                        GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad
                                        // disable gps control
                                        GPS_Neutral();
                                        break;
 
                                case GPS_FLIGHT_MODE_AID:
                                        if(HoldPosition.Status != INVALID)
                                        {
                                                if( GPS_IsManualControlled() ) // MK controlled by user
                                                {
                                                        // update hold point to current gps position
                                                        GPS_SetCurrPosition(&HoldPosition);
                                                        // 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_SetCurrPosition(&HoldPosition); // 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_SetCurrPosition(&HoldPosition);
                                                GPS_Neutral();
                                        }
                                        break;
 
                                case GPS_FLIGHT_MODE_HOME:
                                        if(HomePosition.Status != INVALID)
                                        {
                                                // update hold point to current gps position
                                                // to avoid a flight back if home comming is deactivated
                                                GPS_SetCurrPosition(&HoldPosition);
                                                if( GPS_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( GPS_IsManualControlled() ) // MK controlled by user
                                                        {
                                                                GPS_Neutral();
                                                        }
                                                        else // GPS control active
                                                        {
                                                                GPS_PIDController(&HoldPosition);
                                                        }
                                                }
                                                else
                                                { // try to catch a valid hold position
                                                        GPS_SetCurrPosition(&HoldPosition);
                                                        GPS_Neutral();
                                                }
                                        }
                                        break; // eof TSK_HOME
                                default: // unhandled task
                                        GPS_Neutral();
                                        break; // eof default
                        } // eof switch GPS_Task
                } // eof gps data quality is good
                else // gps data quality is bad
                {       // disable gps control
                        GPS_Neutral();
                        if(FlightMode != GPS_FLIGHT_MODE_FREE)
                        {
                                // beep if signal is not sufficient
                                if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;
                                else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;
                        }
                }
                // set current data as processed to avoid further calculations on the same gps data
                GPSInfo.status = PROCESSED;
                break;
        } // eof GPSInfo.status
}
 
 

Rev 938	Rev 939
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	typedef enum	11	typedef enum
12	{	12	{
13	GPS_FLIGHT_MODE_UNDEF,	13	GPS_FLIGHT_MODE_UNDEF,
14	GPS_FLIGHT_MODE_FREE,	14	GPS_FLIGHT_MODE_FREE,
15	GPS_FLIGHT_MODE_AID,	15	GPS_FLIGHT_MODE_AID,
16	GPS_FLIGHT_MODE_HOME,	16	GPS_FLIGHT_MODE_HOME,
17	} FlightMode_t;	17	} FlightMode_t;
-		18
18		19	#define GPS_POSINTEGRAL_LIMIT 3000
19	#define GPS_STICK_LIMIT 500 // limit of gps stick control to avoid critical flight attitudes	20	#define GPS_STICK_LIMIT 500 // limit of gps stick control to avoid critical flight attitudes
-		21	#define GPS_I_LIMIT 156 // limit for the position error integral
20	#define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral	22	#define GPS_D_LIMIT 625
21	#define GPS_P_LIMIT 250	23	#define GPS_P_LIMIT 312
22		24
23		25
24	typedef struct	26	typedef struct
25	{	27	{
26	int32_t Longitude;	28	int32_t Longitude;
27	int32_t Latitude;	29	int32_t Latitude;
28	int32_t Altitude;	30	int32_t Altitude;
29	Status_t Status;	31	Status_t Status;
30	} GPS_Pos_t;	32	} GPS_Pos_t;
31		33
32	// GPS coordinates for hold position	34	// GPS coordinates for hold position
33	GPS_Pos_t HoldPosition = {0,0,0,INVALID};	35	GPS_Pos_t HoldPosition = {0,0,0,INVALID};
34	// GPS coordinates for home position	36	// GPS coordinates for home position
35	GPS_Pos_t HomePosition = {0,0,0,INVALID};	37	GPS_Pos_t HomePosition = {0,0,0,INVALID};
36	// the current flight mode	38	// the current flight mode
37	FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;	39	FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;
38		40
39		41
40	// ---------------------------------------------------------------------------------	42	// ---------------------------------------------------------------------------------
41	void GPS_UpdateParameter(void)	43	void GPS_UpdateParameter(void)
42	{	44	{
43	static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;	45	static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;
44		46
45	if((RC_Quality < 100) \|\| (MKFlags & MKFLAG_EMERGENCY_LANDING))	47	if((RC_Quality < 100) \|\| (MKFlags & MKFLAG_EMERGENCY_LANDING))
46	{	48	{
47	FlightMode = GPS_FLIGHT_MODE_FREE;	49	FlightMode = GPS_FLIGHT_MODE_FREE;
48	}	50	}
49	else	51	else
50	{	52	{
51	if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID;	53	if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID;
52	else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;	54	else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;
53	else FlightMode = GPS_FLIGHT_MODE_HOME;	55	else FlightMode = GPS_FLIGHT_MODE_HOME;
54	}	56	}
55	if (FlightMode != FlightModeOld)	57	if (FlightMode != FlightModeOld)
56	{	58	{
57	BeepTime = 100;	59	BeepTime = 100;
58	}	60	}
59	FlightModeOld = FlightMode;	61	FlightModeOld = FlightMode;
60	}	62	}
61		63
62		64
63		65
64	// ---------------------------------------------------------------------------------	66	// ---------------------------------------------------------------------------------
65	// This function defines a good GPS signal condition	67	// This function defines a good GPS signal condition
66	uint8_t GPS_IsSignalOK(void)	68	uint8_t GPS_IsSignalOK(void)
67	{	69	{
68	static uint8_t GPSFix = 0;	70	static uint8_t GPSFix = 0;
69	if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) \|\| GPSFix))	71	if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) \|\| GPSFix))
70	{	72	{
71	GPSFix = 1;	73	GPSFix = 1;
72	return(1);	74	return(1);
73		75
74	}	76	}
75	else return (0);	77	else return (0);
76		78
77	}	79	}
78	// ---------------------------------------------------------------------------------	80	// ---------------------------------------------------------------------------------
79	// rescale xy-vector length to limit	81	// rescale xy-vector length to limit
80	uint8_t GPS_LimitXY(int32_t x, int32_t y, int32_t limit)	82	uint8_t GPS_LimitXY(int32_t x, int32_t y, int32_t limit)
81	{	83	{
82	uint8_t retval = 0;	84	uint8_t retval = 0;
83	int32_t len;	85	int32_t len;
84	len = (int32_t)c_sqrt(x x + y * *y);	86	len = (int32_t)c_sqrt(x x + y * *y);
85	if (len > limit)	87	if (len > limit)
86	{	88	{
87	// normalize control vector components to the limit	89	// normalize control vector components to the limit
88	x = (x * limit) / len;	90	x = (x * limit) / len;
89	y = (y * limit) / len;	91	y = (y * limit) / len;
90	retval = 1;	92	retval = 1;
91	}	93	}
92	return(retval);	94	return(retval);
93	}	95	}
94		96
95	// checks nick and roll sticks for manual control	97	// checks nick and roll sticks for manual control
96	uint8_t GPS_IsManualControlled(void)	98	uint8_t GPS_IsManualControlled(void)
97	{	99	{
98	if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < ParamSet.NaviStickThreshold) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < ParamSet.NaviStickThreshold)) return 0;	100	if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < ParamSet.NaviStickThreshold) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < ParamSet.NaviStickThreshold)) return 0;
99	else return 1;	101	else return 1;
100	}	102	}
101		103
102	// set given position to current gps position	104	// set given position to current gps position
103	uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos)	105	uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos)
104	{	106	{
105	uint8_t retval = 0;	107	uint8_t retval = 0;
106	if(pGPSPos == NULL) return(retval); // bad pointer	108	if(pGPSPos == NULL) return(retval); // bad pointer
107		109
108	if(GPS_IsSignalOK())	110	if(GPS_IsSignalOK())
109	{ // is GPS signal condition is fine	111	{ // is GPS signal condition is fine
110	pGPSPos->Longitude = GPSInfo.longitude;	112	pGPSPos->Longitude = GPSInfo.longitude;
111	pGPSPos->Latitude = GPSInfo.latitude;	113	pGPSPos->Latitude = GPSInfo.latitude;
112	pGPSPos->Altitude = GPSInfo.altitude;	114	pGPSPos->Altitude = GPSInfo.altitude;
113	pGPSPos->Status = NEWDATA;	115	pGPSPos->Status = NEWDATA;
114	retval = 1;	116	retval = 1;
115	}	117	}
116	else	118	else
117	{ // bad GPS signal condition	119	{ // bad GPS signal condition
118	pGPSPos->Status = INVALID;	120	pGPSPos->Status = INVALID;
119	retval = 0;	121	retval = 0;
120	}	122	}
121	return(retval);	123	return(retval);
122	}	124	}
123		125
124	// clear position	126	// clear position
125	uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos)	127	uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos)
126	{	128	{
127	uint8_t retval = 0;	129	uint8_t retval = 0;
128	if(pGPSPos == NULL) return(retval); // bad pointer	130	if(pGPSPos == NULL) return(retval); // bad pointer
129	else	131	else
130	{	132	{
131	pGPSPos->Longitude = 0;	133	pGPSPos->Longitude = 0;
132	pGPSPos->Latitude = 0;	134	pGPSPos->Latitude = 0;
133	pGPSPos->Altitude = 0;	135	pGPSPos->Altitude = 0;
134	pGPSPos->Status = INVALID;	136	pGPSPos->Status = INVALID;
135	retval = 1;	137	retval = 1;
136	}	138	}
137	return (retval);	139	return (retval);
138	}	140	}
139		141
140	// disable GPS control sticks	142	// disable GPS control sticks
141	void GPS_Neutral(void)	143	void GPS_Neutral(void)
142	{	144	{
143	GPS_Nick = 0;	145	GPS_Nick = 0;
144	GPS_Roll = 0;	146	GPS_Roll = 0;
145	}	147	}
146		148
147	// calculates the GPS control stick values from the deviation to target position	149	// calculates the GPS control stick values from the deviation to target position
148	// if the pointer to the target positin is NULL or is the target position invalid	150	// if the pointer to the target positin is NULL or is the target position invalid
149	// then the P part of the controller is deactivated.	151	// then the P part of the controller is deactivated.
150	void GPS_PIDController(GPS_Pos_t *pTargetPos)	152	void GPS_PIDController(GPS_Pos_t *pTargetPos)
151	{	153	{
152	static int32_t PID_Nick, PID_Roll;	154	static int32_t PID_Nick, PID_Roll;
153	int32_t coscompass, sincompass;	155	int32_t coscompass, sincompass;
154	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm	156	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
155	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;	157	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;
156	int32_t PID_North = 0, PID_East = 0;	158	int32_t PID_North = 0, PID_East = 0;
157	static int32_t cos_target_latitude = 1;	159	static int32_t cos_target_latitude = 1;
158	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;	160	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;
159	static GPS_Pos_t *pLastTargetPos = 0;	161	static GPS_Pos_t *pLastTargetPos = 0;
160		162
161	// if GPS data and Compass are ok	163	// if GPS data and Compass are ok
162	if( GPS_IsSignalOK() && (CompassHeading >= 0) )	164	if( GPS_IsSignalOK() && (CompassHeading >= 0) )
163	{	165	{
164		166
165	if(pTargetPos != NULL) // if there is a target position	167	if(pTargetPos != NULL) // if there is a target position
166	{	168	{
167	if(pTargetPos->Status != INVALID) // and the position data are valid	169	if(pTargetPos->Status != INVALID) // and the position data are valid
168	{	170	{
169	// if the target data are updated or the target pointer has changed	171	// if the target data are updated or the target pointer has changed
170	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )	172	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )
171	{	173	{
172	// reset error integral	174	// reset error integral
173	GPSPosDevIntegral_North = 0;	175	GPSPosDevIntegral_North = 0;
174	GPSPosDevIntegral_East = 0;	176	GPSPosDevIntegral_East = 0;
175	// recalculate latitude projection	177	// recalculate latitude projection
176	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));	178	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));
177	// remember last target pointer	179	// remember last target pointer
178	pLastTargetPos = pTargetPos;	180	pLastTargetPos = pTargetPos;
179	// mark data as processed	181	// mark data as processed
180	pTargetPos->Status = PROCESSED;	182	pTargetPos->Status = PROCESSED;
181	}	183	}
182	// calculate position deviation from latitude and longitude differences	184	// calculate position deviation from latitude and longitude differences
183	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally	185	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally
184	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally	186	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally
185	// calculate latitude projection	187	// calculate latitude projection
186	GPSPosDev_East *= cos_target_latitude;	188	GPSPosDev_East *= cos_target_latitude;
187	GPSPosDev_East /= 8192;	189	GPSPosDev_East /= 8192;
188	}	190	}
189	else // no valid target position available	191	else // no valid target position available
190	{	192	{
191	// reset error	193	// reset error
192	GPSPosDev_North = 0;	194	GPSPosDev_North = 0;
193	GPSPosDev_East = 0;	195	GPSPosDev_East = 0;
194	// reset error integral	196	// reset error integral
195	GPSPosDevIntegral_North = 0;	197	GPSPosDevIntegral_North = 0;
196	GPSPosDevIntegral_East = 0;	198	GPSPosDevIntegral_East = 0;
197	}	199	}
198	}	200	}
199	else // no target position available	201	else // no target position available
200	{	202	{
201	// reset error	203	// reset error
202	GPSPosDev_North = 0;	204	GPSPosDev_North = 0;
203	GPSPosDev_East = 0;	205	GPSPosDev_East = 0;
204	// reset error integral	206	// reset error integral
205	GPSPosDevIntegral_North = 0;	207	GPSPosDevIntegral_North = 0;
206	GPSPosDevIntegral_East = 0;	208	GPSPosDevIntegral_East = 0;
207	}	209	}
-		210
-		211	GPSPosDevIntegral_North += GPSPosDev_North;
-		212	GPSPosDevIntegral_East += GPSPosDev_East;
-		213	GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);
208		214
-		215	//Calculate PID-components of the controller
-		216
-		217	// D-Part
-		218	D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/256;
-		219	D_East = ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/256;
209	//Calculate PID-components of the controller	220	GPS_LimitXY(&D_North, &D_East, GPS_D_LIMIT);
210		221
211	// P-Part	222	// P-Part
-		223	P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/1024;
212	P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/512;	224	P_East = ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/1024;
213	P_East = ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/512;	225	GPS_LimitXY(&P_North, &P_East, GPS_P_LIMIT);
214		226
215	// I-Part	-
216	I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/2048;	-
217	I_East = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/2048;	-
218		-
219	// combine P- & I-Part	-
220	PID_North = P_North + I_North;	-
221	PID_East = P_East + I_East;	227	// I-Part
222		-
223	//limit PI-Part	-
224	if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))	-
225	{	-
226	// P-Part limit is not reached	-
227	// update position error integrals	-
228	GPSPosDevIntegral_North += GPSPosDev_North/16;	-
229	if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT;	-
230	else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT;	-
231	GPSPosDevIntegral_East += GPSPosDev_East/16;	-
232	if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT;	-
233	else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT;	-
234	}	-
235		-
236	// D-Part	228	I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/8192;
237	D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/ 128;	229	I_East = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/8192;
238	D_East = ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast) / 128;	230	GPS_LimitXY(&I_North, &I_East, GPS_I_LIMIT);
239		231
240	// combine PI- and D-Part	232	// combine P & I & D-Part
241	PID_North += D_North;	233	PID_North = P_North + I_North + D_North;
242	PID_East += D_East;	234	PID_East = P_East + I_East + D_East;
243		235
244	// scale combination with gain.	236	// scale combination with gain.
245	PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100;	237	PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100;
246	PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / 100;	238	PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / 100;
247		239
248	// GPS to nick and roll settings	240	// GPS to nick and roll settings
249		241
250	// A positive nick angle moves head downwards (flying forward).	242	// A positive nick angle moves head downwards (flying forward).
251	// A positive roll angle tilts left side downwards (flying left).	243	// A positive roll angle tilts left side downwards (flying left).
252	// If compass heading is 0 the head of the copter is in north direction.	244	// If compass heading is 0 the head of the copter is in north direction.
253	// A positive nick angle will fly to north and a positive roll angle will fly to west.	245	// A positive nick angle will fly to north and a positive roll angle will fly to west.
254	// In case of a positive north deviation/velocity the	246	// In case of a positive north deviation/velocity the
255	// copter should fly to south (negative nick).	247	// copter should fly to south (negative nick).
256	// In case of a positive east position deviation and a positive east velocity the	248	// In case of a positive east position deviation and a positive east velocity the
257	// copter should fly to west (positive roll).	249	// copter should fly to west (positive roll).
258	// The influence of the GPS_Nick and GPS_Roll variable is contrarily to the stick values	250	// The influence of the GPS_Nick and GPS_Roll variable is contrarily to the stick values
259	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive	251	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive
260	// GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll.	252	// GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll.
261		253
262	coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);	254	coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);
263	sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);	255	sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);
264	PID_Nick = (PID_Nick + (coscompass * PID_North + sincompass * PID_East) / 8192)/2;	256	PID_Nick = (PID_Nick + (coscompass * PID_North + sincompass * PID_East) / 8192)/2;
265	PID_Roll = (PID_Roll + (sincompass * PID_North - coscompass * PID_East) / 8192)/2;	257	PID_Roll = (PID_Roll + (sincompass * PID_North - coscompass * PID_East) / 8192)/2;
266		258
267		259
268	// limit resulting GPS control vector	260	// limit resulting GPS control vector
269	GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);	261	GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);
270		262
271	GPS_Nick = (int16_t)PID_Nick;	263	GPS_Nick = (int16_t)PID_Nick;
272	GPS_Roll = (int16_t)PID_Roll;	264	GPS_Roll = (int16_t)PID_Roll;
273	}	265	}
274	else // invalid GPS data or bad compass reading	266	else // invalid GPS data or bad compass reading
275	{	267	{
276	GPS_Neutral(); // do nothing	268	GPS_Neutral(); // do nothing
277	// reset error integral	269	// reset error integral
278	GPSPosDevIntegral_North = 0;	270	GPSPosDevIntegral_North = 0;
279	GPSPosDevIntegral_East = 0;	271	GPSPosDevIntegral_East = 0;
280	}	272	}
281	}	273	}
282		274
283		275
284		276
285		277
286	void GPS_Main(void)	278	void GPS_Main(void)
287	{	279	{
288	static uint8_t GPS_P_Delay = 0;	280	static uint8_t GPS_P_Delay = 0;
289	static uint16_t beep_rythm = 0;	281	static uint16_t beep_rythm = 0;
290		282
291	GPS_UpdateParameter();	283	GPS_UpdateParameter();
292		284
293	// store home position if start of flight flag is set	285	// store home position if start of flight flag is set
294	if(MKFlags & MKFLAG_CALIBRATE)	286	if(MKFlags & MKFLAG_CALIBRATE)
295	{	287	{
296	if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;	288	if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;
297	}	289	}
298		290
299	switch(GPSInfo.status)	291	switch(GPSInfo.status)
300	{	292	{
301	case INVALID: // invalid gps data	293	case INVALID: // invalid gps data
302	GPS_Neutral();	294	GPS_Neutral();
303	if(FlightMode != GPS_FLIGHT_MODE_FREE)	295	if(FlightMode != GPS_FLIGHT_MODE_FREE)
304	{	296	{
305	BeepTime = 100; // beep if signal is neccesary	297	BeepTime = 100; // beep if signal is neccesary
306	}	298	}
307	break;	299	break;
308	case PROCESSED: // if gps data are already processed do nothing	300	case PROCESSED: // if gps data are already processed do nothing
309	// downcount timeout	301	// downcount timeout
310	if(GPSTimeout) GPSTimeout--;	302	if(GPSTimeout) GPSTimeout--;
311	// if no new data arrived within timeout set current data invalid	303	// if no new data arrived within timeout set current data invalid
312	// and therefore disable GPS	304	// and therefore disable GPS
313	else	305	else
314	{	306	{
315	GPS_Neutral();	307	GPS_Neutral();
316	GPSInfo.status = INVALID;	308	GPSInfo.status = INVALID;
317	}	309	}
318	break;	310	break;
319	case NEWDATA: // new valid data from gps device	311	case NEWDATA: // new valid data from gps device
320	// if the gps data quality is good	312	// if the gps data quality is good
321	beep_rythm++;	313	beep_rythm++;
322		314
323	if (GPS_IsSignalOK())	315	if (GPS_IsSignalOK())
324	{	316	{
325	switch(FlightMode) // check what's to do	317	switch(FlightMode) // check what's to do
326	{	318	{
327	case GPS_FLIGHT_MODE_FREE:	319	case GPS_FLIGHT_MODE_FREE:
328	// update hold position to current gps position	320	// update hold position to current gps position
329	GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad	321	GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad
330	// disable gps control	322	// disable gps control
331	GPS_Neutral();	323	GPS_Neutral();
332	break;	324	break;
333		325
334	case GPS_FLIGHT_MODE_AID:	326	case GPS_FLIGHT_MODE_AID:
335	if(HoldPosition.Status != INVALID)	327	if(HoldPosition.Status != INVALID)
336	{	328	{
337	if( GPS_IsManualControlled() ) // MK controlled by user	329	if( GPS_IsManualControlled() ) // MK controlled by user
338	{	330	{
339	// update hold point to current gps position	331	// update hold point to current gps position
340	GPS_SetCurrPosition(&HoldPosition);	332	GPS_SetCurrPosition(&HoldPosition);
341	// disable gps control	333	// disable gps control
342	GPS_Neutral();	334	GPS_Neutral();
343	GPS_P_Delay = 0;	335	GPS_P_Delay = 0;
344	}	336	}
345	else // GPS control active	337	else // GPS control active
346	{	338	{
347	if(GPS_P_Delay < 7)	339	if(GPS_P_Delay < 7)
348	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)	340	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
349	GPS_P_Delay++;	341	GPS_P_Delay++;
350	GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position	342	GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position
351	GPS_PIDController(NULL); // activates only the D-Part	343	GPS_PIDController(NULL); // activates only the D-Part
352	}	344	}
353	else GPS_PIDController(&HoldPosition);// activates the P&D-Part	345	else GPS_PIDController(&HoldPosition);// activates the P&D-Part
354	}	346	}
355	}	347	}
356	else // invalid Hold Position	348	else // invalid Hold Position
357	{ // try to catch a valid hold position from gps data input	349	{ // try to catch a valid hold position from gps data input
358	GPS_SetCurrPosition(&HoldPosition);	350	GPS_SetCurrPosition(&HoldPosition);
359	GPS_Neutral();	351	GPS_Neutral();
360	}	352	}
361	break;	353	break;
362		354
363	case GPS_FLIGHT_MODE_HOME:	355	case GPS_FLIGHT_MODE_HOME:
364	if(HomePosition.Status != INVALID)	356	if(HomePosition.Status != INVALID)
365	{	357	{
366	// update hold point to current gps position	358	// update hold point to current gps position
367	// to avoid a flight back if home comming is deactivated	359	// to avoid a flight back if home comming is deactivated
368	GPS_SetCurrPosition(&HoldPosition);	360	GPS_SetCurrPosition(&HoldPosition);
369	if( GPS_IsManualControlled() ) // MK controlled by user	361	if( GPS_IsManualControlled() ) // MK controlled by user
370	{	362	{
371	GPS_Neutral();	363	GPS_Neutral();
372	}	364	}
373	else // GPS control active	365	else // GPS control active
374	{	366	{
375	GPS_PIDController(&HomePosition);	367	GPS_PIDController(&HomePosition);
376	}	368	}
377	}	369	}
378	else // bad home position	370	else // bad home position
379	{	371	{
380	BeepTime = 50; // signal invalid home position	372	BeepTime = 50; // signal invalid home position
381	// try to hold at least the position as a fallback option	373	// try to hold at least the position as a fallback option
382		374
383	if (HoldPosition.Status != INVALID)	375	if (HoldPosition.Status != INVALID)
384	{	376	{
385	if( GPS_IsManualControlled() ) // MK controlled by user	377	if( GPS_IsManualControlled() ) // MK controlled by user
386	{	378	{
387	GPS_Neutral();	379	GPS_Neutral();
388	}	380	}
389	else // GPS control active	381	else // GPS control active
390	{	382	{
391	GPS_PIDController(&HoldPosition);	383	GPS_PIDController(&HoldPosition);
392	}	384	}
393	}	385	}
394	else	386	else
395	{ // try to catch a valid hold position	387	{ // try to catch a valid hold position
396	GPS_SetCurrPosition(&HoldPosition);	388	GPS_SetCurrPosition(&HoldPosition);
397	GPS_Neutral();	389	GPS_Neutral();
398	}	390	}
399	}	391	}
400	break; // eof TSK_HOME	392	break; // eof TSK_HOME
401	default: // unhandled task	393	default: // unhandled task
402	GPS_Neutral();	394	GPS_Neutral();
403	break; // eof default	395	break; // eof default
404	} // eof switch GPS_Task	396	} // eof switch GPS_Task
405	} // eof gps data quality is good	397	} // eof gps data quality is good
406	else // gps data quality is bad	398	else // gps data quality is bad
407	{ // disable gps control	399	{ // disable gps control
408	GPS_Neutral();	400	GPS_Neutral();
-		401	if(FlightMode != GPS_FLIGHT_MODE_FREE)
-		402	{
409	// beep if signal is not sufficient	403	// beep if signal is not sufficient
410	if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;	404	if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;
411	else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;	405	else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;
-		406	}
412	}	407	}
413	// set current data as processed to avoid further calculations on the same gps data	408	// set current data as processed to avoid further calculations on the same gps data
414	GPSInfo.status = PROCESSED;	409	GPSInfo.status = PROCESSED;
415	break;	410	break;
416	} // eof GPSInfo.status	411	} // eof GPSInfo.status
417	}	412	}
418		413
419		414

Subversion Repositories FlightCtrl

(root)/branches/V0.70d CRK HexaLotte/gps.c @ 1091 - Rev 938 → 939