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| 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 | ||
| - | 11 | typedef enum |
|
| - | 12 | { |
|
| 10 | 13 | GPS_FLIGHT_MODE_UNDEF, |
|
| 11 | #define TSK_IDLE 0 |
14 | GPS_FLIGHT_MODE_FREE, |
| 12 | #define TSK_HOLD 1 |
15 | GPS_FLIGHT_MODE_AID, |
| - | 16 | GPS_FLIGHT_MODE_HOME, |
|
| 13 | #define TSK_HOME 2 |
- | |
| 14 | 17 | } FlightMode_t; |
|
| 15 | #define GPS_STICK_SENSE 15 // must be at least in a range where 90% of the trimming does not switch of the GPS function |
18 | |
| 16 | #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
19 | #define GPS_STICK_LIMIT 200 // limit of gps stick control to avoid critical flight attitudes |
| 17 | #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
- | |
| 18 | #define GPS_P_LIMIT 25 |
- | |
| 19 | - | ||
| 20 | - | ||
| 21 | uint8_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0; |
20 | #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
| 22 | 21 | #define GPS_P_LIMIT 3200 |
|
| 23 | 22 | ||
| 24 | 23 | ||
| 25 | typedef struct |
24 | typedef struct |
| 26 | { |
25 | { |
| 27 | int32_t Longitude; |
26 | int32_t Longitude; |
| 28 | int32_t Latitude; |
27 | int32_t Latitude; |
| 29 | int32_t Altitude; |
28 | int32_t Altitude; |
| 30 | uint8_t Status; |
29 | Status_t Status; |
| 31 | } GPS_Pos_t; |
30 | } GPS_Pos_t; |
| 32 | 31 | ||
| 33 | // GPS coordinates for hold position |
32 | // GPS coordinates for hold position |
| 34 | GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
33 | GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
| 35 | // GPS coordinates for home position |
34 | // GPS coordinates for home position |
| 36 | GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
35 | GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
| - | 36 | // the current flight mode |
|
| - | 37 | FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF; |
|
| 37 | 38 | ||
| 38 | 39 | ||
| 39 | // --------------------------------------------------------------------------------- |
40 | // --------------------------------------------------------------------------------- |
| 40 | - | ||
| 41 | // checks nick and roll sticks for manual control |
- | |
| 42 | uint8_t IsManualControlled(void) |
41 | void GPS_UpdateParameter(void) |
| 43 | { |
42 | { |
| 44 | if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0; |
43 | static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF; |
| 45 | else return 1; |
- | |
| 46 | } |
- | |
| 47 | - | ||
| 48 | // set home position to current positon |
- | |
| 49 | void GPS_SetHomePosition(void) |
- | |
| 50 | { |
44 | |
| 51 | if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
45 | if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) |
| 52 | { |
- | |
| 53 | HomePosition.Longitude = GPSInfo.longitude; |
- | |
| 54 | HomePosition.Latitude = GPSInfo.latitude; |
46 | { |
| 55 | HomePosition.Altitude = GPSInfo.altitude; |
- | |
| 56 | HomePosition.Status = VALID; |
- | |
| 57 | BeepTime = 1000; // signal if new home position was set |
47 | FlightMode = GPS_FLIGHT_MODE_FREE; |
| 58 | } |
48 | } |
| 59 | else |
49 | else |
| 60 | { |
50 | { |
| - | 51 | if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID; |
|
| - | 52 | else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE; |
|
| - | 53 | else FlightMode = GPS_FLIGHT_MODE_HOME; |
|
| - | 54 | } |
|
| 61 | HomePosition.Status = INVALID; |
55 | if (FlightMode != FlightModeOld) |
| - | 56 | { |
|
| - | 57 | BeepTime = 100; |
|
| 62 | } |
58 | } |
| - | 59 | FlightModeOld = FlightMode; |
|
| 63 | } |
60 | } |
| - | 61 | ||
| - | 62 | ||
| - | 63 | ||
| 64 | 64 | // --------------------------------------------------------------------------------- |
|
| 65 | // set hold position to current positon |
65 | // This function defines a good GPS signal condition |
| 66 | void GPS_SetHoldPosition(void) |
66 | uint8_t GPS_IsSignalOK(void) |
| - | 67 | { |
|
| 67 | { |
68 | static uint8_t GPSFix = 0; |
| 68 | if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
69 | if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) || GPSFix)) |
| 69 | { |
- | |
| 70 | HoldPosition.Longitude = GPSInfo.longitude; |
- | |
| 71 | HoldPosition.Latitude = GPSInfo.latitude; |
70 | { |
| 72 | HoldPosition.Altitude = GPSInfo.altitude; |
71 | GPSFix = 1; |
| - | 72 | return(1); |
|
| 73 | HoldPosition.Status = VALID; |
73 | |
| 74 | } |
74 | } |
| - | 75 | else return (0); |
|
| - | 76 | ||
| - | 77 | } |
|
| - | 78 | // --------------------------------------------------------------------------------- |
|
| - | 79 | // rescale xy-vector length to limit |
|
| - | 80 | uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit) |
|
| - | 81 | { |
|
| - | 82 | uint8_t retval = 0; |
|
| - | 83 | int32_t len; |
|
| - | 84 | len = (int32_t)c_sqrt(*x * *x + *y * *y); |
|
| 75 | else |
85 | if (len > limit) |
| - | 86 | { |
|
| - | 87 | // normalize control vector components to the limit |
|
| 76 | { |
88 | *x = (*x * limit) / len; |
| - | 89 | *y = (*y * limit) / len; |
|
| 77 | HoldPosition.Status = INVALID; |
90 | retval = 1; |
| - | 91 | } |
|
| 78 | } |
92 | return(retval); |
| 79 | } |
93 | } |
| 80 | 94 | ||
| 81 | // clear home position |
95 | // checks nick and roll sticks for manual control |
| - | 96 | uint8_t GPS_IsManualControlled(void) |
|
| - | 97 | { |
|
| - | 98 | 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; |
|
| - | 100 | } |
|
| - | 101 | ||
| - | 102 | // set given position to current gps position |
|
| - | 103 | uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) |
|
| - | 104 | { |
|
| - | 105 | uint8_t retval = 0; |
|
| - | 106 | if(pGPSPos == NULL) return(retval); // bad pointer |
|
| - | 107 | ||
| - | 108 | if(GPS_IsSignalOK()) |
|
| - | 109 | { // is GPS signal condition is fine |
|
| - | 110 | pGPSPos->Longitude = GPSInfo.longitude; |
|
| - | 111 | pGPSPos->Latitude = GPSInfo.latitude; |
|
| - | 112 | pGPSPos->Altitude = GPSInfo.altitude; |
|
| - | 113 | pGPSPos->Status = NEWDATA; |
|
| - | 114 | retval = 1; |
|
| - | 115 | } |
|
| 82 | void GPS_ClearHomePosition(void) |
116 | else |
| - | 117 | { // bad GPS signal condition |
|
| - | 118 | pGPSPos->Status = INVALID; |
|
| - | 119 | retval = 0; |
|
| - | 120 | } |
|
| - | 121 | return(retval); |
|
| - | 122 | } |
|
| - | 123 | ||
| - | 124 | // clear position |
|
| - | 125 | uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
|
| - | 126 | { |
|
| - | 127 | uint8_t retval = 0; |
|
| - | 128 | if(pGPSPos == NULL) return(retval); // bad pointer |
|
| - | 129 | else |
|
| - | 130 | { |
|
| - | 131 | pGPSPos->Longitude = 0; |
|
| - | 132 | pGPSPos->Latitude = 0; |
|
| - | 133 | pGPSPos->Altitude = 0; |
|
| - | 134 | pGPSPos->Status = INVALID; |
|
| - | 135 | retval = 1; |
|
| 83 | { |
136 | } |
| 84 | HomePosition.Status = INVALID; |
137 | return (retval); |
| 85 | } |
138 | } |
| 86 | 139 | ||
| 87 | // disable GPS control sticks |
140 | // disable GPS control sticks |
| 88 | void GPS_Neutral(void) |
141 | void GPS_Neutral(void) |
| 89 | { |
142 | { |
| 90 | GPS_Nick = 0; |
143 | GPS_Nick = 0; |
| 91 | GPS_Roll = 0; |
144 | GPS_Roll = 0; |
| 92 | } |
145 | } |
| 93 | 146 | ||
| 94 | // calculates the GPS control stick values from the deviation to target position |
147 | // 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 |
148 | // 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. |
149 | // then the P part of the controller is deactivated. |
| 97 | void GPS_PIDController(GPS_Pos_t *pTargetPos) |
150 | void GPS_PIDController(GPS_Pos_t *pTargetPos) |
| 98 | { |
151 | { |
| 99 | int32_t temp, temp1, PID_Nick, PID_Roll; |
152 | int32_t PID_Nick, PID_Roll; |
| 100 | int32_t coscompass, sincompass; |
153 | int32_t coscompass, sincompass; |
| 101 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
154 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
| 102 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
155 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
| 103 | int32_t PID_North = 0, PID_East = 0; |
156 | int32_t PID_North = 0, PID_East = 0; |
| 104 | static int32_t cos_target_latitude = 1; |
157 | static int32_t cos_target_latitude = 1; |
| 105 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
158 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
| 106 | static GPS_Pos_t *pLastTargetPos = 0; |
159 | static GPS_Pos_t *pLastTargetPos = 0; |
| 107 | 160 | ||
| 108 | // if GPS data and Compass are ok |
161 | // if GPS data and Compass are ok |
| 109 | if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
162 | if( GPS_IsSignalOK() && (CompassHeading >= 0) ) |
| 110 | { |
163 | { |
| 111 | 164 | ||
| 112 | if(pTargetPos != NULL) // if there is a target position |
165 | if(pTargetPos != NULL) // if there is a target position |
| 113 | { |
166 | { |
| 114 | if(pTargetPos->Status != INVALID) // and the position data are valid |
167 | if(pTargetPos->Status != INVALID) // and the position data are valid |
| 115 | { |
168 | { |
| 116 | // if the target data are updated or the target pointer has changed |
169 | // if the target data are updated or the target pointer has changed |
| 117 | if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
170 | if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
| 118 | { |
171 | { |
| 119 | // reset error integral |
172 | // reset error integral |
| 120 | GPSPosDevIntegral_North = 0; |
173 | GPSPosDevIntegral_North = 0; |
| 121 | GPSPosDevIntegral_East = 0; |
174 | GPSPosDevIntegral_East = 0; |
| 122 | // recalculate latitude projection |
175 | // recalculate latitude projection |
| 123 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
176 | cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
| 124 | // remember last target pointer |
177 | // remember last target pointer |
| 125 | pLastTargetPos = pTargetPos; |
178 | pLastTargetPos = pTargetPos; |
| 126 | // mark data as processed |
179 | // mark data as processed |
| 127 | pTargetPos->Status = PROCESSED; |
180 | pTargetPos->Status = PROCESSED; |
| 128 | } |
181 | } |
| 129 | // calculate position deviation from latitude and longitude differences |
182 | // 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 |
183 | 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 |
184 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
| 132 | // calculate latitude projection |
185 | // calculate latitude projection |
| 133 | GPSPosDev_East *= cos_target_latitude; |
186 | GPSPosDev_East *= cos_target_latitude; |
| 134 | GPSPosDev_East /= 8192; |
187 | GPSPosDev_East /= 8192; |
| 135 | } |
188 | } |
| 136 | else // no valid target position available |
189 | else // no valid target position available |
| 137 | { |
190 | { |
| 138 | // reset error |
191 | // reset error |
| 139 | GPSPosDev_North = 0; |
192 | GPSPosDev_North = 0; |
| 140 | GPSPosDev_East = 0; |
193 | GPSPosDev_East = 0; |
| 141 | // reset error integral |
194 | // reset error integral |
| 142 | GPSPosDevIntegral_North = 0; |
195 | GPSPosDevIntegral_North = 0; |
| 143 | GPSPosDevIntegral_East = 0; |
196 | GPSPosDevIntegral_East = 0; |
| 144 | } |
197 | } |
| 145 | } |
198 | } |
| 146 | else // no target position available |
199 | else // no target position available |
| 147 | { |
200 | { |
| 148 | // reset error |
201 | // reset error |
| 149 | GPSPosDev_North = 0; |
202 | GPSPosDev_North = 0; |
| 150 | GPSPosDev_East = 0; |
203 | GPSPosDev_East = 0; |
| 151 | // reset error integral |
204 | // reset error integral |
| 152 | GPSPosDevIntegral_North = 0; |
205 | GPSPosDevIntegral_North = 0; |
| 153 | GPSPosDevIntegral_East = 0; |
206 | GPSPosDevIntegral_East = 0; |
| 154 | } |
207 | } |
| 155 | 208 | ||
| 156 | //Calculate PID-components of the controller (negative sign for compensation) |
209 | //Calculate PID-components of the controller (negative sign for compensation) |
| 157 | 210 | ||
| 158 | // P-Part |
211 | // P-Part |
| 159 | P_North = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048; |
212 | P_North = -((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/16; |
| 160 | P_East = -((int32_t)GPS_P_Factor * GPSPosDev_East)/2048; |
213 | P_East = -((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/16; |
| 161 | 214 | ||
| 162 | // I-Part |
215 | // I-Part |
| 163 | I_North = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
216 | I_North = -((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/64; |
| 164 | I_East = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_East)/8192; |
217 | I_East = -((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/64; |
| 165 | 218 | ||
| 166 | // combine P- & I-Part |
219 | // combine P- & I-Part |
| 167 | PID_North = P_North + I_North; |
220 | PID_North = P_North + I_North; |
| 168 | PID_East = P_East + I_East; |
221 | PID_East = P_East + I_East; |
| 169 | 222 | ||
| 170 | //limit PI-Part to limit the max velocity |
- | |
| 171 | //temp1 = ((int32_t)GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit |
- | |
| 172 | temp = (int32_t)c_sqrt(PID_North*PID_North + PID_East*PID_East); // the current PI-Part |
- | |
| 173 | if(temp > GPS_P_LIMIT) // P-Part limit is reached |
- | |
| 174 | { |
- | |
| 175 | // normalize P-part components to the P-Part limit |
223 | //limit PI-Part |
| 176 | PID_North = (PID_North * GPS_P_LIMIT)/temp; |
- | |
| 177 | PID_East = (PID_East * GPS_P_LIMIT)/temp; |
- | |
| 178 | } |
- | |
| 179 | else // PI-Part under its limit |
224 | if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT)) |
| - | 225 | { |
|
| 180 | { |
226 | // P-Part limit is not reached |
| 181 | // update position error integrals |
227 | // update position error integrals |
| 182 | GPSPosDevIntegral_North += GPSPosDev_North/16; |
228 | GPSPosDevIntegral_North += GPSPosDev_North/16; |
| 183 | if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
229 | if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
| 184 | else 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; |
| 185 | GPSPosDevIntegral_East += GPSPosDev_East/16; |
231 | GPSPosDevIntegral_East += GPSPosDev_East/16; |
| 186 | if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
232 | if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
| 187 | else 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; |
| 188 | } |
234 | } |
| 189 | 235 | ||
| 190 | // D-Part |
236 | // D-Part |
| 191 | D_North = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512; |
237 | D_North = -((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/4; |
| 192 | D_East = -((int32_t)GPS_D_Factor * GPSInfo.veleast)/512; |
238 | D_East = -((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/4; |
| 193 | - | ||
| 194 | 239 | ||
| 195 | // combine PI- and D-Part |
240 | // combine PI- and D-Part |
| 196 | PID_North += D_North; |
241 | PID_North += D_North; |
| 197 | PID_East += D_East; |
242 | PID_East += D_East; |
| - | 243 | ||
| - | 244 | // scale combination with gain. |
|
| - | 245 | PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / (100 * 32); |
|
| - | 246 | PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / (100 * 32); |
|
| 198 | 247 | ||
| 199 | // GPS to nick and roll settings |
248 | // GPS to nick and roll settings |
| 200 | 249 | ||
| 201 | // A positive nick angle moves head downwards (flying forward). |
250 | // A positive nick angle moves head downwards (flying forward). |
| 202 | // A positive roll angle tilts left side downwards (flying left). |
251 | // A positive roll angle tilts left side downwards (flying left). |
| 203 | // If compass heading is 0 the head of the copter is in north direction. |
252 | // If compass heading is 0 the head of the copter is in north direction. |
| 204 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
253 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
| 205 | // In case of a positive north deviation/velocity the |
254 | // In case of a positive north deviation/velocity the |
| 206 | // copter should fly to south (negative nick). |
255 | // copter should fly to south (negative nick). |
| 207 | // In case of a positive east position deviation and a positive east velocity the |
256 | // In case of a positive east position deviation and a positive east velocity the |
| 208 | // copter should fly to west (positive roll). |
257 | // copter should fly to west (positive roll). |
| 209 | // The influence of the GPS_Nick and GPS_Roll variable is contrarily to the stick values |
258 | // The influence of the GPS_Nick and GPS_Roll variable is contrarily to the stick values |
| 210 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
259 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
| 211 | // GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll. |
260 | // GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll. |
| 212 | 261 | ||
| 213 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
262 | coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR); |
| 214 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
263 | sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR); |
| 215 | PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192; |
264 | PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192; |
| 216 | PID_Nick = -1*((sincompass * PID_East + coscompass * PID_North) / 8192); |
265 | PID_Nick = -1*((sincompass * PID_East + coscompass * PID_North) / 8192); |
| 217 | 266 | ||
| 218 | // limit resulting GPS control vector |
267 | // limit resulting GPS control vector |
| 219 | temp = (int32_t)c_sqrt(PID_Roll*PID_Roll + PID_Nick*PID_Nick); |
- | |
| 220 | if (temp > GPS_STICK_LIMIT) |
- | |
| 221 | { |
- | |
| 222 | // normalize control vector components to the limit |
- | |
| 223 | PID_Roll = (PID_Roll * GPS_STICK_LIMIT)/temp; |
- | |
| 224 | PID_Nick = (PID_Nick * GPS_STICK_LIMIT)/temp; |
268 | GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT); |
| 225 | } |
- | |
| 226 | - | ||
| 227 | GPS_Roll = (int16_t)PID_Roll; |
269 | |
| 228 | GPS_Nick = (int16_t)PID_Nick; |
- | |
| - | 270 | GPS_Nick = (int16_t)PID_Nick; |
|
| 229 | 271 | GPS_Roll = (int16_t)PID_Roll; |
|
| 230 | } |
272 | } |
| 231 | else // invalid GPS data or bad compass reading |
273 | else // invalid GPS data or bad compass reading |
| 232 | { |
274 | { |
| 233 | GPS_Neutral(); // do nothing |
275 | GPS_Neutral(); // do nothing |
| 234 | // reset error integral |
276 | // reset error integral |
| 235 | GPSPosDevIntegral_North = 0; |
277 | GPSPosDevIntegral_North = 0; |
| 236 | GPSPosDevIntegral_East = 0; |
278 | GPSPosDevIntegral_East = 0; |
| 237 | } |
279 | } |
| 238 | } |
280 | } |
| 239 | 281 | ||
| 240 | 282 | ||
| 241 | 283 | ||
| 242 | 284 | ||
| 243 | void GPS_Main(uint8_t ctrl) |
285 | void GPS_Main(void) |
| 244 | { |
- | |
| 245 | static uint8_t GPS_Task = TSK_IDLE; |
286 | { |
| 246 | static uint8_t GPS_P_Delay = 0; |
287 | static uint8_t GPS_P_Delay = 0; |
| 247 | int16_t satbeep; |
288 | uint16_t beep_rythm = 0; |
| 248 | - | ||
| 249 | // ctrl enables the gps feature |
- | |
| 250 | if(ctrl < 70) GPS_Task = TSK_IDLE; |
- | |
| - | 289 | ||
| - | 290 | GPS_UpdateParameter(); |
|
| - | 291 | ||
| - | 292 | // store home position if start of flight flag is set |
|
| - | 293 | if(MKFlags & MKFLAG_CALIBRATE) |
|
| 251 | else if (ctrl < 160) GPS_Task = TSK_HOLD; |
294 | { |
| 252 | else GPS_Task = TSK_HOME; // ctrl >= 160 |
295 | GPS_SetCurrPosition(&HomePosition); |
| 253 | 296 | } |
|
| 254 | 297 | ||
| 255 | switch(GPSInfo.status) |
298 | switch(GPSInfo.status) |
| 256 | { |
299 | { |
| 257 | case INVALID: // invalid gps data |
300 | case INVALID: // invalid gps data |
| 258 | GPS_Neutral(); |
301 | GPS_Neutral(); |
| 259 | if(GPS_Task != TSK_IDLE) |
302 | if(FlightMode != GPS_FLIGHT_MODE_FREE) |
| 260 | { |
303 | { |
| 261 | BeepTime = 100; // beep if signal is neccesary |
304 | BeepTime = 100; // beep if signal is neccesary |
| 262 | } |
305 | } |
| 263 | break; |
306 | break; |
| 264 | case PROCESSED: // if gps data are already processed do nothing |
307 | case PROCESSED: // if gps data are already processed do nothing |
| 265 | // downcount timeout |
308 | // downcount timeout |
| 266 | if(GPSTimeout) GPSTimeout--; |
309 | if(GPSTimeout) GPSTimeout--; |
| 267 | // if no new data arrived within timeout set current data invalid |
310 | // if no new data arrived within timeout set current data invalid |
| 268 | // and therefore disable GPS |
311 | // and therefore disable GPS |
| 269 | else |
312 | else |
| 270 | { |
313 | { |
| 271 | GPS_Neutral(); |
314 | GPS_Neutral(); |
| 272 | GPSInfo.status = INVALID; |
315 | GPSInfo.status = INVALID; |
| 273 | } |
316 | } |
| 274 | break; |
317 | break; |
| 275 | case VALID: // new valid data from gps device |
318 | case NEWDATA: // new valid data from gps device |
| 276 | // if the gps data quality is good |
319 | // if the gps data quality is good |
| - | 320 | beep_rythm++; |
|
| - | 321 | ||
| 277 | if (GPSInfo.satfix == SATFIX_3D) |
322 | if (GPS_IsSignalOK()) |
| 278 | { |
323 | { |
| 279 | switch(GPS_Task) // check what's to do |
324 | switch(FlightMode) // check what's to do |
| 280 | { |
325 | { |
| 281 | case TSK_IDLE: |
326 | case GPS_FLIGHT_MODE_FREE: |
| 282 | // update hold position to current gps position |
327 | // update hold position to current gps position |
| 283 | GPS_SetHoldPosition(); // can get invalid if gps signal is bad |
328 | GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad |
| 284 | // disable gps control |
329 | // disable gps control |
| 285 | GPS_Neutral(); |
330 | GPS_Neutral(); |
| 286 | break; // eof TSK_IDLE |
331 | break; |
| - | 332 | ||
| 287 | case TSK_HOLD: |
333 | case GPS_FLIGHT_MODE_AID: |
| 288 | if(HoldPosition.Status != INVALID) |
334 | if(HoldPosition.Status != INVALID) |
| 289 | { |
335 | { |
| 290 | if( IsManualControlled() ) // MK controlled by user |
336 | if( GPS_IsManualControlled() ) // MK controlled by user |
| 291 | { |
337 | { |
| 292 | // update hold point to current gps position |
338 | // update hold point to current gps position |
| 293 | GPS_SetHoldPosition(); |
339 | GPS_SetCurrPosition(&HoldPosition); |
| 294 | // disable gps control |
340 | // disable gps control |
| 295 | GPS_Neutral(); |
341 | GPS_Neutral(); |
| 296 | GPS_P_Delay = 0; |
342 | GPS_P_Delay = 0; |
| 297 | } |
343 | } |
| 298 | else // GPS control active |
344 | else // GPS control active |
| 299 | { |
345 | { |
| 300 | if(GPS_P_Delay<7) |
346 | if(GPS_P_Delay < 7) |
| 301 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
347 | { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
| 302 | GPS_P_Delay++; |
348 | GPS_P_Delay++; |
| 303 | GPS_SetHoldPosition(); // update hold point to current gps position |
349 | GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position |
| 304 | GPS_PIDController(NULL); // activates only the D-Part |
350 | GPS_PIDController(NULL); // activates only the D-Part |
| 305 | } |
351 | } |
| 306 | else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
352 | else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
| 307 | } |
353 | } |
| 308 | } |
354 | } |
| 309 | else // invalid Hold Position |
355 | else // invalid Hold Position |
| 310 | { // try to catch a valid hold position from gps data input |
356 | { // try to catch a valid hold position from gps data input |
| 311 | GPS_SetHoldPosition(); |
357 | GPS_SetCurrPosition(&HoldPosition); |
| 312 | GPS_Neutral(); |
358 | GPS_Neutral(); |
| 313 | } |
359 | } |
| 314 | break; // eof TSK_HOLD |
360 | break; |
| - | 361 | ||
| 315 | case TSK_HOME: |
362 | case GPS_FLIGHT_MODE_HOME: |
| 316 | if(HomePosition.Status != INVALID) |
363 | if(HomePosition.Status != INVALID) |
| 317 | { |
364 | { |
| 318 | // update hold point to current gps position |
365 | // update hold point to current gps position |
| 319 | // to avoid a flight back if home comming is deactivated |
366 | // to avoid a flight back if home comming is deactivated |
| 320 | GPS_SetHoldPosition(); |
367 | GPS_SetCurrPosition(&HoldPosition); |
| 321 | if( IsManualControlled() ) // MK controlled by user |
368 | if( GPS_IsManualControlled() ) // MK controlled by user |
| 322 | { |
369 | { |
| 323 | GPS_Neutral(); |
370 | GPS_Neutral(); |
| 324 | } |
371 | } |
| 325 | else // GPS control active |
372 | else // GPS control active |
| 326 | { |
373 | { |
| 327 | GPS_PIDController(&HomePosition); |
374 | GPS_PIDController(&HomePosition); |
| 328 | } |
375 | } |
| 329 | } |
376 | } |
| 330 | else // bad home position |
377 | else // bad home position |
| 331 | { |
378 | { |
| 332 | BeepTime = 50; // signal invalid home position |
379 | BeepTime = 50; // signal invalid home position |
| 333 | // try to hold at least the position as a fallback option |
380 | // try to hold at least the position as a fallback option |
| 334 | 381 | ||
| 335 | if (HoldPosition.Status != INVALID) |
382 | if (HoldPosition.Status != INVALID) |
| 336 | { |
383 | { |
| 337 | if( IsManualControlled() ) // MK controlled by user |
384 | if( GPS_IsManualControlled() ) // MK controlled by user |
| 338 | { |
385 | { |
| 339 | GPS_Neutral(); |
386 | GPS_Neutral(); |
| 340 | } |
387 | } |
| 341 | else // GPS control active |
388 | else // GPS control active |
| 342 | { |
389 | { |
| 343 | GPS_PIDController(&HoldPosition); |
390 | GPS_PIDController(&HoldPosition); |
| 344 | } |
391 | } |
| 345 | } |
392 | } |
| 346 | else |
393 | else |
| 347 | { // try to catch a valid hold position |
394 | { // try to catch a valid hold position |
| 348 | GPS_SetHoldPosition(); |
395 | GPS_SetCurrPosition(&HoldPosition); |
| 349 | GPS_Neutral(); |
396 | GPS_Neutral(); |
| 350 | } |
397 | } |
| 351 | } |
398 | } |
| 352 | break; // eof TSK_HOME |
399 | break; // eof TSK_HOME |
| 353 | default: // unhandled task |
400 | default: // unhandled task |
| 354 | GPS_Neutral(); |
401 | GPS_Neutral(); |
| 355 | break; // eof default |
402 | break; // eof default |
| 356 | } // eof switch GPS_Task |
403 | } // eof switch GPS_Task |
| 357 | } // eof 3D-FIX |
404 | } // eof gps data quality is good |
| 358 | else // no 3D-SATFIX |
405 | else // gps data quality is bad |
| 359 | { // disable gps control |
406 | { // disable gps control |
| 360 | GPS_Neutral(); |
407 | GPS_Neutral(); |
| 361 | if(GPS_Task != TSK_IDLE) |
408 | // beep if signal is not sufficient |
| 362 | { |
- | |
| 363 | satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats |
409 | if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
| 364 | if (satbeep < 0) satbeep = 0; |
- | |
| 365 | BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms = |
410 | else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10; |
| 366 | } |
- | |
| 367 | } |
411 | } |
| 368 | // set current data as processed to avoid further calculations on the same gps data |
412 | // set current data as processed to avoid further calculations on the same gps data |
| 369 | GPSInfo.status = PROCESSED; |
413 | GPSInfo.status = PROCESSED; |
| 370 | break; |
414 | break; |
| 371 | } // eof GPSInfo.status |
415 | } // eof GPSInfo.status |
| 372 | } |
416 | } |
| 373 | 417 | ||
| 374 | 418 | ||