WebSVN - FlightCtrl - Diff - Rev 942 and 950 - /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 32000
 
#define GPS_STICK_LIMIT         45              // limit of gps stick control to avoid critical flight attitudes
 
#define GPS_P_LIMIT                     25
 
 
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;
                }
 
 
 
 
 
                //Calculate PID-components of the controller
 
                // D-Part
                D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/512;
                D_East =  ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/512;
 
 
                // P-Part
                P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/2048;
 
                P_East =  ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/2048;
 
                // I-Part
                I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/8192;
                I_East =  ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/8192;
 
 
 
                // combine P & I
                PID_North = P_North + I_North;
                PID_East  = P_East  + I_East;
                if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))
                {
                        GPSPosDevIntegral_North += GPSPosDev_North/16;
                        GPSPosDevIntegral_East  += GPSPosDev_East/16;
                        GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_North, GPS_POSINTEGRAL_LIMIT);
                }
 
                // combine PI- and D-Part
                PID_North += D_North;
                PID_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 =   (coscompass * PID_North + sincompass * PID_East) / 8192;
                PID_Roll  =  (sincompass * PID_North - coscompass * PID_East) / 8192;
 
 
                // 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 942	Rev 950
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_POSINTEGRAL_LIMIT 32000
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_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes
22	#define GPS_D_LIMIT 625	-
23	#define GPS_P_LIMIT 312	21	#define GPS_P_LIMIT 25
24		22
25		23
26	typedef struct	24	typedef struct
27	{	25	{
28	int32_t Longitude;	26	int32_t Longitude;
29	int32_t Latitude;	27	int32_t Latitude;
30	int32_t Altitude;	28	int32_t Altitude;
31	Status_t Status;	29	Status_t Status;
32	} GPS_Pos_t;	30	} GPS_Pos_t;
33		31
34	// GPS coordinates for hold position	32	// GPS coordinates for hold position
35	GPS_Pos_t HoldPosition = {0,0,0,INVALID};	33	GPS_Pos_t HoldPosition = {0,0,0,INVALID};
36	// GPS coordinates for home position	34	// GPS coordinates for home position
37	GPS_Pos_t HomePosition = {0,0,0,INVALID};	35	GPS_Pos_t HomePosition = {0,0,0,INVALID};
38	// the current flight mode	36	// the current flight mode
39	FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;	37	FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;
40		38
41		39
42	// ---------------------------------------------------------------------------------	40	// ---------------------------------------------------------------------------------
43	void GPS_UpdateParameter(void)	41	void GPS_UpdateParameter(void)
44	{	42	{
45	static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;	43	static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;
46		44
47	if((RC_Quality < 100) \|\| (MKFlags & MKFLAG_EMERGENCY_LANDING))	45	if((RC_Quality < 100) \|\| (MKFlags & MKFLAG_EMERGENCY_LANDING))
48	{	46	{
49	FlightMode = GPS_FLIGHT_MODE_FREE;	47	FlightMode = GPS_FLIGHT_MODE_FREE;
50	}	48	}
51	else	49	else
52	{	50	{
53	if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID;	51	if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID;
54	else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;	52	else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;
55	else FlightMode = GPS_FLIGHT_MODE_HOME;	53	else FlightMode = GPS_FLIGHT_MODE_HOME;
56	}	54	}
57	if (FlightMode != FlightModeOld)	55	if (FlightMode != FlightModeOld)
58	{	56	{
59	BeepTime = 100;	57	BeepTime = 100;
60	}	58	}
61	FlightModeOld = FlightMode;	59	FlightModeOld = FlightMode;
62	}	60	}
63		61
64		62
65		63
66	// ---------------------------------------------------------------------------------	64	// ---------------------------------------------------------------------------------
67	// This function defines a good GPS signal condition	65	// This function defines a good GPS signal condition
68	uint8_t GPS_IsSignalOK(void)	66	uint8_t GPS_IsSignalOK(void)
69	{	67	{
70	static uint8_t GPSFix = 0;	68	static uint8_t GPSFix = 0;
71	if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) \|\| GPSFix))	69	if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) \|\| GPSFix))
72	{	70	{
73	GPSFix = 1;	71	GPSFix = 1;
74	return(1);	72	return(1);
75		73
76	}	74	}
77	else return (0);	75	else return (0);
78		76
79	}	77	}
80	// ---------------------------------------------------------------------------------	78	// ---------------------------------------------------------------------------------
81	// rescale xy-vector length to limit	79	// rescale xy-vector length to limit
82	uint8_t GPS_LimitXY(int32_t x, int32_t y, int32_t limit)	80	uint8_t GPS_LimitXY(int32_t x, int32_t y, int32_t limit)
83	{	81	{
84	uint8_t retval = 0;	82	uint8_t retval = 0;
85	int32_t len;	83	int32_t len;
86	len = (int32_t)c_sqrt(x x + y * *y);	84	len = (int32_t)c_sqrt(x x + y * *y);
87	if (len > limit)	85	if (len > limit)
88	{	86	{
89	// normalize control vector components to the limit	87	// normalize control vector components to the limit
90	x = (x * limit) / len;	88	x = (x * limit) / len;
91	y = (y * limit) / len;	89	y = (y * limit) / len;
92	retval = 1;	90	retval = 1;
93	}	91	}
94	return(retval);	92	return(retval);
95	}	93	}
96		94
97	// checks nick and roll sticks for manual control	95	// checks nick and roll sticks for manual control
98	uint8_t GPS_IsManualControlled(void)	96	uint8_t GPS_IsManualControlled(void)
99	{	97	{
100	if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < ParamSet.NaviStickThreshold) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < ParamSet.NaviStickThreshold)) return 0;	98	if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < ParamSet.NaviStickThreshold) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < ParamSet.NaviStickThreshold)) return 0;
101	else return 1;	99	else return 1;
102	}	100	}
103		101
104	// set given position to current gps position	102	// set given position to current gps position
105	uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos)	103	uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos)
106	{	104	{
107	uint8_t retval = 0;	105	uint8_t retval = 0;
108	if(pGPSPos == NULL) return(retval); // bad pointer	106	if(pGPSPos == NULL) return(retval); // bad pointer
109		107
110	if(GPS_IsSignalOK())	108	if(GPS_IsSignalOK())
111	{ // is GPS signal condition is fine	109	{ // is GPS signal condition is fine
112	pGPSPos->Longitude = GPSInfo.longitude;	110	pGPSPos->Longitude = GPSInfo.longitude;
113	pGPSPos->Latitude = GPSInfo.latitude;	111	pGPSPos->Latitude = GPSInfo.latitude;
114	pGPSPos->Altitude = GPSInfo.altitude;	112	pGPSPos->Altitude = GPSInfo.altitude;
115	pGPSPos->Status = NEWDATA;	113	pGPSPos->Status = NEWDATA;
116	retval = 1;	114	retval = 1;
117	}	115	}
118	else	116	else
119	{ // bad GPS signal condition	117	{ // bad GPS signal condition
120	pGPSPos->Status = INVALID;	118	pGPSPos->Status = INVALID;
121	retval = 0;	119	retval = 0;
122	}	120	}
123	return(retval);	121	return(retval);
124	}	122	}
125		123
126	// clear position	124	// clear position
127	uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos)	125	uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos)
128	{	126	{
129	uint8_t retval = 0;	127	uint8_t retval = 0;
130	if(pGPSPos == NULL) return(retval); // bad pointer	128	if(pGPSPos == NULL) return(retval); // bad pointer
131	else	129	else
132	{	130	{
133	pGPSPos->Longitude = 0;	131	pGPSPos->Longitude = 0;
134	pGPSPos->Latitude = 0;	132	pGPSPos->Latitude = 0;
135	pGPSPos->Altitude = 0;	133	pGPSPos->Altitude = 0;
136	pGPSPos->Status = INVALID;	134	pGPSPos->Status = INVALID;
137	retval = 1;	135	retval = 1;
138	}	136	}
139	return (retval);	137	return (retval);
140	}	138	}
141		139
142	// disable GPS control sticks	140	// disable GPS control sticks
143	void GPS_Neutral(void)	141	void GPS_Neutral(void)
144	{	142	{
145	GPS_Nick = 0;	143	GPS_Nick = 0;
146	GPS_Roll = 0;	144	GPS_Roll = 0;
147	}	145	}
148		146
149	// 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
150	// 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
151	// then the P part of the controller is deactivated.	149	// then the P part of the controller is deactivated.
152	void GPS_PIDController(GPS_Pos_t *pTargetPos)	150	void GPS_PIDController(GPS_Pos_t *pTargetPos)
153	{	151	{
154	static int32_t PID_Nick, PID_Roll;	152	static int32_t PID_Nick, PID_Roll;
155	int32_t coscompass, sincompass;	153	int32_t coscompass, sincompass;
156	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm	154	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
157	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;
158	int32_t PID_North = 0, PID_East = 0;	156	int32_t PID_North = 0, PID_East = 0;
159	static int32_t cos_target_latitude = 1;	157	static int32_t cos_target_latitude = 1;
160	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;	158	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;
161	static GPS_Pos_t *pLastTargetPos = 0;	159	static GPS_Pos_t *pLastTargetPos = 0;
162		160
163	// if GPS data and Compass are ok	161	// if GPS data and Compass are ok
164	if( GPS_IsSignalOK() && (CompassHeading >= 0) )	162	if( GPS_IsSignalOK() && (CompassHeading >= 0) )
165	{	163	{
166		164
167	if(pTargetPos != NULL) // if there is a target position	165	if(pTargetPos != NULL) // if there is a target position
168	{	166	{
169	if(pTargetPos->Status != INVALID) // and the position data are valid	167	if(pTargetPos->Status != INVALID) // and the position data are valid
170	{	168	{
171	// 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
172	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )	170	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )
173	{	171	{
174	// reset error integral	172	// reset error integral
175	GPSPosDevIntegral_North = 0;	173	GPSPosDevIntegral_North = 0;
176	GPSPosDevIntegral_East = 0;	174	GPSPosDevIntegral_East = 0;
177	// recalculate latitude projection	175	// recalculate latitude projection
178	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));
179	// remember last target pointer	177	// remember last target pointer
180	pLastTargetPos = pTargetPos;	178	pLastTargetPos = pTargetPos;
181	// mark data as processed	179	// mark data as processed
182	pTargetPos->Status = PROCESSED;	180	pTargetPos->Status = PROCESSED;
183	}	181	}
184	// calculate position deviation from latitude and longitude differences	182	// calculate position deviation from latitude and longitude differences
185	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
186	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
187	// calculate latitude projection	185	// calculate latitude projection
188	GPSPosDev_East *= cos_target_latitude;	186	GPSPosDev_East *= cos_target_latitude;
189	GPSPosDev_East /= 8192;	187	GPSPosDev_East /= 8192;
190	}	188	}
191	else // no valid target position available	189	else // no valid target position available
192	{	190	{
193	// reset error	191	// reset error
194	GPSPosDev_North = 0;	192	GPSPosDev_North = 0;
195	GPSPosDev_East = 0;	193	GPSPosDev_East = 0;
196	// reset error integral	194	// reset error integral
197	GPSPosDevIntegral_North = 0;	195	GPSPosDevIntegral_North = 0;
198	GPSPosDevIntegral_East = 0;	196	GPSPosDevIntegral_East = 0;
199	}	197	}
200	}	198	}
201	else // no target position available	199	else // no target position available
202	{	200	{
203	// reset error	201	// reset error
204	GPSPosDev_North = 0;	202	GPSPosDev_North = 0;
205	GPSPosDev_East = 0;	203	GPSPosDev_East = 0;
206	// reset error integral	204	// reset error integral
207	GPSPosDevIntegral_North = 0;	205	GPSPosDevIntegral_North = 0;
208	GPSPosDevIntegral_East = 0;	206	GPSPosDevIntegral_East = 0;
209	}	207	}
210		-
211	GPSPosDevIntegral_North += GPSPosDev_North;	-
212	GPSPosDevIntegral_East += GPSPosDev_East;	-
213	GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);	-
214		208
215	//Calculate PID-components of the controller	209	//Calculate PID-components of the controller
216		210
217	// D-Part	211	// D-Part
218	D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/256;	212	D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/512;
219	D_East = ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/256;	213	D_East = ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/512;
220	GPS_LimitXY(&D_North, &D_East, GPS_D_LIMIT);	-
221		214
222	// P-Part	215	// P-Part
223	P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/1024;	216	P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/2048;
224	P_East = ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/1024;	-
225	GPS_LimitXY(&P_North, &P_East, GPS_P_LIMIT);	217	P_East = ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/2048;
226		218
227	// I-Part	219	// I-Part
228	I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/8192;	220	I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/8192;
229	I_East = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/8192;	221	I_East = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/8192;
230	GPS_LimitXY(&I_North, &I_East, GPS_I_LIMIT);	-
-		222
231		223
232	// combine P & I & D-Part	224	// combine P & I
233	PID_North = P_North + I_North + D_North;	225	PID_North = P_North + I_North;
-		226	PID_East = P_East + I_East;
-		227	if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))
-		228	{
-		229	GPSPosDevIntegral_North += GPSPosDev_North/16;
-		230	GPSPosDevIntegral_East += GPSPosDev_East/16;
-		231	GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_North, GPS_POSINTEGRAL_LIMIT);
-		232	}
-		233
-		234	// combine PI- and D-Part
-		235	PID_North += D_North;
-		236	PID_East += D_East;
234	PID_East = P_East + I_East + D_East;	237
235		238
236	// scale combination with gain.	239	// scale combination with gain.
237	PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100;	240	PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100;
238	PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / 100;	241	PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / 100;
239		242
240	// GPS to nick and roll settings	243	// GPS to nick and roll settings
241		244
242	// A positive nick angle moves head downwards (flying forward).	245	// A positive nick angle moves head downwards (flying forward).
243	// A positive roll angle tilts left side downwards (flying left).	246	// A positive roll angle tilts left side downwards (flying left).
244	// If compass heading is 0 the head of the copter is in north direction.	247	// If compass heading is 0 the head of the copter is in north direction.
245	// A positive nick angle will fly to north and a positive roll angle will fly to west.	248	// A positive nick angle will fly to north and a positive roll angle will fly to west.
246	// In case of a positive north deviation/velocity the	249	// In case of a positive north deviation/velocity the
247	// copter should fly to south (negative nick).	250	// copter should fly to south (negative nick).
248	// In case of a positive east position deviation and a positive east velocity the	251	// In case of a positive east position deviation and a positive east velocity the
249	// copter should fly to west (positive roll).	252	// copter should fly to west (positive roll).
250	// The influence of the GPS_Nick and GPS_Roll variable is contrarily to the stick values	253	// The influence of the GPS_Nick and GPS_Roll variable is contrarily to the stick values
251	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive	254	// in the fc.c. Therefore a positive north deviation/velocity should result in a positive
252	// GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll.	255	// GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll.
253		256
254	coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);	257	coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);
255	sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);	258	sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);
256	PID_Nick = (PID_Nick + (coscompass * PID_North + sincompass * PID_East) / 8192)/2;	259	PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192;
257	PID_Roll = (PID_Roll + (sincompass * PID_North - coscompass * PID_East) / 8192)/2;	260	PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192;
258		261
259		262
260	// limit resulting GPS control vector	263	// limit resulting GPS control vector
261	GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);	264	GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);
262		265
263	GPS_Nick = (int16_t)PID_Nick;	266	GPS_Nick = (int16_t)PID_Nick;
264	GPS_Roll = (int16_t)PID_Roll;	267	GPS_Roll = (int16_t)PID_Roll;
265	}	268	}
266	else // invalid GPS data or bad compass reading	269	else // invalid GPS data or bad compass reading
267	{	270	{
268	GPS_Neutral(); // do nothing	271	GPS_Neutral(); // do nothing
269	// reset error integral	272	// reset error integral
270	GPSPosDevIntegral_North = 0;	273	GPSPosDevIntegral_North = 0;
271	GPSPosDevIntegral_East = 0;	274	GPSPosDevIntegral_East = 0;
272	}	275	}
273	}	276	}
274		277
275		278
276		279
277		280
278	void GPS_Main(void)	281	void GPS_Main(void)
279	{	282	{
280	static uint8_t GPS_P_Delay = 0;	283	static uint8_t GPS_P_Delay = 0;
281	static uint16_t beep_rythm = 0;	284	static uint16_t beep_rythm = 0;
282		285
283	GPS_UpdateParameter();	286	GPS_UpdateParameter();
284		287
285	// store home position if start of flight flag is set	288	// store home position if start of flight flag is set
286	if(MKFlags & MKFLAG_CALIBRATE)	289	if(MKFlags & MKFLAG_CALIBRATE)
287	{	290	{
288	if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;	291	if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;
289	}	292	}
290		293
291	switch(GPSInfo.status)	294	switch(GPSInfo.status)
292	{	295	{
293	case INVALID: // invalid gps data	296	case INVALID: // invalid gps data
294	GPS_Neutral();	297	GPS_Neutral();
295	if(FlightMode != GPS_FLIGHT_MODE_FREE)	298	if(FlightMode != GPS_FLIGHT_MODE_FREE)
296	{	299	{
297	BeepTime = 100; // beep if signal is neccesary	300	BeepTime = 100; // beep if signal is neccesary
298	}	301	}
299	break;	302	break;
300	case PROCESSED: // if gps data are already processed do nothing	303	case PROCESSED: // if gps data are already processed do nothing
301	// downcount timeout	304	// downcount timeout
302	if(GPSTimeout) GPSTimeout--;	305	if(GPSTimeout) GPSTimeout--;
303	// if no new data arrived within timeout set current data invalid	306	// if no new data arrived within timeout set current data invalid
304	// and therefore disable GPS	307	// and therefore disable GPS
305	else	308	else
306	{	309	{
307	GPS_Neutral();	310	GPS_Neutral();
308	GPSInfo.status = INVALID;	311	GPSInfo.status = INVALID;
309	}	312	}
310	break;	313	break;
311	case NEWDATA: // new valid data from gps device	314	case NEWDATA: // new valid data from gps device
312	// if the gps data quality is good	315	// if the gps data quality is good
313	beep_rythm++;	316	beep_rythm++;
314		317
315	if (GPS_IsSignalOK())	318	if (GPS_IsSignalOK())
316	{	319	{
317	switch(FlightMode) // check what's to do	320	switch(FlightMode) // check what's to do
318	{	321	{
319	case GPS_FLIGHT_MODE_FREE:	322	case GPS_FLIGHT_MODE_FREE:
320	// update hold position to current gps position	323	// update hold position to current gps position
321	GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad	324	GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad
322	// disable gps control	325	// disable gps control
323	GPS_Neutral();	326	GPS_Neutral();
324	break;	327	break;
325		328
326	case GPS_FLIGHT_MODE_AID:	329	case GPS_FLIGHT_MODE_AID:
327	if(HoldPosition.Status != INVALID)	330	if(HoldPosition.Status != INVALID)
328	{	331	{
329	if( GPS_IsManualControlled() ) // MK controlled by user	332	if( GPS_IsManualControlled() ) // MK controlled by user
330	{	333	{
331	// update hold point to current gps position	334	// update hold point to current gps position
332	GPS_SetCurrPosition(&HoldPosition);	335	GPS_SetCurrPosition(&HoldPosition);
333	// disable gps control	336	// disable gps control
334	GPS_Neutral();	337	GPS_Neutral();
335	GPS_P_Delay = 0;	338	GPS_P_Delay = 0;
336	}	339	}
337	else // GPS control active	340	else // GPS control active
338	{	341	{
339	if(GPS_P_Delay < 7)	342	if(GPS_P_Delay < 7)
340	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)	343	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
341	GPS_P_Delay++;	344	GPS_P_Delay++;
342	GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position	345	GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position
343	GPS_PIDController(NULL); // activates only the D-Part	346	GPS_PIDController(NULL); // activates only the D-Part
344	}	347	}
345	else GPS_PIDController(&HoldPosition);// activates the P&D-Part	348	else GPS_PIDController(&HoldPosition);// activates the P&D-Part
346	}	349	}
347	}	350	}
348	else // invalid Hold Position	351	else // invalid Hold Position
349	{ // try to catch a valid hold position from gps data input	352	{ // try to catch a valid hold position from gps data input
350	GPS_SetCurrPosition(&HoldPosition);	353	GPS_SetCurrPosition(&HoldPosition);
351	GPS_Neutral();	354	GPS_Neutral();
352	}	355	}
353	break;	356	break;
354		357
355	case GPS_FLIGHT_MODE_HOME:	358	case GPS_FLIGHT_MODE_HOME:
356	if(HomePosition.Status != INVALID)	359	if(HomePosition.Status != INVALID)
357	{	360	{
358	// update hold point to current gps position	361	// update hold point to current gps position
359	// to avoid a flight back if home comming is deactivated	362	// to avoid a flight back if home comming is deactivated
360	GPS_SetCurrPosition(&HoldPosition);	363	GPS_SetCurrPosition(&HoldPosition);
361	if( GPS_IsManualControlled() ) // MK controlled by user	364	if( GPS_IsManualControlled() ) // MK controlled by user
362	{	365	{
363	GPS_Neutral();	366	GPS_Neutral();
364	}	367	}
365	else // GPS control active	368	else // GPS control active
366	{	369	{
367	GPS_PIDController(&HomePosition);	370	GPS_PIDController(&HomePosition);
368	}	371	}
369	}	372	}
370	else // bad home position	373	else // bad home position
371	{	374	{
372	BeepTime = 50; // signal invalid home position	375	BeepTime = 50; // signal invalid home position
373	// try to hold at least the position as a fallback option	376	// try to hold at least the position as a fallback option
374		377
375	if (HoldPosition.Status != INVALID)	378	if (HoldPosition.Status != INVALID)
376	{	379	{
377	if( GPS_IsManualControlled() ) // MK controlled by user	380	if( GPS_IsManualControlled() ) // MK controlled by user
378	{	381	{
379	GPS_Neutral();	382	GPS_Neutral();
380	}	383	}
381	else // GPS control active	384	else // GPS control active
382	{	385	{
383	GPS_PIDController(&HoldPosition);	386	GPS_PIDController(&HoldPosition);
384	}	387	}
385	}	388	}
386	else	389	else
387	{ // try to catch a valid hold position	390	{ // try to catch a valid hold position
388	GPS_SetCurrPosition(&HoldPosition);	391	GPS_SetCurrPosition(&HoldPosition);
389	GPS_Neutral();	392	GPS_Neutral();
390	}	393	}
391	}	394	}
392	break; // eof TSK_HOME	395	break; // eof TSK_HOME
393	default: // unhandled task	396	default: // unhandled task
394	GPS_Neutral();	397	GPS_Neutral();
395	break; // eof default	398	break; // eof default
396	} // eof switch GPS_Task	399	} // eof switch GPS_Task
397	} // eof gps data quality is good	400	} // eof gps data quality is good
398	else // gps data quality is bad	401	else // gps data quality is bad
399	{ // disable gps control	402	{ // disable gps control
400	GPS_Neutral();	403	GPS_Neutral();
401	if(FlightMode != GPS_FLIGHT_MODE_FREE)	404	if(FlightMode != GPS_FLIGHT_MODE_FREE)
402	{	405	{
403	// beep if signal is not sufficient	406	// beep if signal is not sufficient
404	if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;	407	if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;
405	else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;	408	else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;
406	}	409	}
407	}	410	}
408	// set current data as processed to avoid further calculations on the same gps data	411	// set current data as processed to avoid further calculations on the same gps data
409	GPSInfo.status = PROCESSED;	412	GPSInfo.status = PROCESSED;
410	break;	413	break;
411	} // eof GPSInfo.status	414	} // eof GPSInfo.status
412	}	415	}
413		416
414		417

Subversion Repositories FlightCtrl

(root)/branches/V0.70d CRK HexaLotte/gps.c @ 2137 - Rev 942 → 950