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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 | 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 |