WebSVN - FlightCtrl - Diff - Rev 937 and 938 - /branches/V0.73d Code Redesign killagreg/gps.c


#include <inttypes.h>
#include <stdlib.h>
#include "fc.h"
#include "ubx.h"
#include "mymath.h"
#include "timer0.h"
#include "uart.h"
#include "rc.h"
#include "eeprom.h"
 
typedef enum
{
        GPS_FLIGHT_MODE_UNDEF,
        GPS_FLIGHT_MODE_FREE,
        GPS_FLIGHT_MODE_AID,
        GPS_FLIGHT_MODE_HOME,
} FlightMode_t;
 
#define GPS_STICK_LIMIT         500             // limit of gps stick control to avoid critical flight attitudes
#define GPS_POSDEV_INTEGRAL_LIMIT  32000  // limit for the position error integral
#define GPS_P_LIMIT                     250
 
 
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
 
                // P-Part
                P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/512;
                P_East =  ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/512;
 
                // I-Part
                I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/2048;
                I_East =  ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/2048;
 
                // combine P- & I-Part
                PID_North = P_North + I_North;
                PID_East  = P_East  + I_East;
 
                //limit PI-Part
                if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))
                {
                        // P-Part limit is not reached
                        // update position error integrals
                        GPSPosDevIntegral_North += GPSPosDev_North/16;
                        if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT;
                        else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT;
                        GPSPosDevIntegral_East += GPSPosDev_East/16;
                        if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT;
                        else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT;
                }
 
                // D-Part
                D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/ 128;
                D_East =  ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast) / 128;
 
                // 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 =   (PID_Nick + (coscompass * PID_North + sincompass * PID_East) / 8192)/2;
                PID_Roll  =  (PID_Roll + (sincompass * PID_North - coscompass * PID_East) / 8192)/2;
 
 
                // limit resulting GPS control vector
                GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);
 
                GPS_Nick = (int16_t)PID_Nick;
                GPS_Roll = (int16_t)PID_Roll;
        }
        else // invalid GPS data or bad compass reading
        {
                GPS_Neutral(); // do nothing
                // reset error integral
                GPSPosDevIntegral_North = 0;
                GPSPosDevIntegral_East = 0;
        }
}
 
 
 
 
void GPS_Main(void)
{
        static uint8_t GPS_P_Delay = 0;
        static uint16_t beep_rythm = 0;
 
        GPS_UpdateParameter();
 
        // store home position if start of flight flag is set
        if(MKFlags & MKFLAG_CALIBRATE)
        {
                if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;
        }
 
        switch(GPSInfo.status)
        {
        case INVALID:  // invalid gps data
                GPS_Neutral();
                if(FlightMode != GPS_FLIGHT_MODE_FREE)
                {
                        BeepTime = 100; // beep if signal is neccesary
                }
                break;
        case PROCESSED: // if gps data are already processed do nothing
                // downcount timeout
                if(GPSTimeout) GPSTimeout--;
                // if no new data arrived within timeout set current data invalid
                // and therefore disable GPS
                else
                {
                        GPS_Neutral();
                        GPSInfo.status = INVALID;
                }
                break;
        case NEWDATA: // new valid data from gps device
                // if the gps data quality is good
                beep_rythm++;
 
                if (GPS_IsSignalOK())
                {
                        switch(FlightMode) // check what's to do
                        {
                                case GPS_FLIGHT_MODE_FREE:
                                        // update hold position to current gps position
                                        GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad
                                        // disable gps control
                                        GPS_Neutral();
                                        break;
 
                                case GPS_FLIGHT_MODE_AID:
                                        if(HoldPosition.Status != INVALID)
                                        {
                                                if( GPS_IsManualControlled() ) // MK controlled by user
                                                {
                                                        // update hold point to current gps position
                                                        GPS_SetCurrPosition(&HoldPosition);
                                                        // disable gps control
                                                        GPS_Neutral();
                                                        GPS_P_Delay = 0;
                                                }
                                                else // GPS control active
                                                {
                                                        if(GPS_P_Delay < 7)
                                                        { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
                                                                GPS_P_Delay++;
                                                                GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position
                                                                GPS_PIDController(NULL); // activates only the D-Part
                                                        }
                                                        else GPS_PIDController(&HoldPosition);// activates the P&D-Part
                                                }
                                        }
                                        else // invalid Hold Position
                                        {  // try to catch a valid hold position from gps data input
                                                GPS_SetCurrPosition(&HoldPosition);
                                                GPS_Neutral();
                                        }
                                        break;
 
                                case GPS_FLIGHT_MODE_HOME:
                                        if(HomePosition.Status != INVALID)
                                        {
                                                // update hold point to current gps position
                                                // to avoid a flight back if home comming is deactivated
                                                GPS_SetCurrPosition(&HoldPosition);
                                                if( GPS_IsManualControlled() ) // MK controlled by user
                                                {
                                                        GPS_Neutral();
                                                }
                                                else // GPS control active
                                                {
                                                        GPS_PIDController(&HomePosition);
                                                }
                                        }
                                        else // bad home position
                                        {
                                                BeepTime = 50; // signal invalid home position
                                                // try to hold at least the position as a fallback option
 
                                                if (HoldPosition.Status != INVALID)
                                                {
                                                        if( GPS_IsManualControlled() ) // MK controlled by user
                                                        {
                                                                GPS_Neutral();
                                                        }
                                                        else // GPS control active
                                                        {
                                                                GPS_PIDController(&HoldPosition);
                                                        }
                                                }
                                                else
                                                { // try to catch a valid hold position
                                                        GPS_SetCurrPosition(&HoldPosition);
                                                        GPS_Neutral();
                                                }
                                        }
                                        break; // eof TSK_HOME
                                default: // unhandled task
                                        GPS_Neutral();
                                        break; // eof default
                        } // eof switch GPS_Task
                } // eof gps data quality is good
                else // gps data quality is bad
                {       // disable gps control
                        GPS_Neutral();
                        // 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 937	Rev 938
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_STICK_LIMIT 200 // limit of gps stick control to avoid critical flight attitudes	19	#define GPS_STICK_LIMIT 500 // limit of gps stick control to avoid critical flight attitudes
20	#define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral	20	#define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral
21	#define GPS_P_LIMIT 100	21	#define GPS_P_LIMIT 250
22		22
23		23
24	typedef struct	24	typedef struct
25	{	25	{
26	int32_t Longitude;	26	int32_t Longitude;
27	int32_t Latitude;	27	int32_t Latitude;
28	int32_t Altitude;	28	int32_t Altitude;
29	Status_t Status;	29	Status_t Status;
30	} GPS_Pos_t;	30	} GPS_Pos_t;
31		31
32	// GPS coordinates for hold position	32	// GPS coordinates for hold position
33	GPS_Pos_t HoldPosition = {0,0,0,INVALID};	33	GPS_Pos_t HoldPosition = {0,0,0,INVALID};
34	// GPS coordinates for home position	34	// GPS coordinates for home position
35	GPS_Pos_t HomePosition = {0,0,0,INVALID};	35	GPS_Pos_t HomePosition = {0,0,0,INVALID};
36	// the current flight mode	36	// the current flight mode
37	FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;	37	FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;
38		38
39		39
40	// ---------------------------------------------------------------------------------	40	// ---------------------------------------------------------------------------------
41	void GPS_UpdateParameter(void)	41	void GPS_UpdateParameter(void)
42	{	42	{
43	static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;	43	static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;
44		44
45	if((RC_Quality < 100) \|\| (MKFlags & MKFLAG_EMERGENCY_LANDING))	45	if((RC_Quality < 100) \|\| (MKFlags & MKFLAG_EMERGENCY_LANDING))
46	{	46	{
47	FlightMode = GPS_FLIGHT_MODE_FREE;	47	FlightMode = GPS_FLIGHT_MODE_FREE;
48	}	48	}
49	else	49	else
50	{	50	{
51	if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID;	51	if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID;
52	else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;	52	else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;
53	else FlightMode = GPS_FLIGHT_MODE_HOME;	53	else FlightMode = GPS_FLIGHT_MODE_HOME;
54	}	54	}
55	if (FlightMode != FlightModeOld)	55	if (FlightMode != FlightModeOld)
56	{	56	{
57	BeepTime = 100;	57	BeepTime = 100;
58	}	58	}
59	FlightModeOld = FlightMode;	59	FlightModeOld = FlightMode;
60	}	60	}
61		61
62		62
63		63
64	// ---------------------------------------------------------------------------------	64	// ---------------------------------------------------------------------------------
65	// This function defines a good GPS signal condition	65	// This function defines a good GPS signal condition
66	uint8_t GPS_IsSignalOK(void)	66	uint8_t GPS_IsSignalOK(void)
67	{	67	{
68	static uint8_t GPSFix = 0;	68	static uint8_t GPSFix = 0;
69	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))
70	{	70	{
71	GPSFix = 1;	71	GPSFix = 1;
72	return(1);	72	return(1);
73		73
74	}	74	}
75	else return (0);	75	else return (0);
76		76
77	}	77	}
78	// ---------------------------------------------------------------------------------	78	// ---------------------------------------------------------------------------------
79	// rescale xy-vector length to limit	79	// rescale xy-vector length to limit
80	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)
81	{	81	{
82	uint8_t retval = 0;	82	uint8_t retval = 0;
83	int32_t len;	83	int32_t len;
84	len = (int32_t)c_sqrt(x x + y * *y);	84	len = (int32_t)c_sqrt(x x + y * *y);
85	if (len > limit)	85	if (len > limit)
86	{	86	{
87	// normalize control vector components to the limit	87	// normalize control vector components to the limit
88	x = (x * limit) / len;	88	x = (x * limit) / len;
89	y = (y * limit) / len;	89	y = (y * limit) / len;
90	retval = 1;	90	retval = 1;
91	}	91	}
92	return(retval);	92	return(retval);
93	}	93	}
94		94
95	// checks nick and roll sticks for manual control	95	// checks nick and roll sticks for manual control
96	uint8_t GPS_IsManualControlled(void)	96	uint8_t GPS_IsManualControlled(void)
97	{	97	{
98	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;
99	else return 1;	99	else return 1;
100	}	100	}
101		101
102	// set given position to current gps position	102	// set given position to current gps position
103	uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos)	103	uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos)
104	{	104	{
105	uint8_t retval = 0;	105	uint8_t retval = 0;
106	if(pGPSPos == NULL) return(retval); // bad pointer	106	if(pGPSPos == NULL) return(retval); // bad pointer
107		107
108	if(GPS_IsSignalOK())	108	if(GPS_IsSignalOK())
109	{ // is GPS signal condition is fine	109	{ // is GPS signal condition is fine
110	pGPSPos->Longitude = GPSInfo.longitude;	110	pGPSPos->Longitude = GPSInfo.longitude;
111	pGPSPos->Latitude = GPSInfo.latitude;	111	pGPSPos->Latitude = GPSInfo.latitude;
112	pGPSPos->Altitude = GPSInfo.altitude;	112	pGPSPos->Altitude = GPSInfo.altitude;
113	pGPSPos->Status = NEWDATA;	113	pGPSPos->Status = NEWDATA;
114	retval = 1;	114	retval = 1;
115	}	115	}
116	else	116	else
117	{ // bad GPS signal condition	117	{ // bad GPS signal condition
118	pGPSPos->Status = INVALID;	118	pGPSPos->Status = INVALID;
119	retval = 0;	119	retval = 0;
120	}	120	}
121	return(retval);	121	return(retval);
122	}	122	}
123		123
124	// clear position	124	// clear position
125	uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos)	125	uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos)
126	{	126	{
127	uint8_t retval = 0;	127	uint8_t retval = 0;
128	if(pGPSPos == NULL) return(retval); // bad pointer	128	if(pGPSPos == NULL) return(retval); // bad pointer
129	else	129	else
130	{	130	{
131	pGPSPos->Longitude = 0;	131	pGPSPos->Longitude = 0;
132	pGPSPos->Latitude = 0;	132	pGPSPos->Latitude = 0;
133	pGPSPos->Altitude = 0;	133	pGPSPos->Altitude = 0;
134	pGPSPos->Status = INVALID;	134	pGPSPos->Status = INVALID;
135	retval = 1;	135	retval = 1;
136	}	136	}
137	return (retval);	137	return (retval);
138	}	138	}
139		139
140	// disable GPS control sticks	140	// disable GPS control sticks
141	void GPS_Neutral(void)	141	void GPS_Neutral(void)
142	{	142	{
143	GPS_Nick = 0;	143	GPS_Nick = 0;
144	GPS_Roll = 0;	144	GPS_Roll = 0;
145	}	145	}
146		146
147	// 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
148	// 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
149	// then the P part of the controller is deactivated.	149	// then the P part of the controller is deactivated.
150	void GPS_PIDController(GPS_Pos_t *pTargetPos)	150	void GPS_PIDController(GPS_Pos_t *pTargetPos)
151	{	151	{
152	int32_t PID_Nick, PID_Roll;	152	static int32_t PID_Nick, PID_Roll;
153	int32_t coscompass, sincompass;	153	int32_t coscompass, sincompass;
154	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm	154	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
155	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;	155	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;
156	int32_t PID_North = 0, PID_East = 0;	156	int32_t PID_North = 0, PID_East = 0;
157	static int32_t cos_target_latitude = 1;	157	static int32_t cos_target_latitude = 1;
158	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;	158	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;
159	static GPS_Pos_t *pLastTargetPos = 0;	159	static GPS_Pos_t *pLastTargetPos = 0;
160		160
161	// if GPS data and Compass are ok	161	// if GPS data and Compass are ok
162	if( GPS_IsSignalOK() && (CompassHeading >= 0) )	162	if( GPS_IsSignalOK() && (CompassHeading >= 0) )
163	{	163	{
164		164
165	if(pTargetPos != NULL) // if there is a target position	165	if(pTargetPos != NULL) // if there is a target position
166	{	166	{
167	if(pTargetPos->Status != INVALID) // and the position data are valid	167	if(pTargetPos->Status != INVALID) // and the position data are valid
168	{	168	{
169	// 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
170	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )	170	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )
171	{	171	{
172	// reset error integral	172	// reset error integral
173	GPSPosDevIntegral_North = 0;	173	GPSPosDevIntegral_North = 0;
174	GPSPosDevIntegral_East = 0;	174	GPSPosDevIntegral_East = 0;
175	// recalculate latitude projection	175	// recalculate latitude projection
176	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));
177	// remember last target pointer	177	// remember last target pointer
178	pLastTargetPos = pTargetPos;	178	pLastTargetPos = pTargetPos;
179	// mark data as processed	179	// mark data as processed
180	pTargetPos->Status = PROCESSED;	180	pTargetPos->Status = PROCESSED;
181	}	181	}
182	// calculate position deviation from latitude and longitude differences	182	// calculate position deviation from latitude and longitude differences
183	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally	183	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally
184	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally	184	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally
185	// calculate latitude projection	185	// calculate latitude projection
186	GPSPosDev_East *= cos_target_latitude;	186	GPSPosDev_East *= cos_target_latitude;
187	GPSPosDev_East /= 8192;	187	GPSPosDev_East /= 8192;
188	}	188	}
189	else // no valid target position available	189	else // no valid target position available
190	{	190	{
191	// reset error	191	// reset error
192	GPSPosDev_North = 0;	192	GPSPosDev_North = 0;
193	GPSPosDev_East = 0;	193	GPSPosDev_East = 0;
194	// reset error integral	194	// reset error integral
195	GPSPosDevIntegral_North = 0;	195	GPSPosDevIntegral_North = 0;
196	GPSPosDevIntegral_East = 0;	196	GPSPosDevIntegral_East = 0;
197	}	197	}
198	}	198	}
199	else // no target position available	199	else // no target position available
200	{	200	{
201	// reset error	201	// reset error
202	GPSPosDev_North = 0;	202	GPSPosDev_North = 0;
203	GPSPosDev_East = 0;	203	GPSPosDev_East = 0;
204	// reset error integral	204	// reset error integral
205	GPSPosDevIntegral_North = 0;	205	GPSPosDevIntegral_North = 0;
206	GPSPosDevIntegral_East = 0;	206	GPSPosDevIntegral_East = 0;
207	}	207	}
208		208
209	//Calculate PID-components of the controller (negative sign for compensation)	209	//Calculate PID-components of the controller
210		210
211	// P-Part	211	// P-Part
212	P_North = -((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/512;	212	P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/512;
213	P_East = -((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/512;	213	P_East = ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/512;
214		214
215	// I-Part	215	// I-Part
216	I_North = -((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/2048;	216	I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/2048;
217	I_East = -((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/2048;	217	I_East = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/2048;
218		218
219	// combine P- & I-Part	219	// combine P- & I-Part
220	PID_North = P_North + I_North;	220	PID_North = P_North + I_North;
221	PID_East = P_East + I_East;	221	PID_East = P_East + I_East;
222		222
223	//limit PI-Part	223	//limit PI-Part
224	if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))	224	if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))
225	{	225	{
226	// P-Part limit is not reached	226	// P-Part limit is not reached
227	// update position error integrals	227	// update position error integrals
228	GPSPosDevIntegral_North += GPSPosDev_North/16;	228	GPSPosDevIntegral_North += GPSPosDev_North/16;
229	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;
230	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;
231	GPSPosDevIntegral_East += GPSPosDev_East/16;	231	GPSPosDevIntegral_East += GPSPosDev_East/16;
232	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;
233	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;
234	}	234	}
235		235
236	// D-Part	236	// D-Part
237	D_North = -((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/ 128;	237	D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/ 128;
238	D_East = -((int32_t)FCParam.NaviGpsD * GPSInfo.veleast) / 128;	238	D_East = ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast) / 128;
239		239
240	// combine PI- and D-Part	240	// combine PI- and D-Part
241	PID_North += D_North;	241	PID_North += D_North;
242	PID_East += D_East;	242	PID_East += D_East;
243		243
244	// scale combination with gain.	244	// scale combination with gain.
245	PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100;	245	PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100;
246	PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / 100;	246	PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / 100;
247		247
248	// GPS to nick and roll settings	248	// GPS to nick and roll settings
249		249
250	// A positive nick angle moves head downwards (flying forward).	250	// A positive nick angle moves head downwards (flying forward).
251	// A positive roll angle tilts left side downwards (flying left).	251	// A positive roll angle tilts left side downwards (flying left).
252	// If compass heading is 0 the head of the copter is in north direction.	252	// If compass heading is 0 the head of the copter is in north direction.
253	// A positive nick angle will fly to north and a positive roll angle will fly to west.	253	// A positive nick angle will fly to north and a positive roll angle will fly to west.
254	// In case of a positive north deviation/velocity the	254	// In case of a positive north deviation/velocity the
255	// copter should fly to south (negative nick).	255	// copter should fly to south (negative nick).
256	// 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
257	// copter should fly to west (positive roll).	257	// copter should fly to west (positive roll).
258	// 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
259	// 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
260	// 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.
261		261
262	coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);	262	coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);
263	sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);	263	sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GYRO_DEG_FACTOR);
264	PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192;	264	PID_Nick = (PID_Nick + (coscompass * PID_North + sincompass * PID_East) / 8192)/2;
265	PID_Nick = -1((sincompass PID_East + coscompass * PID_North) / 8192);	265	PID_Roll = (PID_Roll + (sincompass * PID_North - coscompass * PID_East) / 8192)/2;
-		266
266		267
267	// limit resulting GPS control vector	268	// limit resulting GPS control vector
268	GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);	269	GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);
269		270
270	GPS_Nick = (int16_t)PID_Nick;	271	GPS_Nick = (int16_t)PID_Nick;
271	GPS_Roll = (int16_t)PID_Roll;	272	GPS_Roll = (int16_t)PID_Roll;
272	}	273	}
273	else // invalid GPS data or bad compass reading	274	else // invalid GPS data or bad compass reading
274	{	275	{
275	GPS_Neutral(); // do nothing	276	GPS_Neutral(); // do nothing
276	// reset error integral	277	// reset error integral
277	GPSPosDevIntegral_North = 0;	278	GPSPosDevIntegral_North = 0;
278	GPSPosDevIntegral_East = 0;	279	GPSPosDevIntegral_East = 0;
279	}	280	}
280	}	281	}
281		282
282		283
283		284
284		285
285	void GPS_Main(void)	286	void GPS_Main(void)
286	{	287	{
287	static uint8_t GPS_P_Delay = 0;	288	static uint8_t GPS_P_Delay = 0;
288	uint16_t beep_rythm = 0;	289	static uint16_t beep_rythm = 0;
289		290
290	GPS_UpdateParameter();	291	GPS_UpdateParameter();
291		292
292	// store home position if start of flight flag is set	293	// store home position if start of flight flag is set
293	if(MKFlags & MKFLAG_CALIBRATE)	294	if(MKFlags & MKFLAG_CALIBRATE)
294	{	295	{
295	GPS_SetCurrPosition(&HomePosition);	296	if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;
296	}	297	}
297		298
298	switch(GPSInfo.status)	299	switch(GPSInfo.status)
299	{	300	{
300	case INVALID: // invalid gps data	301	case INVALID: // invalid gps data
301	GPS_Neutral();	302	GPS_Neutral();
302	if(FlightMode != GPS_FLIGHT_MODE_FREE)	303	if(FlightMode != GPS_FLIGHT_MODE_FREE)
303	{	304	{
304	BeepTime = 100; // beep if signal is neccesary	305	BeepTime = 100; // beep if signal is neccesary
305	}	306	}
306	break;	307	break;
307	case PROCESSED: // if gps data are already processed do nothing	308	case PROCESSED: // if gps data are already processed do nothing
308	// downcount timeout	309	// downcount timeout
309	if(GPSTimeout) GPSTimeout--;	310	if(GPSTimeout) GPSTimeout--;
310	// if no new data arrived within timeout set current data invalid	311	// if no new data arrived within timeout set current data invalid
311	// and therefore disable GPS	312	// and therefore disable GPS
312	else	313	else
313	{	314	{
314	GPS_Neutral();	315	GPS_Neutral();
315	GPSInfo.status = INVALID;	316	GPSInfo.status = INVALID;
316	}	317	}
317	break;	318	break;
318	case NEWDATA: // new valid data from gps device	319	case NEWDATA: // new valid data from gps device
319	// if the gps data quality is good	320	// if the gps data quality is good
320	beep_rythm++;	321	beep_rythm++;
321		322
322	if (GPS_IsSignalOK())	323	if (GPS_IsSignalOK())
323	{	324	{
324	switch(FlightMode) // check what's to do	325	switch(FlightMode) // check what's to do
325	{	326	{
326	case GPS_FLIGHT_MODE_FREE:	327	case GPS_FLIGHT_MODE_FREE:
327	// update hold position to current gps position	328	// update hold position to current gps position
328	GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad	329	GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad
329	// disable gps control	330	// disable gps control
330	GPS_Neutral();	331	GPS_Neutral();
331	break;	332	break;
332		333
333	case GPS_FLIGHT_MODE_AID:	334	case GPS_FLIGHT_MODE_AID:
334	if(HoldPosition.Status != INVALID)	335	if(HoldPosition.Status != INVALID)
335	{	336	{
336	if( GPS_IsManualControlled() ) // MK controlled by user	337	if( GPS_IsManualControlled() ) // MK controlled by user
337	{	338	{
338	// update hold point to current gps position	339	// update hold point to current gps position
339	GPS_SetCurrPosition(&HoldPosition);	340	GPS_SetCurrPosition(&HoldPosition);
340	// disable gps control	341	// disable gps control
341	GPS_Neutral();	342	GPS_Neutral();
342	GPS_P_Delay = 0;	343	GPS_P_Delay = 0;
343	}	344	}
344	else // GPS control active	345	else // GPS control active
345	{	346	{
346	if(GPS_P_Delay < 7)	347	if(GPS_P_Delay < 7)
347	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)	348	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
348	GPS_P_Delay++;	349	GPS_P_Delay++;
349	GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position	350	GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position
350	GPS_PIDController(NULL); // activates only the D-Part	351	GPS_PIDController(NULL); // activates only the D-Part
351	}	352	}
352	else GPS_PIDController(&HoldPosition);// activates the P&D-Part	353	else GPS_PIDController(&HoldPosition);// activates the P&D-Part
353	}	354	}
354	}	355	}
355	else // invalid Hold Position	356	else // invalid Hold Position
356	{ // try to catch a valid hold position from gps data input	357	{ // try to catch a valid hold position from gps data input
357	GPS_SetCurrPosition(&HoldPosition);	358	GPS_SetCurrPosition(&HoldPosition);
358	GPS_Neutral();	359	GPS_Neutral();
359	}	360	}
360	break;	361	break;
361		362
362	case GPS_FLIGHT_MODE_HOME:	363	case GPS_FLIGHT_MODE_HOME:
363	if(HomePosition.Status != INVALID)	364	if(HomePosition.Status != INVALID)
364	{	365	{
365	// update hold point to current gps position	366	// update hold point to current gps position
366	// to avoid a flight back if home comming is deactivated	367	// to avoid a flight back if home comming is deactivated
367	GPS_SetCurrPosition(&HoldPosition);	368	GPS_SetCurrPosition(&HoldPosition);
368	if( GPS_IsManualControlled() ) // MK controlled by user	369	if( GPS_IsManualControlled() ) // MK controlled by user
369	{	370	{
370	GPS_Neutral();	371	GPS_Neutral();
371	}	372	}
372	else // GPS control active	373	else // GPS control active
373	{	374	{
374	GPS_PIDController(&HomePosition);	375	GPS_PIDController(&HomePosition);
375	}	376	}
376	}	377	}
377	else // bad home position	378	else // bad home position
378	{	379	{
379	BeepTime = 50; // signal invalid home position	380	BeepTime = 50; // signal invalid home position
380	// try to hold at least the position as a fallback option	381	// try to hold at least the position as a fallback option
381		382
382	if (HoldPosition.Status != INVALID)	383	if (HoldPosition.Status != INVALID)
383	{	384	{
384	if( GPS_IsManualControlled() ) // MK controlled by user	385	if( GPS_IsManualControlled() ) // MK controlled by user
385	{	386	{
386	GPS_Neutral();	387	GPS_Neutral();
387	}	388	}
388	else // GPS control active	389	else // GPS control active
389	{	390	{
390	GPS_PIDController(&HoldPosition);	391	GPS_PIDController(&HoldPosition);
391	}	392	}
392	}	393	}
393	else	394	else
394	{ // try to catch a valid hold position	395	{ // try to catch a valid hold position
395	GPS_SetCurrPosition(&HoldPosition);	396	GPS_SetCurrPosition(&HoldPosition);
396	GPS_Neutral();	397	GPS_Neutral();
397	}	398	}
398	}	399	}
399	break; // eof TSK_HOME	400	break; // eof TSK_HOME
400	default: // unhandled task	401	default: // unhandled task
401	GPS_Neutral();	402	GPS_Neutral();
402	break; // eof default	403	break; // eof default
403	} // eof switch GPS_Task	404	} // eof switch GPS_Task
404	} // eof gps data quality is good	405	} // eof gps data quality is good
405	else // gps data quality is bad	406	else // gps data quality is bad
406	{ // disable gps control	407	{ // disable gps control
407	GPS_Neutral();	408	GPS_Neutral();
408	// beep if signal is not sufficient	409	// beep if signal is not sufficient
409	if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;	410	if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;
410	else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;	411	else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;
411	}	412	}
412	// set current data as processed to avoid further calculations on the same gps data	413	// set current data as processed to avoid further calculations on the same gps data
413	GPSInfo.status = PROCESSED;	414	GPSInfo.status = PROCESSED;
414	break;	415	break;
415	} // eof GPSInfo.status	416	} // eof GPSInfo.status
416	}	417	}
417		418
418		419

Subversion Repositories FlightCtrl

(root)/branches/V0.73d Code Redesign killagreg/gps.c @ 1354 - Rev 937 → 938