WebSVN - FlightCtrl - Diff - Rev 2074 and 2076 - /branches/dongfang_FC


// Navigation with a GPS directly attached to the FC's UART1.
 
#include <inttypes.h>
#include <stdlib.h>
#include <stddef.h>
#include "ubx.h"
#include "configuration.h"
#include "controlMixer.h"
#include "output.h"
#include "isqrt.h"
#include "attitude.h"
#include "dongfangMath.h"
#include "attitude.h"
 
typedef enum {
  NAVI_FLIGHT_MODE_UNDEF,
  NAVI_FLIGHT_MODE_FREE,
  NAVI_FLIGHT_MODE_AID,
  NAVI_FLIGHT_MODE_HOME,
} FlightMode_t;
 
typedef enum {
  NAVI_STATUS_FREEFLIGHT=0,
  NAVI_STATUS_INVALID_GPS=1,
  NAVI_STATUS_BAD_GPS_SIGNAL=2,
  NAVI_STATUS_MANUAL_OVERRIDE=5,
  NAVI_STATUS_POSITION_HOLD=7,
  NAVI_STATUS_RTH=8,
  NAVI_STATUS_HOLD_POSITION_INVALID=9,
  NAVI_STATUS_RTH_FALLBACK_ON_HOLD=10,
  NAVI_STATUS_RTH_POSITION_INVALID=11,
  NAVI_STATUS_GPS_TIMEOUT=12
} NaviStatus_t;
 
#define GPS_POSINTEGRAL_LIMIT 32000
#define LOG_NAVI_STICK_GAIN 3
#define GPS_P_LIMIT                     100
 
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 = NAVI_FLIGHT_MODE_UNDEF;
int16_t naviSticks[2] = {0,0};
 
uint8_t naviStatus;
 
// ---------------------------------------------------------------------------------
void navi_updateFlightMode(void) {
  static FlightMode_t flightModeOld = NAVI_FLIGHT_MODE_UNDEF;
 
  if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) {
    flightMode = NAVI_FLIGHT_MODE_FREE;
  } else {
    if (dynamicParams.naviMode < 50)
      flightMode = NAVI_FLIGHT_MODE_FREE;
    else if (dynamicParams.naviMode < 180)
      flightMode = NAVI_FLIGHT_MODE_AID;
    else
      flightMode = NAVI_FLIGHT_MODE_HOME;
  }
 
  if (flightMode != flightModeOld) {
    beep(100);
    flightModeOld = flightMode;
  }
}
 
// ---------------------------------------------------------------------------------
// This function defines a good GPS signal condition
uint8_t navi_isGPSSignalOK(void) {
  static uint8_t GPSFix = 0;
  if ((GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D)
      && (GPSInfo.flags & FLAG_GPSFIXOK)
      && ((GPSInfo.satnum >= staticParams.GPSMininumSatellites) || GPSFix)) {
    GPSFix = 1;
    return 1;
  } else
    return (0);
}
 
// ---------------------------------------------------------------------------------
// rescale xy-vector length to  limit
uint8_t navi_limitXY(int32_t *x, int32_t *y, int32_t limit) {
  int32_t len;
  len = isqrt32(*x * *x + *y * *y);
  if (len > limit) {
    // normalize control vector components to the limit
    *x = (*x * limit) / len;
    *y = (*y * limit) / len;
    return 1;
  }
  return 0;
}
 
// checks nick and roll sticks for manual control
uint8_t navi_isManuallyControlled(int16_t* PRTY) {
  debugOut.analog[26] = PRTY[CONTROL_PITCH];
  debugOut.analog[27] = PRTY[CONTROL_ROLL];
  if (abs(PRTY[CONTROL_PITCH]) < staticParams.naviStickThreshold
      && abs(PRTY[CONTROL_ROLL]) < staticParams.naviStickThreshold)
    return 0;
  else
    return 1;
}
 
// set given position to current gps position
uint8_t navi_writeCurrPositionTo(GPS_Pos_t * pGPSPos) {
  if (pGPSPos == NULL)
    return 0; // bad pointer
 
  if (navi_isGPSSignalOK()) { // is GPS signal condition is fine
    pGPSPos->longitude = GPSInfo.longitude;
    pGPSPos->latitude = GPSInfo.latitude;
    pGPSPos->altitude = GPSInfo.altitude;
    pGPSPos->status = NEWDATA;
    return 1;
  } else { // bad GPS signal condition
    pGPSPos->status = INVALID;
    return 0;
  }
}
 
// clear position
uint8_t navi_clearPosition(GPS_Pos_t * pGPSPos) {
  if (pGPSPos == NULL)
    return 0; // bad pointer
  else {
    pGPSPos->longitude = 0;
    pGPSPos->latitude = 0;
    pGPSPos->altitude = 0;
    pGPSPos->status = INVALID;
  }
  return 1;
}
 
void navi_setNeutral(void) {
  naviSticks[CONTROL_PITCH] = naviSticks[CONTROL_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 navi_PIDController(GPS_Pos_t *pTargetPos) {
  static int32_t PID_Pitch, 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 (navi_isGPSSignalOK() && (magneticHeading >= 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 = cos_360(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 >>= LOG_MATH_UNIT_FACTOR;
      } 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) staticParams.naviD * GPSInfo.velnorth) >> 9;
    D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) >> 9;
 
    // P-Part
    P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) >> 11;
    P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) >> 11;
 
    // I-Part
    I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) >> 13;
    I_East = ((int32_t) staticParams.naviI * GPSPosDevIntegral_East) >> 13;
 
    // combine P & I
    PID_North = P_North + I_North;
    PID_East = P_East + I_East;
 
    if (!navi_limitXY(&PID_North, &PID_East, GPS_P_LIMIT)) {
      // within limit
      GPSPosDevIntegral_North += GPSPosDev_North >> 4;
      GPSPosDevIntegral_East += GPSPosDev_East >> 4;
      navi_limitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);
    }
 
    // combine PI- and D-Part
    PID_North += D_North;
    PID_East += D_East;
 
    // scale combination with gain.
    // dongfang: Lets not do that. P I and D can be scaled instead.
    // PID_North = (PID_North * (int32_t) staticParams.NaviGpsGain) / 100;
    // PID_East = (PID_East * (int32_t) staticParams.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 GPSStickNick and GPSStickRoll variable is contrarily to the stick values
    // in the flight.c. Therefore a positive north deviation/velocity should result in a positive
    // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll.
 
    coscompass = -cos_360(heading / GYRO_DEG_FACTOR_YAW);
    sincompass = -sin_360(heading / GYRO_DEG_FACTOR_YAW);
 
    PID_Pitch = (coscompass * PID_North + sincompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN);
    PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN);
 
    // limit resulting GPS control vector
    navi_limitXY(&PID_Pitch, &PID_Roll, staticParams.naviStickLimit << LOG_NAVI_STICK_GAIN);
 
 
 
 
    naviSticks[CONTROL_PITCH] = PID_Pitch;
    naviSticks[CONTROL_ROLL] = PID_Roll;
  } else { // invalid GPS data or bad compass reading
    // reset error integral
    navi_setNeutral();
    GPSPosDevIntegral_North = 0;
    GPSPosDevIntegral_East = 0;
  }
}
 
void navigation_periodicTaskAndPRTY(int16_t* PRTY) {
  static uint8_t GPS_P_Delay = 0;
  static uint16_t beep_rythm = 0;
 
  navi_updateFlightMode();
 
  // store home position if start of flight flag is set
  if (MKFlags & MKFLAG_CALIBRATE) {
    MKFlags &= ~(MKFLAG_CALIBRATE);
    if (navi_writeCurrPositionTo(&homePosition)) {
        // shift north to simulate an offset.
        // homePosition.latitude += 10000L;
        beep(500);
      }
    }
 
  switch (GPSInfo.status) {
  case INVALID: // invalid gps data
    navi_setNeutral();
    naviStatus = NAVI_STATUS_INVALID_GPS;
    if (flightMode != NAVI_FLIGHT_MODE_FREE) {
      beep(1); // 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 {
      navi_setNeutral();
      GPSInfo.status = INVALID;
      naviStatus = NAVI_STATUS_GPS_TIMEOUT;
    }
    break;
  case NEWDATA: // new valid data from gps device
    // if the gps data quality is good
    beep_rythm++;
    if (navi_isGPSSignalOK()) {
      switch (flightMode) { // check what's to do
      case NAVI_FLIGHT_MODE_FREE:
        // update hold position to current gps position
        navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad
        // disable gps control
        navi_setNeutral();
        naviStatus = NAVI_STATUS_FREEFLIGHT;
        break;
 
      case NAVI_FLIGHT_MODE_AID:
        if (holdPosition.status != INVALID) {
          if (navi_isManuallyControlled(PRTY)) { // MK controlled by user
            // update hold point to current gps position
            navi_writeCurrPositionTo(&holdPosition);
            // disable gps control
            navi_setNeutral();
            GPS_P_Delay = 0;
            naviStatus = NAVI_STATUS_MANUAL_OVERRIDE;
          } else { // GPS control active
            if (GPS_P_Delay < 7) {
              // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
              GPS_P_Delay++;
              navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position
              navi_PIDController(NULL); // activates only the D-Part
              naviStatus = NAVI_STATUS_POSITION_HOLD;
            } else {
              navi_PIDController(&holdPosition); // activates the P&D-Part
              naviStatus = NAVI_STATUS_POSITION_HOLD;
            }
          }
        } else { // invalid Hold Position
        // try to catch a valid hold position from gps data input
          navi_writeCurrPositionTo(&holdPosition);
          navi_setNeutral();
          naviStatus = NAVI_STATUS_HOLD_POSITION_INVALID;
        }
        break;
 
      case NAVI_FLIGHT_MODE_HOME:
        if (homePosition.status != INVALID) {
          // update hold point to current gps position
          // to avoid a flight back if home comming is deactivated
          navi_writeCurrPositionTo(&holdPosition);
          if (navi_isManuallyControlled(PRTY)) { // MK controlled by user
            navi_setNeutral();
            naviStatus = NAVI_STATUS_MANUAL_OVERRIDE;
          } else {// GPS control active
            navi_PIDController(&homePosition);
          }
          naviStatus = NAVI_STATUS_RTH;
        } else {
          // bad home position
          beep(50); // signal invalid home position
          // try to hold at least the position as a fallback option
          if (holdPosition.status != INVALID) {
            if (navi_isManuallyControlled(PRTY)) {
              // MK controlled by user
              navi_setNeutral();
              naviStatus = NAVI_STATUS_MANUAL_OVERRIDE;
            } else {
              // GPS control active
              navi_PIDController(&holdPosition);
              naviStatus = NAVI_STATUS_RTH_FALLBACK_ON_HOLD;
            }
          } else { // try to catch a valid hold position
            navi_writeCurrPositionTo(&holdPosition);
            naviStatus = NAVI_STATUS_RTH_POSITION_INVALID;
            navi_setNeutral();
          }
        }
        break; // eof TSK_HOME
      default: // unhandled task
        navi_setNeutral();
        break; // eof default
      } // eof switch GPS_Task
    } // eof gps data quality is good
    else { // gps data quality is bad
      // disable gps control
      navi_setNeutral();
      naviStatus = NAVI_STATUS_BAD_GPS_SIGNAL;
      if (flightMode != NAVI_FLIGHT_MODE_FREE) {
        // beep if signal is not sufficient
        if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5))
          beep(100);
        else if (GPSInfo.satnum < staticParams.GPSMininumSatellites
            && !(beep_rythm % 5))
          beep(10);
      }
    }
    // set current data as processed to avoid further calculations on the same gps data
    GPSInfo.status = PROCESSED;
    break;
  } // eof GPSInfo.status
 
  PRTY[CONTROL_PITCH] += naviSticks[CONTROL_PITCH];
  PRTY[CONTROL_ROLL] += naviSticks[CONTROL_ROLL];
 
  debugOut.analog[16] = flightMode;
  debugOut.analog[17] = naviStatus;
 
  debugOut.analog[18] = naviSticks[CONTROL_PITCH];
  debugOut.analog[19] = naviSticks[CONTROL_ROLL];
}
 

Rev 2074	Rev 2076
1	// Navigation with a GPS directly attached to the FC's UART1.	1	// Navigation with a GPS directly attached to the FC's UART1.
2		2
3	#include <inttypes.h>	3	#include <inttypes.h>
4	#include <stdlib.h>	4	#include <stdlib.h>
5	#include <stddef.h>	5	#include <stddef.h>
6	#include "ubx.h"	6	#include "ubx.h"
7	#include "configuration.h"	7	#include "configuration.h"
8	#include "controlMixer.h"	8	#include "controlMixer.h"
9	#include "output.h"	9	#include "output.h"
10	#include "isqrt.h"	10	#include "isqrt.h"
11	#include "attitude.h"	11	#include "attitude.h"
12	#include "dongfangMath.h"	12	#include "dongfangMath.h"
13	#include "attitude.h"	13	#include "attitude.h"
14		14
15	typedef enum {	15	typedef enum {
16	NAVI_FLIGHT_MODE_UNDEF,	16	NAVI_FLIGHT_MODE_UNDEF,
17	NAVI_FLIGHT_MODE_FREE,	17	NAVI_FLIGHT_MODE_FREE,
18	NAVI_FLIGHT_MODE_AID,	18	NAVI_FLIGHT_MODE_AID,
19	NAVI_FLIGHT_MODE_HOME,	19	NAVI_FLIGHT_MODE_HOME,
20	} FlightMode_t;	20	} FlightMode_t;
21		21
22	typedef enum {	22	typedef enum {
23	NAVI_STATUS_FREEFLIGHT=0,	23	NAVI_STATUS_FREEFLIGHT=0,
24	NAVI_STATUS_INVALID_GPS=1,	24	NAVI_STATUS_INVALID_GPS=1,
25	NAVI_STATUS_BAD_GPS_SIGNAL=2,	25	NAVI_STATUS_BAD_GPS_SIGNAL=2,
26	NAVI_STATUS_MANUAL_OVERRIDE=5,	26	NAVI_STATUS_MANUAL_OVERRIDE=5,
27	NAVI_STATUS_POSITION_HOLD=7,	27	NAVI_STATUS_POSITION_HOLD=7,
28	NAVI_STATUS_RTH=8,	28	NAVI_STATUS_RTH=8,
29	NAVI_STATUS_HOLD_POSITION_INVALID=9,	29	NAVI_STATUS_HOLD_POSITION_INVALID=9,
30	NAVI_STATUS_RTH_FALLBACK_ON_HOLD=10,	30	NAVI_STATUS_RTH_FALLBACK_ON_HOLD=10,
31	NAVI_STATUS_RTH_POSITION_INVALID=11,	31	NAVI_STATUS_RTH_POSITION_INVALID=11,
32	NAVI_STATUS_GPS_TIMEOUT=12	32	NAVI_STATUS_GPS_TIMEOUT=12
33	} NaviStatus_t;	33	} NaviStatus_t;
34		34
35	#define GPS_POSINTEGRAL_LIMIT 32000	35	#define GPS_POSINTEGRAL_LIMIT 32000
36	#define LOG_NAVI_STICK_GAIN 3	36	#define LOG_NAVI_STICK_GAIN 3
37	#define GPS_P_LIMIT 100	37	#define GPS_P_LIMIT 100
38		38
39	typedef struct {	39	typedef struct {
40	int32_t longitude;	40	int32_t longitude;
41	int32_t latitude;	41	int32_t latitude;
42	int32_t altitude;	42	int32_t altitude;
43	Status_t status;	43	Status_t status;
44	} GPS_Pos_t;	44	} GPS_Pos_t;
45		45
46	// GPS coordinates for hold position	46	// GPS coordinates for hold position
47	GPS_Pos_t holdPosition = { 0, 0, 0, INVALID };	47	GPS_Pos_t holdPosition = { 0, 0, 0, INVALID };
48	// GPS coordinates for home position	48	// GPS coordinates for home position
49	GPS_Pos_t homePosition = { 0, 0, 0, INVALID };	49	GPS_Pos_t homePosition = { 0, 0, 0, INVALID };
50	// the current flight mode	50	// the current flight mode
51	FlightMode_t flightMode = NAVI_FLIGHT_MODE_UNDEF;	51	FlightMode_t flightMode = NAVI_FLIGHT_MODE_UNDEF;
52	int16_t naviSticks[2] = {0,0};	52	int16_t naviSticks[2] = {0,0};
53		53
54	uint8_t naviStatus;	54	uint8_t naviStatus;
55		55
56	// ---------------------------------------------------------------------------------	56	// ---------------------------------------------------------------------------------
57	void navi_updateFlightMode(void) {	57	void navi_updateFlightMode(void) {
58	static FlightMode_t flightModeOld = NAVI_FLIGHT_MODE_UNDEF;	58	static FlightMode_t flightModeOld = NAVI_FLIGHT_MODE_UNDEF;
59		59
60	if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) {	60	if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) {
61	flightMode = NAVI_FLIGHT_MODE_FREE;	61	flightMode = NAVI_FLIGHT_MODE_FREE;
62	} else {	62	} else {
63	if (dynamicParams.naviMode < 50)	63	if (dynamicParams.naviMode < 50)
64	flightMode = NAVI_FLIGHT_MODE_FREE;	64	flightMode = NAVI_FLIGHT_MODE_FREE;
65	else if (dynamicParams.naviMode < 180)	65	else if (dynamicParams.naviMode < 180)
66	flightMode = NAVI_FLIGHT_MODE_AID;	66	flightMode = NAVI_FLIGHT_MODE_AID;
67	else	67	else
68	flightMode = NAVI_FLIGHT_MODE_HOME;	68	flightMode = NAVI_FLIGHT_MODE_HOME;
69	}	69	}
70		70
71	if (flightMode != flightModeOld) {	71	if (flightMode != flightModeOld) {
72	beep(100);	72	beep(100);
73	flightModeOld = flightMode;	73	flightModeOld = flightMode;
74	}	74	}
75	}	75	}
76		76
77	// ---------------------------------------------------------------------------------	77	// ---------------------------------------------------------------------------------
78	// This function defines a good GPS signal condition	78	// This function defines a good GPS signal condition
79	uint8_t navi_isGPSSignalOK(void) {	79	uint8_t navi_isGPSSignalOK(void) {
80	static uint8_t GPSFix = 0;	80	static uint8_t GPSFix = 0;
81	if ((GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D)	81	if ((GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D)
82	&& (GPSInfo.flags & FLAG_GPSFIXOK)	82	&& (GPSInfo.flags & FLAG_GPSFIXOK)
83	&& ((GPSInfo.satnum >= staticParams.GPSMininumSatellites) \|\| GPSFix)) {	83	&& ((GPSInfo.satnum >= staticParams.GPSMininumSatellites) \|\| GPSFix)) {
84	GPSFix = 1;	84	GPSFix = 1;
85	return 1;	85	return 1;
86	} else	86	} else
87	return (0);	87	return (0);
88	}	88	}
89		89
90	// ---------------------------------------------------------------------------------	90	// ---------------------------------------------------------------------------------
91	// rescale xy-vector length to limit	91	// rescale xy-vector length to limit
92	uint8_t navi_limitXY(int32_t x, int32_t y, int32_t limit) {	92	uint8_t navi_limitXY(int32_t x, int32_t y, int32_t limit) {
93	int32_t len;	93	int32_t len;
94	len = isqrt32(x x + y * *y);	94	len = isqrt32(x x + y * *y);
95	if (len > limit) {	95	if (len > limit) {
96	// normalize control vector components to the limit	96	// normalize control vector components to the limit
97	x = (x * limit) / len;	97	x = (x * limit) / len;
98	y = (y * limit) / len;	98	y = (y * limit) / len;
99	return 1;	99	return 1;
100	}	100	}
101	return 0;	101	return 0;
102	}	102	}
103		103
104	// checks nick and roll sticks for manual control	104	// checks nick and roll sticks for manual control
105	uint8_t navi_isManuallyControlled(int16_t* PRTY) {	105	uint8_t navi_isManuallyControlled(int16_t* PRTY) {
-		106	debugOut.analog[26] = PRTY[CONTROL_PITCH];
-		107	debugOut.analog[27] = PRTY[CONTROL_ROLL];
106	if (PRTY[CONTROL_PITCH] < staticParams.naviStickThreshold	108	if (abs(PRTY[CONTROL_PITCH]) < staticParams.naviStickThreshold
107	&& PRTY[CONTROL_ROLL] < staticParams.naviStickThreshold)	109	&& abs(PRTY[CONTROL_ROLL]) < staticParams.naviStickThreshold)
108	return 0;	110	return 0;
109	else	111	else
110	return 1;	112	return 1;
111	}	113	}
112		114
113	// set given position to current gps position	115	// set given position to current gps position
114	uint8_t navi_writeCurrPositionTo(GPS_Pos_t * pGPSPos) {	116	uint8_t navi_writeCurrPositionTo(GPS_Pos_t * pGPSPos) {
115	if (pGPSPos == NULL)	117	if (pGPSPos == NULL)
116	return 0; // bad pointer	118	return 0; // bad pointer
117		119
118	if (navi_isGPSSignalOK()) { // is GPS signal condition is fine	120	if (navi_isGPSSignalOK()) { // is GPS signal condition is fine
119	pGPSPos->longitude = GPSInfo.longitude;	121	pGPSPos->longitude = GPSInfo.longitude;
120	pGPSPos->latitude = GPSInfo.latitude;	122	pGPSPos->latitude = GPSInfo.latitude;
121	pGPSPos->altitude = GPSInfo.altitude;	123	pGPSPos->altitude = GPSInfo.altitude;
122	pGPSPos->status = NEWDATA;	124	pGPSPos->status = NEWDATA;
123	return 1;	125	return 1;
124	} else { // bad GPS signal condition	126	} else { // bad GPS signal condition
125	pGPSPos->status = INVALID;	127	pGPSPos->status = INVALID;
126	return 0;	128	return 0;
127	}	129	}
128	}	130	}
129		131
130	// clear position	132	// clear position
131	uint8_t navi_clearPosition(GPS_Pos_t * pGPSPos) {	133	uint8_t navi_clearPosition(GPS_Pos_t * pGPSPos) {
132	if (pGPSPos == NULL)	134	if (pGPSPos == NULL)
133	return 0; // bad pointer	135	return 0; // bad pointer
134	else {	136	else {
135	pGPSPos->longitude = 0;	137	pGPSPos->longitude = 0;
136	pGPSPos->latitude = 0;	138	pGPSPos->latitude = 0;
137	pGPSPos->altitude = 0;	139	pGPSPos->altitude = 0;
138	pGPSPos->status = INVALID;	140	pGPSPos->status = INVALID;
139	}	141	}
140	return 1;	142	return 1;
141	}	143	}
142		144
143	void navi_setNeutral(void) {	145	void navi_setNeutral(void) {
144	naviSticks[CONTROL_PITCH] = naviSticks[CONTROL_ROLL] = 0;	146	naviSticks[CONTROL_PITCH] = naviSticks[CONTROL_ROLL] = 0;
145	}	147	}
146		148
147	// calculates the GPS control stick values from the deviation to target position	149	// calculates the GPS control stick values from the deviation to target position
148	// if the pointer to the target positin is NULL or is the target position invalid	150	// if the pointer to the target positin is NULL or is the target position invalid
149	// then the P part of the controller is deactivated.	151	// then the P part of the controller is deactivated.
150	void navi_PIDController(GPS_Pos_t *pTargetPos) {	152	void navi_PIDController(GPS_Pos_t *pTargetPos) {
151	static int32_t PID_Pitch, PID_Roll;	153	static int32_t PID_Pitch, PID_Roll;
152	int32_t coscompass, sincompass;	154	int32_t coscompass, sincompass;
153	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm	155	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
154	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;	156	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;
155	int32_t PID_North = 0, PID_East = 0;	157	int32_t PID_North = 0, PID_East = 0;
156	static int32_t cos_target_latitude = 1;	158	static int32_t cos_target_latitude = 1;
157	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;	159	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;
158	static GPS_Pos_t *pLastTargetPos = 0;	160	static GPS_Pos_t *pLastTargetPos = 0;
159		161
160	// if GPS data and Compass are ok	162	// if GPS data and Compass are ok
161	if (navi_isGPSSignalOK() && (magneticHeading >= 0)) {	163	if (navi_isGPSSignalOK() && (magneticHeading >= 0)) {
162	if (pTargetPos != NULL) { // if there is a target position	164	if (pTargetPos != NULL) { // if there is a target position
163	if (pTargetPos->status != INVALID) { // and the position data are valid	165	if (pTargetPos->status != INVALID) { // and the position data are valid
164	// if the target data are updated or the target pointer has changed	166	// if the target data are updated or the target pointer has changed
165	if ((pTargetPos->status != PROCESSED)	167	if ((pTargetPos->status != PROCESSED)
166	\|\| (pTargetPos != pLastTargetPos)) {	168	\|\| (pTargetPos != pLastTargetPos)) {
167	// reset error integral	169	// reset error integral
168	GPSPosDevIntegral_North = 0;	170	GPSPosDevIntegral_North = 0;
169	GPSPosDevIntegral_East = 0;	171	GPSPosDevIntegral_East = 0;
170	// recalculate latitude projection	172	// recalculate latitude projection
171	cos_target_latitude = cos_360(pTargetPos->latitude / 10000000L);	173	cos_target_latitude = cos_360(pTargetPos->latitude / 10000000L);
172	// remember last target pointer	174	// remember last target pointer
173	pLastTargetPos = pTargetPos;	175	pLastTargetPos = pTargetPos;
174	// mark data as processed	176	// mark data as processed
175	pTargetPos->status = PROCESSED;	177	pTargetPos->status = PROCESSED;
176	}	178	}
177	// calculate position deviation from latitude and longitude differences	179	// calculate position deviation from latitude and longitude differences
178	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->latitude); // to calculate real cm we would need *111/100 additionally	180	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->latitude); // to calculate real cm we would need *111/100 additionally
179	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->longitude); // to calculate real cm we would need *111/100 additionally	181	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->longitude); // to calculate real cm we would need *111/100 additionally
180	// calculate latitude projection	182	// calculate latitude projection
181	GPSPosDev_East *= cos_target_latitude;	183	GPSPosDev_East *= cos_target_latitude;
182	GPSPosDev_East >>= LOG_MATH_UNIT_FACTOR;	184	GPSPosDev_East >>= LOG_MATH_UNIT_FACTOR;
183	} else { // no valid target position available	185	} else { // no valid target position available
184	// reset error	186	// reset error
185	GPSPosDev_North = 0;	187	GPSPosDev_North = 0;
186	GPSPosDev_East = 0;	188	GPSPosDev_East = 0;
187	// reset error integral	189	// reset error integral
188	GPSPosDevIntegral_North = 0;	190	GPSPosDevIntegral_North = 0;
189	GPSPosDevIntegral_East = 0;	191	GPSPosDevIntegral_East = 0;
190	}	192	}
191	} else { // no target position available	193	} else { // no target position available
192	// reset error	194	// reset error
193	GPSPosDev_North = 0;	195	GPSPosDev_North = 0;
194	GPSPosDev_East = 0;	196	GPSPosDev_East = 0;
195	// reset error integral	197	// reset error integral
196	GPSPosDevIntegral_North = 0;	198	GPSPosDevIntegral_North = 0;
197	GPSPosDevIntegral_East = 0;	199	GPSPosDevIntegral_East = 0;
198	}	200	}
199		201
200	//Calculate PID-components of the controller	202	//Calculate PID-components of the controller
201	// D-Part	203	// D-Part
202	D_North = ((int32_t) staticParams.naviD * GPSInfo.velnorth) >> 9;	204	D_North = ((int32_t) staticParams.naviD * GPSInfo.velnorth) >> 9;
203	D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) >> 9;	205	D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) >> 9;
204		206
205	// P-Part	207	// P-Part
206	P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) >> 11;	208	P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) >> 11;
207	P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) >> 11;	209	P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) >> 11;
208		210
209	// I-Part	211	// I-Part
210	I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) >> 13;	212	I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) >> 13;
211	I_East = ((int32_t) staticParams.naviI * GPSPosDevIntegral_East) >> 13;	213	I_East = ((int32_t) staticParams.naviI * GPSPosDevIntegral_East) >> 13;
212		214
213	// combine P & I	215	// combine P & I
214	PID_North = P_North + I_North;	216	PID_North = P_North + I_North;
215	PID_East = P_East + I_East;	217	PID_East = P_East + I_East;
216		218
217	if (!navi_limitXY(&PID_North, &PID_East, GPS_P_LIMIT)) {	219	if (!navi_limitXY(&PID_North, &PID_East, GPS_P_LIMIT)) {
218	// within limit	220	// within limit
219	GPSPosDevIntegral_North += GPSPosDev_North >> 4;	221	GPSPosDevIntegral_North += GPSPosDev_North >> 4;
220	GPSPosDevIntegral_East += GPSPosDev_East >> 4;	222	GPSPosDevIntegral_East += GPSPosDev_East >> 4;
221	navi_limitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);	223	navi_limitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);
222	}	224	}
223		225
224	// combine PI- and D-Part	226	// combine PI- and D-Part
225	PID_North += D_North;	227	PID_North += D_North;
226	PID_East += D_East;	228	PID_East += D_East;
227		229
228	// scale combination with gain.	230	// scale combination with gain.
229	// dongfang: Lets not do that. P I and D can be scaled instead.	231	// dongfang: Lets not do that. P I and D can be scaled instead.
230	// PID_North = (PID_North * (int32_t) staticParams.NaviGpsGain) / 100;	232	// PID_North = (PID_North * (int32_t) staticParams.NaviGpsGain) / 100;
231	// PID_East = (PID_East * (int32_t) staticParams.NaviGpsGain) / 100;	233	// PID_East = (PID_East * (int32_t) staticParams.NaviGpsGain) / 100;
232		234
233	// GPS to nick and roll settings	235	// GPS to nick and roll settings
234	// A positive nick angle moves head downwards (flying forward).	236	// A positive nick angle moves head downwards (flying forward).
235	// A positive roll angle tilts left side downwards (flying left).	237	// A positive roll angle tilts left side downwards (flying left).
236	// If compass heading is 0 the head of the copter is in north direction.	238	// If compass heading is 0 the head of the copter is in north direction.
237	// A positive nick angle will fly to north and a positive roll angle will fly to west.	239	// A positive nick angle will fly to north and a positive roll angle will fly to west.
238	// In case of a positive north deviation/velocity the	240	// In case of a positive north deviation/velocity the
239	// copter should fly to south (negative nick).	241	// copter should fly to south (negative nick).
240	// In case of a positive east position deviation and a positive east velocity the	242	// In case of a positive east position deviation and a positive east velocity the
241	// copter should fly to west (positive roll).	243	// copter should fly to west (positive roll).
242	// The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values	244	// The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values
243	// in the flight.c. Therefore a positive north deviation/velocity should result in a positive	245	// in the flight.c. Therefore a positive north deviation/velocity should result in a positive
244	// GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll.	246	// GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll.
245		247
246	coscompass = -cos_360(heading / GYRO_DEG_FACTOR_YAW);	248	coscompass = -cos_360(heading / GYRO_DEG_FACTOR_YAW);
247	sincompass = -sin_360(heading / GYRO_DEG_FACTOR_YAW);	249	sincompass = -sin_360(heading / GYRO_DEG_FACTOR_YAW);
248		250
249	PID_Pitch = (coscompass * PID_North + sincompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN);	251	PID_Pitch = (coscompass * PID_North + sincompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN);
250	PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN);	252	PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN);
251		253
252	// limit resulting GPS control vector	254	// limit resulting GPS control vector
253	navi_limitXY(&PID_Pitch, &PID_Roll, staticParams.naviStickLimit << LOG_NAVI_STICK_GAIN);	255	navi_limitXY(&PID_Pitch, &PID_Roll, staticParams.naviStickLimit << LOG_NAVI_STICK_GAIN);
254		-
255	debugOut.analog[26] = PID_Pitch;	-
256	debugOut.analog[27] = PID_Roll;	-
257		256
258	naviSticks[CONTROL_PITCH] = PID_Pitch;	257	naviSticks[CONTROL_PITCH] = PID_Pitch;
259	naviSticks[CONTROL_ROLL] = PID_Roll;	258	naviSticks[CONTROL_ROLL] = PID_Roll;
260	} else { // invalid GPS data or bad compass reading	259	} else { // invalid GPS data or bad compass reading
261	// reset error integral	260	// reset error integral
262	navi_setNeutral();	261	navi_setNeutral();
263	GPSPosDevIntegral_North = 0;	262	GPSPosDevIntegral_North = 0;
264	GPSPosDevIntegral_East = 0;	263	GPSPosDevIntegral_East = 0;
265	}	264	}
266	}	265	}
267		266
268	void navigation_periodicTaskAndPRTY(int16_t* PRTY) {	267	void navigation_periodicTaskAndPRTY(int16_t* PRTY) {
269	static uint8_t GPS_P_Delay = 0;	268	static uint8_t GPS_P_Delay = 0;
270	static uint16_t beep_rythm = 0;	269	static uint16_t beep_rythm = 0;
271		270
272	navi_updateFlightMode();	271	navi_updateFlightMode();
273		272
274	// store home position if start of flight flag is set	273	// store home position if start of flight flag is set
275	if (MKFlags & MKFLAG_CALIBRATE) {	274	if (MKFlags & MKFLAG_CALIBRATE) {
276	MKFlags &= ~(MKFLAG_CALIBRATE);	275	MKFlags &= ~(MKFLAG_CALIBRATE);
277	if (navi_writeCurrPositionTo(&homePosition)) {	276	if (navi_writeCurrPositionTo(&homePosition)) {
278	// shift north to simulate an offset.	277	// shift north to simulate an offset.
279	// homePosition.latitude += 10000L;	278	// homePosition.latitude += 10000L;
280	beep(500);	279	beep(500);
281	}	280	}
282	}	281	}
283		282
284	switch (GPSInfo.status) {	283	switch (GPSInfo.status) {
285	case INVALID: // invalid gps data	284	case INVALID: // invalid gps data
286	navi_setNeutral();	285	navi_setNeutral();
287	naviStatus = NAVI_STATUS_INVALID_GPS;	286	naviStatus = NAVI_STATUS_INVALID_GPS;
288	if (flightMode != NAVI_FLIGHT_MODE_FREE) {	287	if (flightMode != NAVI_FLIGHT_MODE_FREE) {
289	beep(1); // beep if signal is neccesary	288	beep(1); // beep if signal is neccesary
290	}	289	}
291	break;	290	break;
292	case PROCESSED: // if gps data are already processed do nothing	291	case PROCESSED: // if gps data are already processed do nothing
293	// downcount timeout	292	// downcount timeout
294	if (GPSTimeout)	293	if (GPSTimeout)
295	GPSTimeout--;	294	GPSTimeout--;
296	// if no new data arrived within timeout set current data invalid	295	// if no new data arrived within timeout set current data invalid
297	// and therefore disable GPS	296	// and therefore disable GPS
298	else {	297	else {
299	navi_setNeutral();	298	navi_setNeutral();
300	GPSInfo.status = INVALID;	299	GPSInfo.status = INVALID;
301	naviStatus = NAVI_STATUS_GPS_TIMEOUT;	300	naviStatus = NAVI_STATUS_GPS_TIMEOUT;
302	}	301	}
303	break;	302	break;
304	case NEWDATA: // new valid data from gps device	303	case NEWDATA: // new valid data from gps device
305	// if the gps data quality is good	304	// if the gps data quality is good
306	beep_rythm++;	305	beep_rythm++;
307	if (navi_isGPSSignalOK()) {	306	if (navi_isGPSSignalOK()) {
308	switch (flightMode) { // check what's to do	307	switch (flightMode) { // check what's to do
309	case NAVI_FLIGHT_MODE_FREE:	308	case NAVI_FLIGHT_MODE_FREE:
310	// update hold position to current gps position	309	// update hold position to current gps position
311	navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad	310	navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad
312	// disable gps control	311	// disable gps control
313	navi_setNeutral();	312	navi_setNeutral();
314	naviStatus = NAVI_STATUS_FREEFLIGHT;	313	naviStatus = NAVI_STATUS_FREEFLIGHT;
315	break;	314	break;
316		315
317	case NAVI_FLIGHT_MODE_AID:	316	case NAVI_FLIGHT_MODE_AID:
318	if (holdPosition.status != INVALID) {	317	if (holdPosition.status != INVALID) {
319	if (navi_isManuallyControlled(PRTY)) { // MK controlled by user	318	if (navi_isManuallyControlled(PRTY)) { // MK controlled by user
320	// update hold point to current gps position	319	// update hold point to current gps position
321	navi_writeCurrPositionTo(&holdPosition);	320	navi_writeCurrPositionTo(&holdPosition);
322	// disable gps control	321	// disable gps control
323	navi_setNeutral();	322	navi_setNeutral();
324	GPS_P_Delay = 0;	323	GPS_P_Delay = 0;
325	naviStatus = NAVI_STATUS_MANUAL_OVERRIDE;	324	naviStatus = NAVI_STATUS_MANUAL_OVERRIDE;
326	} else { // GPS control active	325	} else { // GPS control active
327	if (GPS_P_Delay < 7) {	326	if (GPS_P_Delay < 7) {
328	// delayed activation of P-Part for 8 cycles (8*0.25s = 2s)	327	// delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
329	GPS_P_Delay++;	328	GPS_P_Delay++;
330	navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position	329	navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position
331	navi_PIDController(NULL); // activates only the D-Part	330	navi_PIDController(NULL); // activates only the D-Part
332	naviStatus = NAVI_STATUS_POSITION_HOLD;	331	naviStatus = NAVI_STATUS_POSITION_HOLD;
333	} else {	332	} else {
334	navi_PIDController(&holdPosition); // activates the P&D-Part	333	navi_PIDController(&holdPosition); // activates the P&D-Part
335	naviStatus = NAVI_STATUS_POSITION_HOLD;	334	naviStatus = NAVI_STATUS_POSITION_HOLD;
336	}	335	}
337	}	336	}
338	} else { // invalid Hold Position	337	} else { // invalid Hold Position
339	// try to catch a valid hold position from gps data input	338	// try to catch a valid hold position from gps data input
340	navi_writeCurrPositionTo(&holdPosition);	339	navi_writeCurrPositionTo(&holdPosition);
341	navi_setNeutral();	340	navi_setNeutral();
342	naviStatus = NAVI_STATUS_HOLD_POSITION_INVALID;	341	naviStatus = NAVI_STATUS_HOLD_POSITION_INVALID;
343	}	342	}
344	break;	343	break;
345		344
346	case NAVI_FLIGHT_MODE_HOME:	345	case NAVI_FLIGHT_MODE_HOME:
347	if (homePosition.status != INVALID) {	346	if (homePosition.status != INVALID) {
348	// update hold point to current gps position	347	// update hold point to current gps position
349	// to avoid a flight back if home comming is deactivated	348	// to avoid a flight back if home comming is deactivated
350	navi_writeCurrPositionTo(&holdPosition);	349	navi_writeCurrPositionTo(&holdPosition);
351	if (navi_isManuallyControlled(PRTY)) { // MK controlled by user	350	if (navi_isManuallyControlled(PRTY)) { // MK controlled by user
352	navi_setNeutral();	351	navi_setNeutral();
-		352	naviStatus = NAVI_STATUS_MANUAL_OVERRIDE;
353	} else {// GPS control active	353	} else {// GPS control active
354	navi_PIDController(&homePosition);	354	navi_PIDController(&homePosition);
355	}	355	}
356	naviStatus = NAVI_STATUS_RTH;	356	naviStatus = NAVI_STATUS_RTH;
357	} else {	357	} else {
358	// bad home position	358	// bad home position
359	beep(50); // signal invalid home position	359	beep(50); // signal invalid home position
360	// try to hold at least the position as a fallback option	360	// try to hold at least the position as a fallback option
361	if (holdPosition.status != INVALID) {	361	if (holdPosition.status != INVALID) {
362	if (navi_isManuallyControlled(PRTY)) {	362	if (navi_isManuallyControlled(PRTY)) {
363	// MK controlled by user	363	// MK controlled by user
364	navi_setNeutral();	364	navi_setNeutral();
365	naviStatus = NAVI_STATUS_MANUAL_OVERRIDE;	365	naviStatus = NAVI_STATUS_MANUAL_OVERRIDE;
366	} else {	366	} else {
367	// GPS control active	367	// GPS control active
368	navi_PIDController(&holdPosition);	368	navi_PIDController(&holdPosition);
369	naviStatus = NAVI_STATUS_RTH_FALLBACK_ON_HOLD;	369	naviStatus = NAVI_STATUS_RTH_FALLBACK_ON_HOLD;
370	}	370	}
371	} else { // try to catch a valid hold position	371	} else { // try to catch a valid hold position
372	navi_writeCurrPositionTo(&holdPosition);	372	navi_writeCurrPositionTo(&holdPosition);
373	naviStatus = NAVI_STATUS_RTH_POSITION_INVALID;	373	naviStatus = NAVI_STATUS_RTH_POSITION_INVALID;
374	navi_setNeutral();	374	navi_setNeutral();
375	}	375	}
376	}	376	}
377	break; // eof TSK_HOME	377	break; // eof TSK_HOME
378	default: // unhandled task	378	default: // unhandled task
379	navi_setNeutral();	379	navi_setNeutral();
380	break; // eof default	380	break; // eof default
381	} // eof switch GPS_Task	381	} // eof switch GPS_Task
382	} // eof gps data quality is good	382	} // eof gps data quality is good
383	else { // gps data quality is bad	383	else { // gps data quality is bad
384	// disable gps control	384	// disable gps control
385	navi_setNeutral();	385	navi_setNeutral();
386	naviStatus = NAVI_STATUS_BAD_GPS_SIGNAL;	386	naviStatus = NAVI_STATUS_BAD_GPS_SIGNAL;
387	if (flightMode != NAVI_FLIGHT_MODE_FREE) {	387	if (flightMode != NAVI_FLIGHT_MODE_FREE) {
388	// beep if signal is not sufficient	388	// beep if signal is not sufficient
389	if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5))	389	if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5))
390	beep(100);	390	beep(100);
391	else if (GPSInfo.satnum < staticParams.GPSMininumSatellites	391	else if (GPSInfo.satnum < staticParams.GPSMininumSatellites
392	&& !(beep_rythm % 5))	392	&& !(beep_rythm % 5))
393	beep(10);	393	beep(10);
394	}	394	}
395	}	395	}
396	// set current data as processed to avoid further calculations on the same gps data	396	// set current data as processed to avoid further calculations on the same gps data
397	GPSInfo.status = PROCESSED;	397	GPSInfo.status = PROCESSED;
398	break;	398	break;
399	} // eof GPSInfo.status	399	} // eof GPSInfo.status
400		400
401	PRTY[CONTROL_PITCH] += naviSticks[CONTROL_PITCH];	401	PRTY[CONTROL_PITCH] += naviSticks[CONTROL_PITCH];
402	PRTY[CONTROL_ROLL] += naviSticks[CONTROL_ROLL];	402	PRTY[CONTROL_ROLL] += naviSticks[CONTROL_ROLL];
403		403
404	debugOut.analog[16] = flightMode;	404	debugOut.analog[16] = flightMode;
405	debugOut.analog[17] = naviStatus;	405	debugOut.analog[17] = naviStatus;
406		406
407	debugOut.analog[18] = naviSticks[CONTROL_PITCH];	407	debugOut.analog[18] = naviSticks[CONTROL_PITCH];
408	debugOut.analog[19] = naviSticks[CONTROL_ROLL];	408	debugOut.analog[19] = naviSticks[CONTROL_ROLL];
409	}	409	}
410		410

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/directGPSNaviControl.c @ 2097 - Rev 2074 → 2076