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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]; |
106 | debugOut.analog[26] = PRTY[CONTROL_PITCH]; |
107 | debugOut.analog[27] = PRTY[CONTROL_ROLL]; |
107 | debugOut.analog[27] = PRTY[CONTROL_ROLL]; |
108 | if (abs(PRTY[CONTROL_PITCH]) < staticParams.naviStickThreshold |
108 | if (abs(PRTY[CONTROL_PITCH]) < staticParams.naviStickThreshold |
109 | && abs(PRTY[CONTROL_ROLL]) < staticParams.naviStickThreshold) |
109 | && abs(PRTY[CONTROL_ROLL]) < staticParams.naviStickThreshold) |
110 | return 0; |
110 | return 0; |
111 | else |
111 | else |
112 | return 1; |
112 | return 1; |
113 | } |
113 | } |
114 | 114 | ||
115 | // set given position to current gps position |
115 | // set given position to current gps position |
116 | uint8_t navi_writeCurrPositionTo(GPS_Pos_t * pGPSPos) { |
116 | uint8_t navi_writeCurrPositionTo(GPS_Pos_t * pGPSPos) { |
117 | if (pGPSPos == NULL) |
117 | if (pGPSPos == NULL) |
118 | return 0; // bad pointer |
118 | return 0; // bad pointer |
119 | 119 | ||
120 | if (navi_isGPSSignalOK()) { // is GPS signal condition is fine |
120 | if (navi_isGPSSignalOK()) { // is GPS signal condition is fine |
121 | pGPSPos->longitude = GPSInfo.longitude; |
121 | pGPSPos->longitude = GPSInfo.longitude; |
122 | pGPSPos->latitude = GPSInfo.latitude; |
122 | pGPSPos->latitude = GPSInfo.latitude; |
123 | pGPSPos->altitude = GPSInfo.altitude; |
123 | pGPSPos->altitude = GPSInfo.altitude; |
124 | pGPSPos->status = NEWDATA; |
124 | pGPSPos->status = NEWDATA; |
125 | return 1; |
125 | return 1; |
126 | } else { // bad GPS signal condition |
126 | } else { // bad GPS signal condition |
127 | pGPSPos->status = INVALID; |
127 | pGPSPos->status = INVALID; |
128 | return 0; |
128 | return 0; |
129 | } |
129 | } |
130 | } |
130 | } |
131 | 131 | ||
132 | // clear position |
132 | // clear position |
133 | uint8_t navi_clearPosition(GPS_Pos_t * pGPSPos) { |
133 | uint8_t navi_clearPosition(GPS_Pos_t * pGPSPos) { |
134 | if (pGPSPos == NULL) |
134 | if (pGPSPos == NULL) |
135 | return 0; // bad pointer |
135 | return 0; // bad pointer |
136 | else { |
136 | else { |
137 | pGPSPos->longitude = 0; |
137 | pGPSPos->longitude = 0; |
138 | pGPSPos->latitude = 0; |
138 | pGPSPos->latitude = 0; |
139 | pGPSPos->altitude = 0; |
139 | pGPSPos->altitude = 0; |
140 | pGPSPos->status = INVALID; |
140 | pGPSPos->status = INVALID; |
141 | } |
141 | } |
142 | return 1; |
142 | return 1; |
143 | } |
143 | } |
144 | 144 | ||
145 | void navi_setNeutral(void) { |
145 | void navi_setNeutral(void) { |
146 | naviSticks[CONTROL_PITCH] = naviSticks[CONTROL_ROLL] = 0; |
146 | naviSticks[CONTROL_PITCH] = naviSticks[CONTROL_ROLL] = 0; |
147 | } |
147 | } |
148 | 148 | ||
149 | // 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 |
150 | // 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 |
151 | // then the P part of the controller is deactivated. |
151 | // then the P part of the controller is deactivated. |
152 | void navi_PIDController(GPS_Pos_t *pTargetPos) { |
152 | void navi_PIDController(GPS_Pos_t *pTargetPos) { |
153 | static int32_t PID_Pitch, PID_Roll; |
153 | static int32_t PID_Pitch, PID_Roll; |
154 | int32_t coscompass, sincompass; |
154 | int32_t coscompass, sincompass; |
155 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
155 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
156 | 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; |
157 | int32_t PID_North = 0, PID_East = 0; |
157 | int32_t PID_North = 0, PID_East = 0; |
158 | static int32_t cos_target_latitude = 1; |
158 | static int32_t cos_target_latitude = 1; |
159 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
159 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
160 | static GPS_Pos_t *pLastTargetPos = 0; |
160 | static GPS_Pos_t *pLastTargetPos = 0; |
161 | 161 | ||
162 | // if GPS data and Compass are ok |
162 | // if GPS data and Compass are ok |
163 | if (navi_isGPSSignalOK() && (magneticHeading >= 0)) { |
163 | if (navi_isGPSSignalOK() && (magneticHeading >= 0)) { |
164 | if (pTargetPos != NULL) { // if there is a target position |
164 | if (pTargetPos != NULL) { // if there is a target position |
165 | if (pTargetPos->status != INVALID) { // and the position data are valid |
165 | if (pTargetPos->status != INVALID) { // and the position data are valid |
166 | // 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 |
167 | if ((pTargetPos->status != PROCESSED) || (pTargetPos != pLastTargetPos)) { |
167 | if ((pTargetPos->status != PROCESSED) || (pTargetPos != pLastTargetPos)) { |
168 | // reset error integral |
168 | // reset error integral |
169 | GPSPosDevIntegral_North = 0; |
169 | GPSPosDevIntegral_North = 0; |
170 | GPSPosDevIntegral_East = 0; |
170 | GPSPosDevIntegral_East = 0; |
171 | // recalculate latitude projection |
171 | // recalculate latitude projection |
172 | cos_target_latitude = cos_360(pTargetPos->latitude / 10000000L); |
172 | cos_target_latitude = cos_360(pTargetPos->latitude / 10000000L); |
173 | // remember last target pointer |
173 | // remember last target pointer |
174 | pLastTargetPos = pTargetPos; |
174 | pLastTargetPos = pTargetPos; |
175 | // mark data as processed |
175 | // mark data as processed |
176 | pTargetPos->status = PROCESSED; |
176 | pTargetPos->status = PROCESSED; |
177 | } |
177 | } |
178 | // calculate position deviation from latitude and longitude differences |
178 | // calculate position deviation from latitude and longitude differences |
179 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->latitude); // to calculate real cm we would need *111/100 additionally |
179 | GPSPosDev_North = (GPSInfo.latitude - pTargetPos->latitude); // to calculate real cm we would need *111/100 additionally |
180 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->longitude); // to calculate real cm we would need *111/100 additionally |
180 | GPSPosDev_East = (GPSInfo.longitude - pTargetPos->longitude); // to calculate real cm we would need *111/100 additionally |
181 | // calculate latitude projection |
181 | // calculate latitude projection |
182 | GPSPosDev_East *= cos_target_latitude; |
182 | GPSPosDev_East *= cos_target_latitude; |
183 | GPSPosDev_East >>= LOG_MATH_UNIT_FACTOR; |
183 | GPSPosDev_East >>= LOG_MATH_UNIT_FACTOR; |
184 | } else { // no valid target position available |
184 | } else { // no valid target position available |
185 | // reset error |
185 | // reset error |
186 | GPSPosDev_North = 0; |
186 | GPSPosDev_North = 0; |
187 | GPSPosDev_East = 0; |
187 | GPSPosDev_East = 0; |
188 | // reset error integral |
188 | // reset error integral |
189 | GPSPosDevIntegral_North = 0; |
189 | GPSPosDevIntegral_North = 0; |
190 | GPSPosDevIntegral_East = 0; |
190 | GPSPosDevIntegral_East = 0; |
191 | } |
191 | } |
192 | } else { // no target position available |
192 | } else { // no target position available |
193 | // reset error |
193 | // reset error |
194 | GPSPosDev_North = 0; |
194 | GPSPosDev_North = 0; |
195 | GPSPosDev_East = 0; |
195 | GPSPosDev_East = 0; |
196 | // reset error integral |
196 | // reset error integral |
197 | GPSPosDevIntegral_North = 0; |
197 | GPSPosDevIntegral_North = 0; |
198 | GPSPosDevIntegral_East = 0; |
198 | GPSPosDevIntegral_East = 0; |
199 | } |
199 | } |
200 | 200 | ||
201 | //Calculate PID-components of the controller |
201 | //Calculate PID-components of the controller |
202 | // D-Part |
202 | // D-Part |
203 | D_North = ((int32_t) staticParams.naviD * GPSInfo.velnorth) >> 9; |
203 | D_North = ((int32_t) staticParams.naviD * GPSInfo.velnorth) >> 9; |
204 | D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) >> 9; |
204 | D_East = ((int32_t) staticParams.naviD * GPSInfo.veleast) >> 9; |
205 | 205 | ||
206 | // P-Part |
206 | // P-Part |
207 | P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) >> 11; |
207 | P_North = ((int32_t) staticParams.naviP * GPSPosDev_North) >> 11; |
208 | P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) >> 11; |
208 | P_East = ((int32_t) staticParams.naviP * GPSPosDev_East) >> 11; |
209 | 209 | ||
210 | // I-Part |
210 | // I-Part |
211 | I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) >> 13; |
211 | I_North = ((int32_t) staticParams.naviI * GPSPosDevIntegral_North) >> 13; |
212 | I_East = ((int32_t) staticParams.naviI * GPSPosDevIntegral_East) >> 13; |
212 | I_East = ((int32_t) staticParams.naviI * GPSPosDevIntegral_East) >> 13; |
213 | 213 | ||
214 | // combine P & I |
214 | // combine P & I |
215 | PID_North = P_North + I_North; |
215 | PID_North = P_North + I_North; |
216 | PID_East = P_East + I_East; |
216 | PID_East = P_East + I_East; |
217 | 217 | ||
218 | if (!navi_limitXY(&PID_North, &PID_East, GPS_P_LIMIT)) { |
218 | if (!navi_limitXY(&PID_North, &PID_East, GPS_P_LIMIT)) { |
219 | // within limit |
219 | // within limit |
220 | GPSPosDevIntegral_North += GPSPosDev_North >> 4; |
220 | GPSPosDevIntegral_North += GPSPosDev_North >> 4; |
221 | GPSPosDevIntegral_East += GPSPosDev_East >> 4; |
221 | GPSPosDevIntegral_East += GPSPosDev_East >> 4; |
222 | navi_limitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
222 | navi_limitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
223 | } |
223 | } |
224 | 224 | ||
225 | // combine PI- and D-Part |
225 | // combine PI- and D-Part |
226 | PID_North += D_North; |
226 | PID_North += D_North; |
227 | PID_East += D_East; |
227 | PID_East += D_East; |
228 | 228 | ||
229 | // scale combination with gain. |
229 | // scale combination with gain. |
230 | // dongfang: Lets not do that. P I and D can be scaled instead. |
230 | // dongfang: Lets not do that. P I and D can be scaled instead. |
231 | // PID_North = (PID_North * (int32_t) staticParams.NaviGpsGain) / 100; |
231 | // PID_North = (PID_North * (int32_t) staticParams.NaviGpsGain) / 100; |
232 | // PID_East = (PID_East * (int32_t) staticParams.NaviGpsGain) / 100; |
232 | // PID_East = (PID_East * (int32_t) staticParams.NaviGpsGain) / 100; |
233 | 233 | ||
234 | // GPS to nick and roll settings |
234 | // GPS to nick and roll settings |
235 | // A positive nick angle moves head downwards (flying forward). |
235 | // A positive nick angle moves head downwards (flying forward). |
236 | // A positive roll angle tilts left side downwards (flying left). |
236 | // A positive roll angle tilts left side downwards (flying left). |
237 | // If compass heading is 0 the head of the copter is in north direction. |
237 | // If compass heading is 0 the head of the copter is in north direction. |
238 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
238 | // A positive nick angle will fly to north and a positive roll angle will fly to west. |
239 | // In case of a positive north deviation/velocity the |
239 | // In case of a positive north deviation/velocity the |
240 | // copter should fly to south (negative nick). |
240 | // copter should fly to south (negative nick). |
241 | // In case of a positive east position deviation and a positive east velocity the |
241 | // In case of a positive east position deviation and a positive east velocity the |
242 | // copter should fly to west (positive roll). |
242 | // copter should fly to west (positive roll). |
243 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
243 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
244 | // in the flight.c. Therefore a positive north deviation/velocity should result in a positive |
244 | // in the flight.c. Therefore a positive north deviation/velocity should result in a positive |
245 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
245 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
246 | 246 | ||
247 | coscompass = -cos_360(heading / GYRO_DEG_FACTOR_YAW); |
247 | coscompass = -cos_360(heading / GYRO_DEG_FACTOR_YAW); |
248 | sincompass = -sin_360(heading / GYRO_DEG_FACTOR_YAW); |
248 | sincompass = -sin_360(heading / GYRO_DEG_FACTOR_YAW); |
249 | 249 | ||
250 | PID_Pitch = (coscompass * PID_North + sincompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
250 | PID_Pitch = (coscompass * PID_North + sincompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
251 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
251 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
252 | 252 | ||
253 | // limit resulting GPS control vector |
253 | // limit resulting GPS control vector |
254 | navi_limitXY(&PID_Pitch, &PID_Roll, staticParams.naviStickLimit << LOG_NAVI_STICK_GAIN); |
254 | navi_limitXY(&PID_Pitch, &PID_Roll, staticParams.naviStickLimit << LOG_NAVI_STICK_GAIN); |
255 | 255 | ||
256 | naviSticks[CONTROL_PITCH] = PID_Pitch; |
256 | naviSticks[CONTROL_PITCH] = PID_Pitch; |
257 | naviSticks[CONTROL_ROLL] = PID_Roll; |
257 | naviSticks[CONTROL_ROLL] = PID_Roll; |
258 | } else { // invalid GPS data or bad compass reading |
258 | } else { // invalid GPS data or bad compass reading |
259 | // reset error integral |
259 | // reset error integral |
260 | navi_setNeutral(); |
260 | navi_setNeutral(); |
261 | GPSPosDevIntegral_North = 0; |
261 | GPSPosDevIntegral_North = 0; |
262 | GPSPosDevIntegral_East = 0; |
262 | GPSPosDevIntegral_East = 0; |
263 | } |
263 | } |
264 | } |
264 | } |
265 | 265 | ||
266 | void navigation_periodicTaskAndPRTY(int16_t* PRTY) { |
266 | void navigation_periodicTaskAndPRTY(int16_t* PRTY) { |
267 | static uint8_t GPS_P_Delay = 0; |
267 | static uint8_t GPS_P_Delay = 0; |
268 | static uint16_t beep_rythm = 0; |
268 | static uint16_t beep_rythm = 0; |
269 | 269 | ||
270 | static uint16_t navi_testOscPrescaler = 0; |
270 | static uint16_t navi_testOscPrescaler = 0; |
271 | static uint8_t navi_testOscTimer = 0; |
271 | static uint8_t navi_testOscTimer = 0; |
272 | 272 | ||
273 | navi_testOscPrescaler++; |
273 | navi_testOscPrescaler++; |
274 | if (navi_testOscPrescaler == 488) { |
274 | if (navi_testOscPrescaler == 488) { |
275 | navi_testOscPrescaler = 0; |
275 | navi_testOscPrescaler = 0; |
276 | navi_testOscTimer++; |
276 | navi_testOscTimer++; |
277 | if (navi_testOscTimer == staticParams.naviTestOscPeriod) { |
277 | if (navi_testOscTimer == staticParams.naviTestOscPeriod) { |
278 | navi_testOscTimer = 0; |
278 | navi_testOscTimer = 0; |
279 | if (staticParams.naviTestOscAmplitude) { |
279 | if (staticParams.naviTestOscAmplitude) { |
280 | holdPosition->status = NEWDATA; |
280 | holdPosition.status = NEWDATA; |
281 | holdPosition->latitude += staticParams.naviTestOscAmplitude * 90L; |
281 | holdPosition.latitude += staticParams.naviTestOscAmplitude * 90L; |
282 | } |
282 | } |
283 | } else if (navitestOscTimer == staticParams.naviTestOscPeriod/2) { |
283 | } else if (navi_testOscTimer == staticParams.naviTestOscPeriod/2) { |
284 | if (staticParams.naviTestOscAmplitude) { |
284 | if (staticParams.naviTestOscAmplitude) { |
285 | holdPosition->status = NEWDATA; |
285 | holdPosition.status = NEWDATA; |
286 | holdPosition->latitude -= staticParams.naviTestOscAmplitude * 90L; |
286 | holdPosition.latitude -= staticParams.naviTestOscAmplitude * 90L; |
287 | } |
287 | } |
288 | } |
288 | } |
289 | } |
289 | } |
290 | 290 | ||
291 | navi_updateFlightMode(); |
291 | navi_updateFlightMode(); |
292 | 292 | ||
293 | // store home position if start of flight flag is set |
293 | // store home position if start of flight flag is set |
294 | if (MKFlags & MKFLAG_CALIBRATE) { |
294 | if (MKFlags & MKFLAG_CALIBRATE) { |
295 | MKFlags &= ~(MKFLAG_CALIBRATE); |
295 | MKFlags &= ~(MKFLAG_CALIBRATE); |
296 | if (navi_writeCurrPositionTo(&homePosition)) { |
296 | if (navi_writeCurrPositionTo(&homePosition)) { |
297 | // shift north to simulate an offset. |
297 | // shift north to simulate an offset. |
298 | // homePosition.latitude += 10000L; |
298 | // homePosition.latitude += 10000L; |
299 | beep(500); |
299 | beep(500); |
300 | } |
300 | } |
301 | } |
301 | } |
302 | 302 | ||
303 | switch (GPSInfo.status) { |
303 | switch (GPSInfo.status) { |
304 | case INVALID: // invalid gps data |
304 | case INVALID: // invalid gps data |
305 | navi_setNeutral(); |
305 | navi_setNeutral(); |
306 | naviStatus = NAVI_STATUS_INVALID_GPS; |
306 | naviStatus = NAVI_STATUS_INVALID_GPS; |
307 | if (flightMode != NAVI_FLIGHT_MODE_FREE) { |
307 | if (flightMode != NAVI_FLIGHT_MODE_FREE) { |
308 | beep(1); // beep if signal is neccesary |
308 | beep(1); // beep if signal is neccesary |
309 | } |
309 | } |
310 | break; |
310 | break; |
311 | case PROCESSED: // if gps data are already processed do nothing |
311 | case PROCESSED: // if gps data are already processed do nothing |
312 | // downcount timeout |
312 | // downcount timeout |
313 | if (GPSTimeout) |
313 | if (GPSTimeout) |
314 | GPSTimeout--; |
314 | GPSTimeout--; |
315 | // if no new data arrived within timeout set current data invalid |
315 | // if no new data arrived within timeout set current data invalid |
316 | // and therefore disable GPS |
316 | // and therefore disable GPS |
317 | else { |
317 | else { |
318 | navi_setNeutral(); |
318 | navi_setNeutral(); |
319 | GPSInfo.status = INVALID; |
319 | GPSInfo.status = INVALID; |
320 | naviStatus = NAVI_STATUS_GPS_TIMEOUT; |
320 | naviStatus = NAVI_STATUS_GPS_TIMEOUT; |
321 | } |
321 | } |
322 | break; |
322 | break; |
323 | case NEWDATA: // new valid data from gps device |
323 | case NEWDATA: // new valid data from gps device |
324 | // if the gps data quality is good |
324 | // if the gps data quality is good |
325 | beep_rythm++; |
325 | beep_rythm++; |
326 | if (navi_isGPSSignalOK()) { |
326 | if (navi_isGPSSignalOK()) { |
327 | switch (flightMode) { // check what's to do |
327 | switch (flightMode) { // check what's to do |
328 | case NAVI_FLIGHT_MODE_FREE: |
328 | case NAVI_FLIGHT_MODE_FREE: |
329 | // update hold position to current gps position |
329 | // update hold position to current gps position |
330 | navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad |
330 | navi_writeCurrPositionTo(&holdPosition); // can get invalid if gps signal is bad |
331 | // disable gps control |
331 | // disable gps control |
332 | navi_setNeutral(); |
332 | navi_setNeutral(); |
333 | naviStatus = NAVI_STATUS_FREEFLIGHT; |
333 | naviStatus = NAVI_STATUS_FREEFLIGHT; |
334 | break; |
334 | break; |
335 | 335 | ||
336 | case NAVI_FLIGHT_MODE_AID: |
336 | case NAVI_FLIGHT_MODE_AID: |
337 | if (holdPosition.status != INVALID) { |
337 | if (holdPosition.status != INVALID) { |
338 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
338 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
339 | // update hold point to current gps position |
339 | // update hold point to current gps position |
340 | navi_writeCurrPositionTo(&holdPosition); |
340 | navi_writeCurrPositionTo(&holdPosition); |
341 | // disable gps control |
341 | // disable gps control |
342 | navi_setNeutral(); |
342 | navi_setNeutral(); |
343 | GPS_P_Delay = 0; |
343 | GPS_P_Delay = 0; |
344 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
344 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
345 | } else { // GPS control active |
345 | } else { // GPS control active |
346 | if (GPS_P_Delay < 7) { |
346 | if (GPS_P_Delay < 7) { |
347 | // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
347 | // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
348 | GPS_P_Delay++; |
348 | GPS_P_Delay++; |
349 | navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position |
349 | navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position |
350 | navi_PIDController(NULL); // activates only the D-Part |
350 | navi_PIDController(NULL); // activates only the D-Part |
351 | naviStatus = NAVI_STATUS_POSITION_HOLD; |
351 | naviStatus = NAVI_STATUS_POSITION_HOLD; |
352 | } else { |
352 | } else { |
353 | navi_PIDController(&holdPosition); // activates the P&D-Part |
353 | navi_PIDController(&holdPosition); // activates the P&D-Part |
354 | naviStatus = NAVI_STATUS_POSITION_HOLD; |
354 | naviStatus = NAVI_STATUS_POSITION_HOLD; |
355 | } |
355 | } |
356 | } |
356 | } |
357 | } else { // invalid Hold Position |
357 | } else { // invalid Hold Position |
358 | // try to catch a valid hold position from gps data input |
358 | // try to catch a valid hold position from gps data input |
359 | navi_writeCurrPositionTo(&holdPosition); |
359 | navi_writeCurrPositionTo(&holdPosition); |
360 | navi_setNeutral(); |
360 | navi_setNeutral(); |
361 | naviStatus = NAVI_STATUS_HOLD_POSITION_INVALID; |
361 | naviStatus = NAVI_STATUS_HOLD_POSITION_INVALID; |
362 | } |
362 | } |
363 | break; |
363 | break; |
364 | 364 | ||
365 | case NAVI_FLIGHT_MODE_HOME: |
365 | case NAVI_FLIGHT_MODE_HOME: |
366 | if (homePosition.status != INVALID) { |
366 | if (homePosition.status != INVALID) { |
367 | // update hold point to current gps position |
367 | // update hold point to current gps position |
368 | // to avoid a flight back if home comming is deactivated |
368 | // to avoid a flight back if home comming is deactivated |
369 | navi_writeCurrPositionTo(&holdPosition); |
369 | navi_writeCurrPositionTo(&holdPosition); |
370 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
370 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
371 | navi_setNeutral(); |
371 | navi_setNeutral(); |
372 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
372 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
373 | } else {// GPS control active |
373 | } else {// GPS control active |
374 | navi_PIDController(&homePosition); |
374 | navi_PIDController(&homePosition); |
375 | } |
375 | } |
376 | naviStatus = NAVI_STATUS_RTH; |
376 | naviStatus = NAVI_STATUS_RTH; |
377 | } else { |
377 | } else { |
378 | // bad home position |
378 | // bad home position |
379 | beep(50); // signal invalid home position |
379 | beep(50); // signal invalid home position |
380 | // try to hold at least the position as a fallback option |
380 | // try to hold at least the position as a fallback option |
381 | if (holdPosition.status != INVALID) { |
381 | if (holdPosition.status != INVALID) { |
382 | if (navi_isManuallyControlled(PRTY)) { |
382 | if (navi_isManuallyControlled(PRTY)) { |
383 | // MK controlled by user |
383 | // MK controlled by user |
384 | navi_setNeutral(); |
384 | navi_setNeutral(); |
385 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
385 | naviStatus = NAVI_STATUS_MANUAL_OVERRIDE; |
386 | } else { |
386 | } else { |
387 | // GPS control active |
387 | // GPS control active |
388 | navi_PIDController(&holdPosition); |
388 | navi_PIDController(&holdPosition); |
389 | naviStatus = NAVI_STATUS_RTH_FALLBACK_ON_HOLD; |
389 | naviStatus = NAVI_STATUS_RTH_FALLBACK_ON_HOLD; |
390 | } |
390 | } |
391 | } else { // try to catch a valid hold position |
391 | } else { // try to catch a valid hold position |
392 | navi_writeCurrPositionTo(&holdPosition); |
392 | navi_writeCurrPositionTo(&holdPosition); |
393 | naviStatus = NAVI_STATUS_RTH_POSITION_INVALID; |
393 | naviStatus = NAVI_STATUS_RTH_POSITION_INVALID; |
394 | navi_setNeutral(); |
394 | navi_setNeutral(); |
395 | } |
395 | } |
396 | } |
396 | } |
397 | break; // eof TSK_HOME |
397 | break; // eof TSK_HOME |
398 | default: // unhandled task |
398 | default: // unhandled task |
399 | navi_setNeutral(); |
399 | navi_setNeutral(); |
400 | break; // eof default |
400 | break; // eof default |
401 | } // eof switch GPS_Task |
401 | } // eof switch GPS_Task |
402 | } // eof gps data quality is good |
402 | } // eof gps data quality is good |
403 | else { // gps data quality is bad |
403 | else { // gps data quality is bad |
404 | // disable gps control |
404 | // disable gps control |
405 | navi_setNeutral(); |
405 | navi_setNeutral(); |
406 | naviStatus = NAVI_STATUS_BAD_GPS_SIGNAL; |
406 | naviStatus = NAVI_STATUS_BAD_GPS_SIGNAL; |
407 | if (flightMode != NAVI_FLIGHT_MODE_FREE) { |
407 | if (flightMode != NAVI_FLIGHT_MODE_FREE) { |
408 | // beep if signal is not sufficient |
408 | // beep if signal is not sufficient |
409 | if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
409 | if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
410 | beep(100); |
410 | beep(100); |
411 | else if (GPSInfo.satnum < staticParams.GPSMininumSatellites |
411 | else if (GPSInfo.satnum < staticParams.GPSMininumSatellites |
412 | && !(beep_rythm % 5)) |
412 | && !(beep_rythm % 5)) |
413 | beep(10); |
413 | beep(10); |
414 | } |
414 | } |
415 | } |
415 | } |
416 | // set current data as processed to avoid further calculations on the same gps data |
416 | // set current data as processed to avoid further calculations on the same gps data |
417 | GPSInfo.status = PROCESSED; |
417 | GPSInfo.status = PROCESSED; |
418 | break; |
418 | break; |
419 | } // eof GPSInfo.status |
419 | } // eof GPSInfo.status |
420 | 420 | ||
421 | PRTY[CONTROL_PITCH] += naviSticks[CONTROL_PITCH]; |
421 | PRTY[CONTROL_PITCH] += naviSticks[CONTROL_PITCH]; |
422 | PRTY[CONTROL_ROLL] += naviSticks[CONTROL_ROLL]; |
422 | PRTY[CONTROL_ROLL] += naviSticks[CONTROL_ROLL]; |
423 | 423 | ||
424 | debugOut.analog[16] = flightMode; |
424 | debugOut.analog[16] = flightMode; |
425 | debugOut.analog[17] = naviStatus; |
425 | debugOut.analog[17] = naviStatus; |
426 | 426 | ||
427 | debugOut.analog[18] = naviSticks[CONTROL_PITCH]; |
427 | debugOut.analog[18] = naviSticks[CONTROL_PITCH]; |
428 | debugOut.analog[19] = naviSticks[CONTROL_ROLL]; |
428 | debugOut.analog[19] = naviSticks[CONTROL_ROLL]; |
429 | } |
429 | } |
430 | 430 |