WebSVN - FlightCtrl - Diff - Rev 1775 and 1796 - /branches/dongfang_FC


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <inttypes.h>
#include <stdlib.h>
 
//#include "mymath.h"
#include "timer0.h"
#include "uart0.h"
#include "rc.h"
#include "eeprom.h"
 
typedef enum
  {
    GPS_FLIGHT_MODE_UNDEF,
    GPS_FLIGHT_MODE_FREE,
    GPS_FLIGHT_MODE_AID,
    GPS_FLIGHT_MODE_HOME,
  } FlightMode_t;
 
#define GPS_POSINTEGRAL_LIMIT 32000
#define GPS_STICK_LIMIT         45              // limit of gps stick control to avoid critical flight attitudes
#define GPS_P_LIMIT                     25
 
 
typedef struct
{
  int32_t Longitude;
  int32_t Latitude;
  int32_t Altitude;
  Status_t Status;
} GPS_Pos_t;
 
// GPS coordinates for hold position
GPS_Pos_t HoldPosition  = {0,0,0,INVALID};
// GPS coordinates for home position
GPS_Pos_t HomePosition  = {0,0,0,INVALID};
// the current flight mode
FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;
 
 
// ---------------------------------------------------------------------------------
void GPS_UpdateParameter(void) {
  static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;
 
  if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) {
    FlightMode = GPS_FLIGHT_MODE_FREE;
  } else {
    if     (dynamicParams.NaviGpsModeControl <  50) FlightMode = GPS_FLIGHT_MODE_AID;
    else if(dynamicParams.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 >= staticParams.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[staticParams.ChannelAssignment[CH_NICK]]) < staticParams.NaviStickThreshold) && (abs(PPM_in[staticParams.ChannelAssignment[CH_ROLL]]) < staticParams.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) {
  GPSStickNick = 0;
  GPSStickRoll = 0;
}
 
// calculates the GPS control stick values from the deviation to target position
// if the pointer to the target positin is NULL or is the target position invalid
// then the P part of the controller is deactivated.
void GPS_PIDController(GPS_Pos_t *pTargetPos) {
  static int32_t PID_Nick, PID_Roll;
  int32_t coscompass, sincompass;
  int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
  int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;
  int32_t PID_North = 0, PID_East = 0;
  static int32_t cos_target_latitude = 1;
  static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;
  static GPS_Pos_t *pLastTargetPos = 0;
 
  // if GPS data and Compass are ok
  if( GPS_IsSignalOK() && (CompassHeading >= 0)) {
    if(pTargetPos != NULL) // if there is a target position
      {
        if(pTargetPos->Status != INVALID) // and the position data are valid
          {
            // if the target data are updated or the target pointer has changed
            if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) )
              {
                // reset error integral
                GPSPosDevIntegral_North = 0;
                GPSPosDevIntegral_East = 0;
                // recalculate latitude projection
                cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));
                // remember last target pointer
                pLastTargetPos = pTargetPos;
                // mark data as processed
                pTargetPos->Status = PROCESSED;
              }
            // calculate position deviation from latitude and longitude differences
            GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally
            GPSPosDev_East  = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally
            // calculate latitude projection
            GPSPosDev_East  *= cos_target_latitude;
            GPSPosDev_East /= 8192;
          }
        else // no valid target position available
          {
            // reset error
            GPSPosDev_North = 0;
            GPSPosDev_East = 0;
            // reset error integral
            GPSPosDevIntegral_North = 0;
            GPSPosDevIntegral_East = 0;
          }
      }
    else // no target position available
      {
        // reset error
        GPSPosDev_North = 0;
        GPSPosDev_East = 0;
        // reset error integral
        GPSPosDevIntegral_North = 0;
        GPSPosDevIntegral_East = 0;
      }
   
    //Calculate PID-components of the controller
   
    // D-Part
    D_North = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.velnorth)/512;
    D_East =  ((int32_t)dynamicParams.NaviGpsD * GPSInfo.veleast)/512;
   
    // P-Part
    P_North = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_North)/2048;
    P_East =  ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_East)/2048;
   
    // I-Part
    I_North = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_North)/8192;
    I_East =  ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_East)/8192;
   
    // combine P & I
    PID_North = P_North + I_North;
    PID_East  = P_East  + I_East;
    if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))
      {
        GPSPosDevIntegral_North += GPSPosDev_North/16;
        GPSPosDevIntegral_East  += GPSPosDev_East/16;
        GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);
      }
   
    // combine PI- and D-Part
    PID_North += D_North;
    PID_East  += D_East;
   
    // scale combination with gain.
    PID_North = (PID_North * (int32_t)dynamicParams.NaviGpsGain) / 100;
    PID_East  = (PID_East  * (int32_t)dynamicParams.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 = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR);
    sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR);
    PID_Nick =   (coscompass * PID_North + sincompass * PID_East) / 8192;
    PID_Roll  =  (sincompass * PID_North - coscompass * PID_East) / 8192;
   
    // limit resulting GPS control vector
    GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);
   
    GPSStickNick = (int16_t)PID_Nick;
    GPSStickRoll = (int16_t)PID_Roll;
  }
  else // invalid GPS data or bad compass reading
    {
      GPS_Neutral(); // do nothing
      // reset error integral
      GPSPosDevIntegral_North = 0;
      GPSPosDevIntegral_East = 0;
    }
}
 
void GPS_Main(void) {
  static uint8_t GPS_P_Delay = 0;
  static uint16_t beep_rythm = 0;
 
  GPS_UpdateParameter();
 
  // store home position if start of flight flag is set
  if(MKFlags & MKFLAG_CALIBRATE) {
    if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;
  }
 
  switch(GPSInfo.status) {
  case INVALID:  // invalid gps data
    GPS_Neutral();
    if(FlightMode != GPS_FLIGHT_MODE_FREE) {
      BeepTime = 100; // beep if signal is neccesary
    }
    break;
  case PROCESSED: // if gps data are already processed do nothing
    // downcount timeout
    if(GPSTimeout) GPSTimeout--;
    // if no new data arrived within timeout set current data invalid
    // and therefore disable GPS
    else
      {
        GPS_Neutral();
          GPSInfo.status = INVALID;
      }
    break;
  case NEWDATA: // new valid data from gps device
    // if the gps data quality is good
    beep_rythm++;
   
    if (GPS_IsSignalOK())
      {
        switch(FlightMode) // check what's to do
          {
          case GPS_FLIGHT_MODE_FREE:
            // update hold position to current gps position
            GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad
            // disable gps control
            GPS_Neutral();
            break;
           
          case GPS_FLIGHT_MODE_AID:
            if(HoldPosition.Status != INVALID)
              {
                if( GPS_IsManualControlled() ) // MK controlled by user
                  {
                    // update hold point to current gps position
                    GPS_SetCurrPosition(&HoldPosition);
                    // disable gps control
                    GPS_Neutral();
                    GPS_P_Delay = 0;
                  }
                else // GPS control active
                  {
                    if(GPS_P_Delay < 7)
                      { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
                        GPS_P_Delay++;
                        GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position
                        GPS_PIDController(NULL); // activates only the D-Part
                      }
                    else GPS_PIDController(&HoldPosition);// activates the P&D-Part
                  }
              }
            else // invalid Hold Position
              {  // try to catch a valid hold position from gps data input
                GPS_SetCurrPosition(&HoldPosition);
                GPS_Neutral();
              }
            break;
           
          case GPS_FLIGHT_MODE_HOME:
            if(HomePosition.Status != INVALID)
              {
                // update hold point to current gps position
                // to avoid a flight back if home comming is deactivated
                GPS_SetCurrPosition(&HoldPosition);
                if( GPS_IsManualControlled() ) // MK controlled by user
                  {
                    GPS_Neutral();
                  }
                else // GPS control active
                  {
                    GPS_PIDController(&HomePosition);
                  }
              }
            else // bad home position
              {
                BeepTime = 50; // signal invalid home position
                // try to hold at least the position as a fallback option
               
                if (HoldPosition.Status != INVALID)
                  {
                    if( GPS_IsManualControlled() ) // MK controlled by user
                      {
                        GPS_Neutral();
                      }
                    else // GPS control active
                      {
                        GPS_PIDController(&HoldPosition);
                      }
                  }
                else
                  { // try to catch a valid hold position
                    GPS_SetCurrPosition(&HoldPosition);
                    GPS_Neutral();
                  }
              }
            break; // eof TSK_HOME
          default: // unhandled task
            GPS_Neutral();
            break; // eof default
          } // eof switch GPS_Task
      } // eof gps data quality is good
    else // gps data quality is bad
      { // disable gps control
        GPS_Neutral();
        if(FlightMode != GPS_FLIGHT_MODE_FREE)
          {
            // beep if signal is not sufficient
            if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;
            else if (GPSInfo.satnum < staticParams.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 1775	Rev 1796
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur für den privaten Gebrauch	3	// + Nur für den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt werden	18	// + eindeutig als Ursprung verlinkt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49	// + POSSIBILITY OF SUCH DAMAGE.	49	// + POSSIBILITY OF SUCH DAMAGE.
50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51	#include <inttypes.h>	51	#include <inttypes.h>
52	#include <stdlib.h>	52	#include <stdlib.h>
53	#include "ubx.h"	-
54	//#include "mymath.h"	53	//#include "mymath.h"
55	#include "timer0.h"	54	#include "timer0.h"
56	#include "uart0.h"	55	#include "uart0.h"
57	#include "rc.h"	56	#include "rc.h"
58	#include "eeprom.h"	57	#include "eeprom.h"
59		58
60	typedef enum	59	typedef enum
61	{	60	{
62	GPS_FLIGHT_MODE_UNDEF,	61	GPS_FLIGHT_MODE_UNDEF,
63	GPS_FLIGHT_MODE_FREE,	62	GPS_FLIGHT_MODE_FREE,
64	GPS_FLIGHT_MODE_AID,	63	GPS_FLIGHT_MODE_AID,
65	GPS_FLIGHT_MODE_HOME,	64	GPS_FLIGHT_MODE_HOME,
66	} FlightMode_t;	65	} FlightMode_t;
67		66
68	#define GPS_POSINTEGRAL_LIMIT 32000	67	#define GPS_POSINTEGRAL_LIMIT 32000
69	#define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes	68	#define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes
70	#define GPS_P_LIMIT 25	69	#define GPS_P_LIMIT 25
71		70
72		71
73	typedef struct	72	typedef struct
74	{	73	{
75	int32_t Longitude;	74	int32_t Longitude;
76	int32_t Latitude;	75	int32_t Latitude;
77	int32_t Altitude;	76	int32_t Altitude;
78	Status_t Status;	77	Status_t Status;
79	} GPS_Pos_t;	78	} GPS_Pos_t;
80		79
81	// GPS coordinates for hold position	80	// GPS coordinates for hold position
82	GPS_Pos_t HoldPosition = {0,0,0,INVALID};	81	GPS_Pos_t HoldPosition = {0,0,0,INVALID};
83	// GPS coordinates for home position	82	// GPS coordinates for home position
84	GPS_Pos_t HomePosition = {0,0,0,INVALID};	83	GPS_Pos_t HomePosition = {0,0,0,INVALID};
85	// the current flight mode	84	// the current flight mode
86	FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;	85	FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF;
87		86
88		87
89	// ---------------------------------------------------------------------------------	88	// ---------------------------------------------------------------------------------
90	void GPS_UpdateParameter(void) {	89	void GPS_UpdateParameter(void) {
91	static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;	90	static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF;
92		91
93	if((RC_Quality < 100) \|\| (MKFlags & MKFLAG_EMERGENCY_LANDING)) {	92	if((RC_Quality < 100) \|\| (MKFlags & MKFLAG_EMERGENCY_LANDING)) {
94	FlightMode = GPS_FLIGHT_MODE_FREE;	93	FlightMode = GPS_FLIGHT_MODE_FREE;
95	} else {	94	} else {
96	if (dynamicParams.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID;	95	if (dynamicParams.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID;
97	else if(dynamicParams.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;	96	else if(dynamicParams.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE;
98	else FlightMode = GPS_FLIGHT_MODE_HOME;	97	else FlightMode = GPS_FLIGHT_MODE_HOME;
99	}	98	}
100		99
101	if (FlightMode != FlightModeOld) {	100	if (FlightMode != FlightModeOld) {
102	BeepTime = 100;	101	BeepTime = 100;
103	}	102	}
104	FlightModeOld = FlightMode;	103	FlightModeOld = FlightMode;
105	}	104	}
106		105
107	// ---------------------------------------------------------------------------------	106	// ---------------------------------------------------------------------------------
108	// This function defines a good GPS signal condition	107	// This function defines a good GPS signal condition
109	uint8_t GPS_IsSignalOK(void) {	108	uint8_t GPS_IsSignalOK(void) {
110	static uint8_t GPSFix = 0;	109	static uint8_t GPSFix = 0;
111	if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= staticParams.NaviGpsMinSat) \|\| GPSFix)) {	110	if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= staticParams.NaviGpsMinSat) \|\| GPSFix)) {
112	GPSFix = 1;	111	GPSFix = 1;
113	return 1;	112	return 1;
114	}	113	}
115	else return (0);	114	else return (0);
116	}	115	}
117		116
118	// ---------------------------------------------------------------------------------	117	// ---------------------------------------------------------------------------------
119	// rescale xy-vector length to limit	118	// rescale xy-vector length to limit
120	uint8_t GPS_LimitXY(int32_t x, int32_t y, int32_t limit) {	119	uint8_t GPS_LimitXY(int32_t x, int32_t y, int32_t limit) {
121	uint8_t retval = 0;	120	uint8_t retval = 0;
122	int32_t len;	121	int32_t len;
123	len = (int32_t)c_sqrt(x x + y * *y);	122	len = (int32_t)c_sqrt(x x + y * *y);
124	if (len > limit) {	123	if (len > limit) {
125	// normalize control vector components to the limit	124	// normalize control vector components to the limit
126	x = (x * limit) / len;	125	x = (x * limit) / len;
127	y = (y * limit) / len;	126	y = (y * limit) / len;
128	retval = 1;	127	retval = 1;
129	}	128	}
130	return(retval);	129	return(retval);
131	}	130	}
132		131
133	// checks nick and roll sticks for manual control	132	// checks nick and roll sticks for manual control
134	uint8_t GPS_IsManualControlled(void) {	133	uint8_t GPS_IsManualControlled(void) {
135	if ((abs(PPM_in[staticParams.ChannelAssignment[CH_NICK]]) < staticParams.NaviStickThreshold) && (abs(PPM_in[staticParams.ChannelAssignment[CH_ROLL]]) < staticParams.NaviStickThreshold)) return 0;	134	if ((abs(PPM_in[staticParams.ChannelAssignment[CH_NICK]]) < staticParams.NaviStickThreshold) && (abs(PPM_in[staticParams.ChannelAssignment[CH_ROLL]]) < staticParams.NaviStickThreshold)) return 0;
136	else return 1;	135	else return 1;
137	}	136	}
138		137
139	// set given position to current gps position	138	// set given position to current gps position
140	uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) {	139	uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) {
141	uint8_t retval = 0;	140	uint8_t retval = 0;
142	if(pGPSPos == NULL) return(retval); // bad pointer	141	if(pGPSPos == NULL) return(retval); // bad pointer
143		142
144	if(GPS_IsSignalOK()) { // is GPS signal condition is fine	143	if(GPS_IsSignalOK()) { // is GPS signal condition is fine
145	pGPSPos->Longitude = GPSInfo.longitude;	144	pGPSPos->Longitude = GPSInfo.longitude;
146	pGPSPos->Latitude = GPSInfo.latitude;	145	pGPSPos->Latitude = GPSInfo.latitude;
147	pGPSPos->Altitude = GPSInfo.altitude;	146	pGPSPos->Altitude = GPSInfo.altitude;
148	pGPSPos->Status = NEWDATA;	147	pGPSPos->Status = NEWDATA;
149	retval = 1;	148	retval = 1;
150	} else { // bad GPS signal condition	149	} else { // bad GPS signal condition
151	pGPSPos->Status = INVALID;	150	pGPSPos->Status = INVALID;
152	retval = 0;	151	retval = 0;
153	}	152	}
154	return(retval);	153	return(retval);
155	}	154	}
156		155
157	// clear position	156	// clear position
158	uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) {	157	uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) {
159	uint8_t retval = 0;	158	uint8_t retval = 0;
160	if(pGPSPos == NULL)	159	if(pGPSPos == NULL)
161	return retval; // bad pointer	160	return retval; // bad pointer
162	else {	161	else {
163	pGPSPos->Longitude = 0;	162	pGPSPos->Longitude = 0;
164	pGPSPos->Latitude = 0;	163	pGPSPos->Latitude = 0;
165	pGPSPos->Altitude = 0;	164	pGPSPos->Altitude = 0;
166	pGPSPos->Status = INVALID;	165	pGPSPos->Status = INVALID;
167	retval = 1;	166	retval = 1;
168	}	167	}
169	return (retval);	168	return (retval);
170	}	169	}
171		170
172	// disable GPS control sticks	171	// disable GPS control sticks
173	void GPS_Neutral(void) {	172	void GPS_Neutral(void) {
174	GPSStickNick = 0;	173	GPSStickNick = 0;
175	GPSStickRoll = 0;	174	GPSStickRoll = 0;
176	}	175	}
177		176
178	// calculates the GPS control stick values from the deviation to target position	177	// calculates the GPS control stick values from the deviation to target position
179	// if the pointer to the target positin is NULL or is the target position invalid	178	// if the pointer to the target positin is NULL or is the target position invalid
180	// then the P part of the controller is deactivated.	179	// then the P part of the controller is deactivated.
181	void GPS_PIDController(GPS_Pos_t *pTargetPos) {	180	void GPS_PIDController(GPS_Pos_t *pTargetPos) {
182	static int32_t PID_Nick, PID_Roll;	181	static int32_t PID_Nick, PID_Roll;
183	int32_t coscompass, sincompass;	182	int32_t coscompass, sincompass;
184	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm	183	int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm
185	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;	184	int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0;
186	int32_t PID_North = 0, PID_East = 0;	185	int32_t PID_North = 0, PID_East = 0;
187	static int32_t cos_target_latitude = 1;	186	static int32_t cos_target_latitude = 1;
188	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;	187	static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0;
189	static GPS_Pos_t *pLastTargetPos = 0;	188	static GPS_Pos_t *pLastTargetPos = 0;
190		189
191	// if GPS data and Compass are ok	190	// if GPS data and Compass are ok
192	if( GPS_IsSignalOK() && (CompassHeading >= 0)) {	191	if( GPS_IsSignalOK() && (CompassHeading >= 0)) {
193	if(pTargetPos != NULL) // if there is a target position	192	if(pTargetPos != NULL) // if there is a target position
194	{	193	{
195	if(pTargetPos->Status != INVALID) // and the position data are valid	194	if(pTargetPos->Status != INVALID) // and the position data are valid
196	{	195	{
197	// if the target data are updated or the target pointer has changed	196	// if the target data are updated or the target pointer has changed
198	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )	197	if ((pTargetPos->Status != PROCESSED) \|\| (pTargetPos != pLastTargetPos) )
199	{	198	{
200	// reset error integral	199	// reset error integral
201	GPSPosDevIntegral_North = 0;	200	GPSPosDevIntegral_North = 0;
202	GPSPosDevIntegral_East = 0;	201	GPSPosDevIntegral_East = 0;
203	// recalculate latitude projection	202	// recalculate latitude projection
204	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));	203	cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L));
205	// remember last target pointer	204	// remember last target pointer
206	pLastTargetPos = pTargetPos;	205	pLastTargetPos = pTargetPos;
207	// mark data as processed	206	// mark data as processed
208	pTargetPos->Status = PROCESSED;	207	pTargetPos->Status = PROCESSED;
209	}	208	}
210	// calculate position deviation from latitude and longitude differences	209	// calculate position deviation from latitude and longitude differences
211	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally	210	GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally
212	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally	211	GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally
213	// calculate latitude projection	212	// calculate latitude projection
214	GPSPosDev_East *= cos_target_latitude;	213	GPSPosDev_East *= cos_target_latitude;
215	GPSPosDev_East /= 8192;	214	GPSPosDev_East /= 8192;
216	}	215	}
217	else // no valid target position available	216	else // no valid target position available
218	{	217	{
219	// reset error	218	// reset error
220	GPSPosDev_North = 0;	219	GPSPosDev_North = 0;
221	GPSPosDev_East = 0;	220	GPSPosDev_East = 0;
222	// reset error integral	221	// reset error integral
223	GPSPosDevIntegral_North = 0;	222	GPSPosDevIntegral_North = 0;
224	GPSPosDevIntegral_East = 0;	223	GPSPosDevIntegral_East = 0;
225	}	224	}
226	}	225	}
227	else // no target position available	226	else // no target position available
228	{	227	{
229	// reset error	228	// reset error
230	GPSPosDev_North = 0;	229	GPSPosDev_North = 0;
231	GPSPosDev_East = 0;	230	GPSPosDev_East = 0;
232	// reset error integral	231	// reset error integral
233	GPSPosDevIntegral_North = 0;	232	GPSPosDevIntegral_North = 0;
234	GPSPosDevIntegral_East = 0;	233	GPSPosDevIntegral_East = 0;
235	}	234	}
236		235
237	//Calculate PID-components of the controller	236	//Calculate PID-components of the controller
238		237
239	// D-Part	238	// D-Part
240	D_North = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.velnorth)/512;	239	D_North = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.velnorth)/512;
241	D_East = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.veleast)/512;	240	D_East = ((int32_t)dynamicParams.NaviGpsD * GPSInfo.veleast)/512;
242		241
243	// P-Part	242	// P-Part
244	P_North = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_North)/2048;	243	P_North = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_North)/2048;
245	P_East = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_East)/2048;	244	P_East = ((int32_t)dynamicParams.NaviGpsP * GPSPosDev_East)/2048;
246		245
247	// I-Part	246	// I-Part
248	I_North = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_North)/8192;	247	I_North = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_North)/8192;
249	I_East = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_East)/8192;	248	I_East = ((int32_t)dynamicParams.NaviGpsI * GPSPosDevIntegral_East)/8192;
250		249
251	// combine P & I	250	// combine P & I
252	PID_North = P_North + I_North;	251	PID_North = P_North + I_North;
253	PID_East = P_East + I_East;	252	PID_East = P_East + I_East;
254	if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))	253	if(!GPS_LimitXY(&PID_North, &PID_East, GPS_P_LIMIT))
255	{	254	{
256	GPSPosDevIntegral_North += GPSPosDev_North/16;	255	GPSPosDevIntegral_North += GPSPosDev_North/16;
257	GPSPosDevIntegral_East += GPSPosDev_East/16;	256	GPSPosDevIntegral_East += GPSPosDev_East/16;
258	GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);	257	GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT);
259	}	258	}
260		259
261	// combine PI- and D-Part	260	// combine PI- and D-Part
262	PID_North += D_North;	261	PID_North += D_North;
263	PID_East += D_East;	262	PID_East += D_East;
264		263
265	// scale combination with gain.	264	// scale combination with gain.
266	PID_North = (PID_North * (int32_t)dynamicParams.NaviGpsGain) / 100;	265	PID_North = (PID_North * (int32_t)dynamicParams.NaviGpsGain) / 100;
267	PID_East = (PID_East * (int32_t)dynamicParams.NaviGpsGain) / 100;	266	PID_East = (PID_East * (int32_t)dynamicParams.NaviGpsGain) / 100;
268		267
269	// GPS to nick and roll settings	268	// GPS to nick and roll settings
270	// A positive nick angle moves head downwards (flying forward).	269	// A positive nick angle moves head downwards (flying forward).
271	// A positive roll angle tilts left side downwards (flying left).	270	// A positive roll angle tilts left side downwards (flying left).
272	// If compass heading is 0 the head of the copter is in north direction.	271	// If compass heading is 0 the head of the copter is in north direction.
273	// A positive nick angle will fly to north and a positive roll angle will fly to west.	272	// A positive nick angle will fly to north and a positive roll angle will fly to west.
274	// In case of a positive north deviation/velocity the	273	// In case of a positive north deviation/velocity the
275	// copter should fly to south (negative nick).	274	// copter should fly to south (negative nick).
276	// In case of a positive east position deviation and a positive east velocity the	275	// In case of a positive east position deviation and a positive east velocity the
277	// copter should fly to west (positive roll).	276	// copter should fly to west (positive roll).
278	// The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values	277	// The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values
279	// in the flight.c. Therefore a positive north deviation/velocity should result in a positive	278	// in the flight.c. Therefore a positive north deviation/velocity should result in a positive
280	// GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll.	279	// GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll.
281		280
282	coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR);	281	coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR);
283	sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR);	282	sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR);
284	PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192;	283	PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192;
285	PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192;	284	PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192;
286		285
287	// limit resulting GPS control vector	286	// limit resulting GPS control vector
288	GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);	287	GPS_LimitXY(&PID_Nick, &PID_Roll, GPS_STICK_LIMIT);
289		288
290	GPSStickNick = (int16_t)PID_Nick;	289	GPSStickNick = (int16_t)PID_Nick;
291	GPSStickRoll = (int16_t)PID_Roll;	290	GPSStickRoll = (int16_t)PID_Roll;
292	}	291	}
293	else // invalid GPS data or bad compass reading	292	else // invalid GPS data or bad compass reading
294	{	293	{
295	GPS_Neutral(); // do nothing	294	GPS_Neutral(); // do nothing
296	// reset error integral	295	// reset error integral
297	GPSPosDevIntegral_North = 0;	296	GPSPosDevIntegral_North = 0;
298	GPSPosDevIntegral_East = 0;	297	GPSPosDevIntegral_East = 0;
299	}	298	}
300	}	299	}
301		300
302	void GPS_Main(void) {	301	void GPS_Main(void) {
303	static uint8_t GPS_P_Delay = 0;	302	static uint8_t GPS_P_Delay = 0;
304	static uint16_t beep_rythm = 0;	303	static uint16_t beep_rythm = 0;
305		304
306	GPS_UpdateParameter();	305	GPS_UpdateParameter();
307		306
308	// store home position if start of flight flag is set	307	// store home position if start of flight flag is set
309	if(MKFlags & MKFLAG_CALIBRATE) {	308	if(MKFlags & MKFLAG_CALIBRATE) {
310	if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;	309	if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700;
311	}	310	}
312		311
313	switch(GPSInfo.status) {	312	switch(GPSInfo.status) {
314	case INVALID: // invalid gps data	313	case INVALID: // invalid gps data
315	GPS_Neutral();	314	GPS_Neutral();
316	if(FlightMode != GPS_FLIGHT_MODE_FREE) {	315	if(FlightMode != GPS_FLIGHT_MODE_FREE) {
317	BeepTime = 100; // beep if signal is neccesary	316	BeepTime = 100; // beep if signal is neccesary
318	}	317	}
319	break;	318	break;
320	case PROCESSED: // if gps data are already processed do nothing	319	case PROCESSED: // if gps data are already processed do nothing
321	// downcount timeout	320	// downcount timeout
322	if(GPSTimeout) GPSTimeout--;	321	if(GPSTimeout) GPSTimeout--;
323	// if no new data arrived within timeout set current data invalid	322	// if no new data arrived within timeout set current data invalid
324	// and therefore disable GPS	323	// and therefore disable GPS
325	else	324	else
326	{	325	{
327	GPS_Neutral();	326	GPS_Neutral();
328	GPSInfo.status = INVALID;	327	GPSInfo.status = INVALID;
329	}	328	}
330	break;	329	break;
331	case NEWDATA: // new valid data from gps device	330	case NEWDATA: // new valid data from gps device
332	// if the gps data quality is good	331	// if the gps data quality is good
333	beep_rythm++;	332	beep_rythm++;
334		333
335	if (GPS_IsSignalOK())	334	if (GPS_IsSignalOK())
336	{	335	{
337	switch(FlightMode) // check what's to do	336	switch(FlightMode) // check what's to do
338	{	337	{
339	case GPS_FLIGHT_MODE_FREE:	338	case GPS_FLIGHT_MODE_FREE:
340	// update hold position to current gps position	339	// update hold position to current gps position
341	GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad	340	GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad
342	// disable gps control	341	// disable gps control
343	GPS_Neutral();	342	GPS_Neutral();
344	break;	343	break;
345		344
346	case GPS_FLIGHT_MODE_AID:	345	case GPS_FLIGHT_MODE_AID:
347	if(HoldPosition.Status != INVALID)	346	if(HoldPosition.Status != INVALID)
348	{	347	{
349	if( GPS_IsManualControlled() ) // MK controlled by user	348	if( GPS_IsManualControlled() ) // MK controlled by user
350	{	349	{
351	// update hold point to current gps position	350	// update hold point to current gps position
352	GPS_SetCurrPosition(&HoldPosition);	351	GPS_SetCurrPosition(&HoldPosition);
353	// disable gps control	352	// disable gps control
354	GPS_Neutral();	353	GPS_Neutral();
355	GPS_P_Delay = 0;	354	GPS_P_Delay = 0;
356	}	355	}
357	else // GPS control active	356	else // GPS control active
358	{	357	{
359	if(GPS_P_Delay < 7)	358	if(GPS_P_Delay < 7)
360	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)	359	{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s)
361	GPS_P_Delay++;	360	GPS_P_Delay++;
362	GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position	361	GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position
363	GPS_PIDController(NULL); // activates only the D-Part	362	GPS_PIDController(NULL); // activates only the D-Part
364	}	363	}
365	else GPS_PIDController(&HoldPosition);// activates the P&D-Part	364	else GPS_PIDController(&HoldPosition);// activates the P&D-Part
366	}	365	}
367	}	366	}
368	else // invalid Hold Position	367	else // invalid Hold Position
369	{ // try to catch a valid hold position from gps data input	368	{ // try to catch a valid hold position from gps data input
370	GPS_SetCurrPosition(&HoldPosition);	369	GPS_SetCurrPosition(&HoldPosition);
371	GPS_Neutral();	370	GPS_Neutral();
372	}	371	}
373	break;	372	break;
374		373
375	case GPS_FLIGHT_MODE_HOME:	374	case GPS_FLIGHT_MODE_HOME:
376	if(HomePosition.Status != INVALID)	375	if(HomePosition.Status != INVALID)
377	{	376	{
378	// update hold point to current gps position	377	// update hold point to current gps position
379	// to avoid a flight back if home comming is deactivated	378	// to avoid a flight back if home comming is deactivated
380	GPS_SetCurrPosition(&HoldPosition);	379	GPS_SetCurrPosition(&HoldPosition);
381	if( GPS_IsManualControlled() ) // MK controlled by user	380	if( GPS_IsManualControlled() ) // MK controlled by user
382	{	381	{
383	GPS_Neutral();	382	GPS_Neutral();
384	}	383	}
385	else // GPS control active	384	else // GPS control active
386	{	385	{
387	GPS_PIDController(&HomePosition);	386	GPS_PIDController(&HomePosition);
388	}	387	}
389	}	388	}
390	else // bad home position	389	else // bad home position
391	{	390	{
392	BeepTime = 50; // signal invalid home position	391	BeepTime = 50; // signal invalid home position
393	// try to hold at least the position as a fallback option	392	// try to hold at least the position as a fallback option
394		393
395	if (HoldPosition.Status != INVALID)	394	if (HoldPosition.Status != INVALID)
396	{	395	{
397	if( GPS_IsManualControlled() ) // MK controlled by user	396	if( GPS_IsManualControlled() ) // MK controlled by user
398	{	397	{
399	GPS_Neutral();	398	GPS_Neutral();
400	}	399	}
401	else // GPS control active	400	else // GPS control active
402	{	401	{
403	GPS_PIDController(&HoldPosition);	402	GPS_PIDController(&HoldPosition);
404	}	403	}
405	}	404	}
406	else	405	else
407	{ // try to catch a valid hold position	406	{ // try to catch a valid hold position
408	GPS_SetCurrPosition(&HoldPosition);	407	GPS_SetCurrPosition(&HoldPosition);
409	GPS_Neutral();	408	GPS_Neutral();
410	}	409	}
411	}	410	}
412	break; // eof TSK_HOME	411	break; // eof TSK_HOME
413	default: // unhandled task	412	default: // unhandled task
414	GPS_Neutral();	413	GPS_Neutral();
415	break; // eof default	414	break; // eof default
416	} // eof switch GPS_Task	415	} // eof switch GPS_Task
417	} // eof gps data quality is good	416	} // eof gps data quality is good
418	else // gps data quality is bad	417	else // gps data quality is bad
419	{ // disable gps control	418	{ // disable gps control
420	GPS_Neutral();	419	GPS_Neutral();
421	if(FlightMode != GPS_FLIGHT_MODE_FREE)	420	if(FlightMode != GPS_FLIGHT_MODE_FREE)
422	{	421	{
423	// beep if signal is not sufficient	422	// beep if signal is not sufficient
424	if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;	423	if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100;
425	else if (GPSInfo.satnum < staticParams.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;	424	else if (GPSInfo.satnum < staticParams.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10;
426	}	425	}
427	}	426	}
428	// set current data as processed to avoid further calculations on the same gps data	427	// set current data as processed to avoid further calculations on the same gps data
429	GPSInfo.status = PROCESSED;	428	GPSInfo.status = PROCESSED;
430	break;	429	break;
431	} // eof GPSInfo.status	430	} // eof GPSInfo.status
432	}	431	}
433		432
434		433

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/gps.c @ 1801 - Rev 1775 → 1796