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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /*#######################################################################################*/ |
2 | /*#######################################################################################*/ |
3 | 3 | ||
4 | // IMPORTANT NOTE: |
4 | // IMPORTANT NOTE: |
5 | 5 | ||
6 | // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
6 | // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
7 | 7 | ||
8 | // The GPS navigation routines are NOT included ! |
8 | // The GPS navigation routines are NOT included ! |
9 | 9 | ||
10 | /*#######################################################################################*/ |
10 | /*#######################################################################################*/ |
11 | /*#######################################################################################*/ |
11 | /*#######################################################################################*/ |
12 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
12 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
13 | /*#######################################################################################*/ |
13 | /*#######################################################################################*/ |
14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
15 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
16 | // + Nur für den privaten Gebrauch |
16 | // + Nur für den privaten Gebrauch |
17 | // + FOR NON COMMERCIAL USE ONLY |
17 | // + FOR NON COMMERCIAL USE ONLY |
18 | // + www.MikroKopter.com |
18 | // + www.MikroKopter.com |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
20 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
21 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
21 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
22 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
22 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
23 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
23 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
24 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
24 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
25 | // + Verkauf von Luftbildaufnahmen, usw. |
25 | // + Verkauf von Luftbildaufnahmen, usw. |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
27 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
28 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
28 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
30 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
31 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
31 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
32 | // + eindeutig als Ursprung verlinkt werden |
32 | // + eindeutig als Ursprung verlinkt werden |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
34 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
35 | // + Benutzung auf eigene Gefahr |
35 | // + Benutzung auf eigene Gefahr |
36 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
36 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
37 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
37 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
38 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
38 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
39 | // + mit unserer Zustimmung zulässig |
39 | // + mit unserer Zustimmung zulässig |
40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
41 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
43 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
43 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
44 | // + this list of conditions and the following disclaimer. |
44 | // + this list of conditions and the following disclaimer. |
45 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
45 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
46 | // + from this software without specific prior written permission. |
46 | // + from this software without specific prior written permission. |
47 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
47 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
48 | // + for non-commercial use (directly or indirectly) |
48 | // + for non-commercial use (directly or indirectly) |
49 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
49 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
50 | // + with our written permission |
50 | // + with our written permission |
51 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
51 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
52 | // + clearly linked as origin |
52 | // + clearly linked as origin |
53 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
53 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
54 | // |
54 | // |
55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
65 | // + POSSIBILITY OF SUCH DAMAGE. |
65 | // + POSSIBILITY OF SUCH DAMAGE. |
66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
67 | #include <stdio.h> |
67 | #include <stdio.h> |
68 | #include <stdlib.h> |
68 | #include <stdlib.h> |
69 | #include <math.h> |
69 | #include <math.h> |
70 | #include "91x_lib.h" |
70 | #include "91x_lib.h" |
71 | #include "main.h" |
71 | #include "main.h" |
72 | #include "uart1.h" |
72 | #include "uart1.h" |
73 | #include "GPS.h" |
73 | #include "GPS.h" |
74 | #include "timer.h" |
74 | #include "timer.h" |
75 | #include "spi_slave.h" |
75 | #include "spi_slave.h" |
76 | #include "waypoints.h" |
76 | #include "waypoints.h" |
77 | #include "i2c.h" |
77 | #include "i2c.h" |
78 | 78 | ||
79 | 79 | ||
80 | #define M_PI_180 (M_PI / 180.0f) |
80 | #define M_PI_180 (M_PI / 180.0f) |
81 | #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
81 | #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
82 | typedef enum |
82 | typedef enum |
83 | { |
83 | { |
84 | GPS_FLIGHT_MODE_UNDEF, |
84 | GPS_FLIGHT_MODE_UNDEF, |
85 | GPS_FLIGHT_MODE_FREE, |
85 | GPS_FLIGHT_MODE_FREE, |
86 | GPS_FLIGHT_MODE_AID, |
86 | GPS_FLIGHT_MODE_AID, |
87 | GPS_FLIGHT_MODE_WAYPOINT |
87 | GPS_FLIGHT_MODE_WAYPOINT |
88 | } GPS_FlightMode_t; |
88 | } GPS_FlightMode_t; |
89 | 89 | ||
90 | typedef struct |
90 | typedef struct |
91 | { |
91 | { |
92 | float Gain; |
92 | float Gain; |
93 | float P; |
93 | float P; |
94 | float I; |
94 | float I; |
95 | float D; |
95 | float D; |
96 | float A; |
96 | float A; |
97 | float ACC; |
97 | float ACC; |
98 | s32 P_Limit; |
98 | s32 P_Limit; |
99 | s32 I_Limit; |
99 | s32 I_Limit; |
100 | s32 D_Limit; |
100 | s32 D_Limit; |
101 | s32 PID_Limit; |
101 | s32 PID_Limit; |
102 | u32 BrakingDuration; |
102 | u32 BrakingDuration; |
103 | u8 MinSat; |
103 | u8 MinSat; |
104 | s8 StickThreshold; |
104 | s8 StickThreshold; |
105 | float WindCorrection; |
105 | float WindCorrection; |
106 | float SpeedCompensation; |
106 | float SpeedCompensation; |
107 | s32 OperatingRadius; |
107 | s32 OperatingRadius; |
108 | GPS_FlightMode_t FlightMode; |
108 | GPS_FlightMode_t FlightMode; |
109 | } __attribute__((packed)) GPS_Parameter_t; |
109 | } __attribute__((packed)) GPS_Parameter_t; |
110 | 110 | ||
111 | typedef struct |
111 | typedef struct |
112 | { |
112 | { |
113 | u8 Status; // invalid, newdata, processed |
113 | u8 Status; // invalid, newdata, processed |
114 | s32 North; // in cm |
114 | s32 North; // in cm |
115 | s32 East; // in cm |
115 | s32 East; // in cm |
116 | s32 Bearing; // in deg |
116 | s32 Bearing; // in deg |
117 | s32 Distance; // in cm |
117 | s32 Distance; // in cm |
118 | } __attribute__((packed)) GPS_Deviation_t; |
118 | } __attribute__((packed)) GPS_Deviation_t; |
119 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
119 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
120 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
120 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
121 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
121 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
122 | 122 | ||
123 | GPS_Stick_t GPS_Stick; |
123 | GPS_Stick_t GPS_Stick; |
124 | GPS_Parameter_t GPS_Parameter; |
124 | GPS_Parameter_t GPS_Parameter; |
125 | 125 | ||
126 | // the gps reference positions |
126 | // the gps reference positions |
127 | GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
127 | GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
128 | GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
128 | GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
129 | GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
129 | GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
130 | u32 GPS_TargetRadius = 0; // catch radius for target area |
130 | u32 GPS_TargetRadius = 0; // catch radius for target area |
131 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
131 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
132 | 132 | ||
133 | //------------------------------------------------------------- |
133 | //------------------------------------------------------------- |
134 | // Update GPSParamter |
134 | // Update GPSParamter |
135 | void GPS_UpdateParameter(void) |
135 | void GPS_UpdateParameter(void) |
136 | { |
136 | { |
137 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
137 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
138 | // in case of bad receiving conditions |
138 | // in case of bad receiving conditions |
139 | if(FC.RC_Quality < 100) |
139 | if(FC.RC_Quality < 100) |
140 | { // set fixed parameter |
140 | { // set fixed parameter |
141 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
141 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
142 | GPS_Parameter.Gain = (float) 100; |
142 | GPS_Parameter.Gain = (float) 100; |
143 | GPS_Parameter.P = (float) 90; |
143 | GPS_Parameter.P = (float) 90; |
144 | GPS_Parameter.I = (float) 90; |
144 | GPS_Parameter.I = (float) 90; |
145 | GPS_Parameter.D = (float) 90; |
145 | GPS_Parameter.D = (float) 90; |
146 | GPS_Parameter.A = (float) 90; |
146 | GPS_Parameter.A = (float) 90; |
147 | GPS_Parameter.ACC = (float) 0; |
147 | GPS_Parameter.ACC = (float) 0; |
148 | GPS_Parameter.P_Limit = 90; |
148 | GPS_Parameter.P_Limit = 90; |
149 | GPS_Parameter.I_Limit = 90; |
149 | GPS_Parameter.I_Limit = 90; |
150 | GPS_Parameter.D_Limit = 90; |
150 | GPS_Parameter.D_Limit = 90; |
151 | GPS_Parameter.PID_Limit = 200; |
151 | GPS_Parameter.PID_Limit = 200; |
152 | GPS_Parameter.BrakingDuration = 0; |
152 | GPS_Parameter.BrakingDuration = 0; |
153 | GPS_Parameter.SpeedCompensation = (float) 30; |
153 | GPS_Parameter.SpeedCompensation = (float) 30; |
154 | GPS_Parameter.MinSat = 6; |
154 | GPS_Parameter.MinSat = 6; |
155 | GPS_Parameter.StickThreshold = 8; |
155 | GPS_Parameter.StickThreshold = 8; |
156 | GPS_Parameter.WindCorrection = 0.0; |
156 | GPS_Parameter.WindCorrection = 0.0; |
157 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
157 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
158 | 158 | ||
159 | } |
159 | } |
160 | else |
160 | else |
161 | { |
161 | { |
162 | // update parameter from FC |
162 | // update parameter from FC |
163 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
163 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
164 | else |
164 | else |
165 | { |
165 | { |
166 | if(Parameter.NaviGpsModeControl < 50) |
166 | if(Parameter.NaviGpsModeControl < 50) |
167 | { |
167 | { |
168 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
168 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
169 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
169 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
170 | NCFlags |= NC_FLAG_FREE; |
170 | NCFlags |= NC_FLAG_FREE; |
171 | } |
171 | } |
172 | else if(Parameter.NaviGpsModeControl < 180) |
172 | else if(Parameter.NaviGpsModeControl < 180) |
173 | { |
173 | { |
174 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
174 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
175 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
175 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
176 | NCFlags |= NC_FLAG_PH; |
176 | NCFlags |= NC_FLAG_PH; |
177 | } |
177 | } |
178 | else |
178 | else |
179 | { |
179 | { |
180 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
180 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
181 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
181 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
182 | NCFlags |= NC_FLAG_CH; |
182 | NCFlags |= NC_FLAG_CH; |
183 | } |
183 | } |
184 | } |
184 | } |
185 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
185 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
186 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
186 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
187 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
187 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
188 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
188 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
189 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
189 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
190 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
190 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
191 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
191 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
192 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
192 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
193 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
193 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
194 | GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation; |
194 | GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation; |
195 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
195 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
196 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
196 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
197 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
197 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
198 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
198 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
199 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
199 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
200 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
200 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
201 | } |
201 | } |
202 | // FlightMode changed? |
202 | // FlightMode changed? |
- | 203 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
|
- | 204 | { |
|
203 | if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
205 | BeepTime = 100; // beep to indicate that mode has been switched |
- | 206 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
|
- | 207 | } |
|
204 | FlightMode_Old = GPS_Parameter.FlightMode; |
208 | FlightMode_Old = GPS_Parameter.FlightMode; |
205 | } |
209 | } |
206 | 210 | ||
207 | //------------------------------------------------------------- |
211 | //------------------------------------------------------------- |
208 | // This function defines a good GPS signal condition |
212 | // This function defines a good GPS signal condition |
209 | u8 GPS_IsSignalOK(void) |
213 | u8 GPS_IsSignalOK(void) |
210 | { |
214 | { |
211 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
215 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
212 | else return(0); |
216 | else return(0); |
213 | } |
217 | } |
214 | 218 | ||
215 | //------------------------------------------------------------ |
219 | //------------------------------------------------------------ |
216 | // Checks for manual control action |
220 | // Checks for manual control action |
217 | u8 GPS_IsManuallyControlled(void) |
221 | u8 GPS_IsManuallyControlled(void) |
218 | { |
222 | { |
219 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0) && (FC.RC_Quality > 150) ) |
223 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0) && (FC.RC_Quality > 150) ) |
220 | { |
224 | { |
221 | NCFlags |= NC_FLAG_MANUAL_CONTROL; |
225 | NCFlags |= NC_FLAG_MANUAL_CONTROL; |
222 | return(1); |
226 | return(1); |
223 | } |
227 | } |
224 | else |
228 | else |
225 | { |
229 | { |
226 | NCFlags &= ~NC_FLAG_MANUAL_CONTROL; |
230 | NCFlags &= ~NC_FLAG_MANUAL_CONTROL; |
227 | return(0); |
231 | return(0); |
228 | } |
232 | } |
229 | } |
233 | } |
230 | 234 | ||
231 | //------------------------------------------------------------ |
235 | //------------------------------------------------------------ |
232 | // copy GPS position from source position to target position |
236 | // copy GPS position from source position to target position |
233 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
237 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
234 | { |
238 | { |
235 | u8 retval = 0; |
239 | u8 retval = 0; |
236 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
240 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
237 | // copy only valid positions |
241 | // copy only valid positions |
238 | if(pGPSPosSrc->Status != INVALID) |
242 | if(pGPSPosSrc->Status != INVALID) |
239 | { |
243 | { |
240 | // if the source GPS position is not invalid |
244 | // if the source GPS position is not invalid |
241 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
245 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
242 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
246 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
243 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
247 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
244 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
248 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
245 | retval = 1; |
249 | retval = 1; |
246 | } |
250 | } |
247 | return(retval); |
251 | return(retval); |
248 | } |
252 | } |
249 | 253 | ||
250 | //------------------------------------------------------------ |
254 | //------------------------------------------------------------ |
251 | // clear position data |
255 | // clear position data |
252 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
256 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
253 | { |
257 | { |
254 | u8 retval = FALSE; |
258 | u8 retval = FALSE; |
255 | if(pGPSPos == NULL) return(retval); // bad pointer |
259 | if(pGPSPos == NULL) return(retval); // bad pointer |
256 | else |
260 | else |
257 | { |
261 | { |
258 | pGPSPos->Longitude = 0; |
262 | pGPSPos->Longitude = 0; |
259 | pGPSPos->Latitude = 0; |
263 | pGPSPos->Latitude = 0; |
260 | pGPSPos->Altitude = 0; |
264 | pGPSPos->Altitude = 0; |
261 | pGPSPos->Status = INVALID; |
265 | pGPSPos->Status = INVALID; |
262 | retval = TRUE; |
266 | retval = TRUE; |
263 | } |
267 | } |
264 | return (retval); |
268 | return (retval); |
265 | } |
269 | } |
266 | 270 | ||
267 | 271 | ||
268 | //------------------------------------------------------------ |
272 | //------------------------------------------------------------ |
269 | void GPS_Neutral(void) |
273 | void GPS_Neutral(void) |
270 | { |
274 | { |
271 | GPS_Stick.Nick = 0; |
275 | GPS_Stick.Nick = 0; |
272 | GPS_Stick.Roll = 0; |
276 | GPS_Stick.Roll = 0; |
273 | GPS_Stick.Yaw = 0; |
277 | GPS_Stick.Yaw = 0; |
274 | } |
278 | } |
275 | 279 | ||
276 | //------------------------------------------------------------ |
280 | //------------------------------------------------------------ |
277 | void GPS_Init(void) |
281 | void GPS_Init(void) |
278 | { |
282 | { |
279 | SerialPutString("\r\n GPS init..."); |
283 | SerialPutString("\r\n GPS init..."); |
280 | UBX_Init(); |
284 | UBX_Init(); |
281 | GPS_Neutral(); |
285 | GPS_Neutral(); |
282 | GPS_ClearPosition(&GPS_HoldPosition); |
286 | GPS_ClearPosition(&GPS_HoldPosition); |
283 | GPS_ClearPosition(&GPS_HomePosition); |
287 | GPS_ClearPosition(&GPS_HomePosition); |
284 | GPS_pTargetPosition = NULL; |
288 | GPS_pTargetPosition = NULL; |
285 | WPList_Init(); |
289 | WPList_Init(); |
286 | GPS_pWaypoint = WPList_Begin(); |
290 | GPS_pWaypoint = WPList_Begin(); |
287 | GPS_UpdateParameter(); |
291 | GPS_UpdateParameter(); |
288 | SerialPutString("ok"); |
292 | SerialPutString("ok"); |
289 | } |
293 | } |
290 | 294 | ||
291 | //------------------------------------------------------------ |
295 | //------------------------------------------------------------ |
292 | // calculate the bearing to target position from its deviation |
296 | // calculate the bearing to target position from its deviation |
293 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
297 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
294 | { |
298 | { |
295 | s32 bearing; |
299 | s32 bearing; |
296 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
300 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
297 | bearing = (270L - bearing)%360L; |
301 | bearing = (270L - bearing)%360L; |
298 | return(bearing); |
302 | return(bearing); |
299 | } |
303 | } |
300 | 304 | ||
301 | 305 | ||
302 | //------------------------------------------------------------ |
306 | //------------------------------------------------------------ |
303 | // Rescale xy-vector length if length limit is violated |
307 | // Rescale xy-vector length if length limit is violated |
304 | // returns vector len after scaling |
308 | // returns vector len after scaling |
305 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
309 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
306 | { |
310 | { |
307 | s32 dist; |
311 | s32 dist; |
308 | 312 | ||
309 | dist = (s32)hypot(*x,*y); // the length of the vector |
313 | dist = (s32)hypot(*x,*y); // the length of the vector |
310 | if (dist > limit) |
314 | if (dist > limit) |
311 | // if vector length is larger than the given limit |
315 | // if vector length is larger than the given limit |
312 | { // scale vector compontents so that the length is cut off to limit |
316 | { // scale vector compontents so that the length is cut off to limit |
313 | *x = (s32)(( (double)(*x) * (double)limit ) / (double)dist); |
317 | *x = (s32)(( (double)(*x) * (double)limit ) / (double)dist); |
314 | *y = (s32)(( (double)(*y) * (double)limit ) / (double)dist); |
318 | *y = (s32)(( (double)(*y) * (double)limit ) / (double)dist); |
315 | dist = limit; |
319 | dist = limit; |
316 | } |
320 | } |
317 | return(dist); |
321 | return(dist); |
318 | } |
322 | } |
319 | 323 | ||
320 | //------------------------------------------------------------ |
324 | //------------------------------------------------------------ |
321 | // transform the integer deg into float radians |
325 | // transform the integer deg into float radians |
322 | inline double RadiansFromGPS(s32 deg) |
326 | inline double RadiansFromGPS(s32 deg) |
323 | { |
327 | { |
324 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
328 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
325 | } |
329 | } |
326 | 330 | ||
327 | //------------------------------------------------------------ |
331 | //------------------------------------------------------------ |
328 | // transform the integer deg into float deg |
332 | // transform the integer deg into float deg |
329 | inline double DegFromGPS(s32 deg) |
333 | inline double DegFromGPS(s32 deg) |
330 | { |
334 | { |
331 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
335 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
332 | } |
336 | } |
333 | 337 | ||
334 | //------------------------------------------------------------ |
338 | //------------------------------------------------------------ |
335 | // calculate the deviation from the current position to the target position |
339 | // calculate the deviation from the current position to the target position |
336 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
340 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
337 | { |
341 | { |
338 | double temp1, temp2; |
342 | double temp1, temp2; |
339 | // if given pointer is NULL |
343 | // if given pointer is NULL |
340 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
344 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
341 | // if positions are invalid |
345 | // if positions are invalid |
342 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
346 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
343 | 347 | ||
344 | // The deviation from the current to the target position along north and east direction is |
348 | // The deviation from the current to the target position along north and east direction is |
345 | // simple the lat/lon difference. To convert that angular deviation into an |
349 | // simple the lat/lon difference. To convert that angular deviation into an |
346 | // arc length the spherical projection has to be considered. |
350 | // arc length the spherical projection has to be considered. |
347 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
351 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
348 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
352 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
349 | // The arc length per longitude degree depends on the correspondig latitude and |
353 | // The arc length per longitude degree depends on the correspondig latitude and |
350 | // is 111.2km * cos(latitude). |
354 | // is 111.2km * cos(latitude). |
351 | 355 | ||
352 | // calculate the shortest longitude deviation from target |
356 | // calculate the shortest longitude deviation from target |
353 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
357 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
354 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
358 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
355 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
359 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
356 | if(temp1 > 180.0f) temp1 -= 360.0f; |
360 | if(temp1 > 180.0f) temp1 -= 360.0f; |
357 | else if (temp1 < -180.0f) temp1 += 360.0f; |
361 | else if (temp1 < -180.0f) temp1 += 360.0f; |
358 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
362 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
359 | // calculate latitude deviation from target |
363 | // calculate latitude deviation from target |
360 | // this is allways within -180 deg ... 180 deg |
364 | // this is allways within -180 deg ... 180 deg |
361 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
365 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
362 | // deviation from target position in cm |
366 | // deviation from target position in cm |
363 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
367 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
364 | 368 | ||
365 | pDeviationFromTarget->Status = INVALID; |
369 | pDeviationFromTarget->Status = INVALID; |
366 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
370 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
367 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
371 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
368 | // If the position deviation is small enough to neglect the earth curvature |
372 | // If the position deviation is small enough to neglect the earth curvature |
369 | // (this is for our application always fulfilled) the distance to target |
373 | // (this is for our application always fulfilled) the distance to target |
370 | // can be calculated by the pythagoras of north and east deviation. |
374 | // can be calculated by the pythagoras of north and east deviation. |
371 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
375 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
372 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
376 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
373 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
377 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
374 | pDeviationFromTarget->Status = NEWDATA; |
378 | pDeviationFromTarget->Status = NEWDATA; |
375 | return TRUE; |
379 | return TRUE; |
376 | 380 | ||
377 | baddata: |
381 | baddata: |
378 | pDeviationFromTarget->North = 0L; |
382 | pDeviationFromTarget->North = 0L; |
379 | pDeviationFromTarget->East = 0L; |
383 | pDeviationFromTarget->East = 0L; |
380 | pDeviationFromTarget->Distance = 0L; |
384 | pDeviationFromTarget->Distance = 0L; |
381 | pDeviationFromTarget->Bearing = 0L; |
385 | pDeviationFromTarget->Bearing = 0L; |
382 | pDeviationFromTarget->Status = INVALID; |
386 | pDeviationFromTarget->Status = INVALID; |
383 | return FALSE; |
387 | return FALSE; |
384 | } |
388 | } |
385 | 389 | ||
386 | //------------------------------------------------------------ |
390 | //------------------------------------------------------------ |
387 | void GPS_Navigation(void) |
391 | void GPS_Navigation(void) |
388 | { |
392 | { |
389 | static u32 beep_rythm; |
393 | static u32 beep_rythm; |
390 | static u32 GPSDataTimeout = 0; |
394 | static u32 GPSDataTimeout = 0; |
391 | 395 | ||
392 | // pointer to current target position |
396 | // pointer to current target position |
393 | static GPS_Pos_t * pTargetPositionOld = NULL; |
397 | static GPS_Pos_t * pTargetPositionOld = NULL; |
394 | static Waypoint_t* GPS_pWaypointOld = NULL; |
398 | static Waypoint_t* GPS_pWaypointOld = NULL; |
395 | 399 | ||
396 | static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius |
400 | static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius |
397 | static s32 OperatingRadiusOld = -1; |
401 | static s32 OperatingRadiusOld = -1; |
398 | static u32 WPTime = 0; |
402 | static u32 WPTime = 0; |
399 | 403 | ||
400 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
404 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
401 | //+ Check for new data from GPS-receiver |
405 | //+ Check for new data from GPS-receiver |
402 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
406 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
403 | switch(GPSData.Status) |
407 | switch(GPSData.Status) |
404 | { |
408 | { |
405 | case INVALID: // no gps data available |
409 | case INVALID: // no gps data available |
406 | // do nothing |
410 | // do nothing |
407 | GPS_Parameter.PID_Limit = 0; // disables PID output |
411 | GPS_Parameter.PID_Limit = 0; // disables PID output |
408 | break; |
412 | break; |
409 | 413 | ||
410 | case PROCESSED: // the current data have been allready processed |
414 | case PROCESSED: // the current data have been allready processed |
411 | // if no new data are available within the timeout switch to invalid state. |
415 | // if no new data are available within the timeout switch to invalid state. |
412 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
416 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
413 | // wait for new gps data |
417 | // wait for new gps data |
414 | break; |
418 | break; |
415 | 419 | ||
416 | case NEWDATA: // handle new gps data |
420 | case NEWDATA: // handle new gps data |
417 | 421 | ||
418 | // update GPS Parameter from FC-Data via SPI interface |
422 | // update GPS Parameter from FC-Data via SPI interface |
419 | GPS_UpdateParameter(); |
423 | GPS_UpdateParameter(); |
420 | 424 | ||
421 | // wait maximum of 3 times the normal data update time before data timemout |
425 | // wait maximum of 3 times the normal data update time before data timemout |
422 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
426 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
423 | beep_rythm++; |
427 | beep_rythm++; |
424 | 428 | ||
425 | // debug |
429 | // debug |
426 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
430 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
427 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
431 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
428 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
432 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
429 | 433 | ||
430 | // If GPS signal condition is sufficient for a reliable position measurement |
434 | // If GPS signal condition is sufficient for a reliable position measurement |
431 | if(GPS_IsSignalOK()) |
435 | if(GPS_IsSignalOK()) |
432 | { |
436 | { |
433 | // update home deviation info |
437 | // update home deviation info |
434 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
438 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
435 | 439 | ||
436 | // if the MK is starting or the home position is invalid then store the home position |
440 | // if the MK is starting or the home position is invalid then store the home position |
437 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
441 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
438 | { // try to update the home position from the current position |
442 | { // try to update the home position from the current position |
439 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
443 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
440 | { |
444 | { |
441 | BeepTime = 700; // beep on success |
445 | BeepTime = 700; // beep on success |
442 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
446 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
443 | } |
447 | } |
444 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
448 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
445 | } |
449 | } |
446 | 450 | ||
447 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
451 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
448 | 452 | ||
449 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
453 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
450 | switch(GPS_Parameter.FlightMode) |
454 | switch(GPS_Parameter.FlightMode) |
451 | { |
455 | { |
452 | // the GPS control is deactived |
456 | // the GPS control is deactived |
453 | case GPS_FLIGHT_MODE_FREE: |
457 | case GPS_FLIGHT_MODE_FREE: |
454 | 458 | ||
455 | GPS_Parameter.PID_Limit = 0; // disables PID output |
459 | GPS_Parameter.PID_Limit = 0; // disables PID output |
456 | // update hold position |
460 | // update hold position |
457 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
461 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
458 | // no target position |
462 | // no target position |
459 | GPS_pTargetPosition = NULL; |
463 | GPS_pTargetPosition = NULL; |
460 | GPS_TargetRadius = 0; |
464 | GPS_TargetRadius = 0; |
461 | break; |
465 | break; |
462 | 466 | ||
463 | // the GPS supports the position hold, if the pilot takes no action |
467 | // the GPS supports the position hold, if the pilot takes no action |
464 | case GPS_FLIGHT_MODE_AID: |
468 | case GPS_FLIGHT_MODE_AID: |
465 | 469 | ||
466 | // reset WPList to begin |
470 | // reset WPList to begin |
467 | GPS_pWaypoint = WPList_Begin(); |
471 | GPS_pWaypoint = WPList_Begin(); |
468 | 472 | ||
469 | if(GPS_IsManuallyControlled()) |
473 | if(GPS_IsManuallyControlled()) |
470 | { |
474 | { |
471 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
475 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
472 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
476 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
473 | GPS_pTargetPosition = NULL; |
477 | GPS_pTargetPosition = NULL; |
474 | GPS_TargetRadius = 0; |
478 | GPS_TargetRadius = 0; |
475 | } |
479 | } |
476 | else |
480 | else |
477 | { |
481 | { |
478 | GPS_pTargetPosition = &GPS_HoldPosition; |
482 | GPS_pTargetPosition = &GPS_HoldPosition; |
479 | GPS_TargetRadius = 100; // 1 meter |
483 | GPS_TargetRadius = 100; // 1 meter |
480 | } |
484 | } |
481 | break; |
485 | break; |
482 | 486 | ||
483 | // the GPS control is directed to a target position |
487 | // the GPS control is directed to a target position |
484 | // given by a waypoint or by the home position |
488 | // given by a waypoint or by the home position |
485 | case GPS_FLIGHT_MODE_WAYPOINT: |
489 | case GPS_FLIGHT_MODE_WAYPOINT: |
486 | 490 | ||
487 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
491 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
488 | { |
492 | { |
489 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
493 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
490 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
494 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
491 | GPS_pTargetPosition = NULL; // set target position invalid |
495 | GPS_pTargetPosition = NULL; // set target position invalid |
492 | GPS_TargetRadius = 0; |
496 | GPS_TargetRadius = 0; |
493 | } |
497 | } |
494 | else // no manual control -> gps position hold active |
498 | else // no manual control -> gps position hold active |
495 | { |
499 | { |
496 | // waypoint trigger logic |
500 | // waypoint trigger logic |
497 | if(GPS_pWaypoint != NULL) // waypoint exist |
501 | if(GPS_pWaypoint != NULL) // waypoint exist |
498 | { |
502 | { |
499 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
503 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
500 | { |
504 | { |
501 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
505 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
502 | BeepTime = 255; |
506 | BeepTime = 255; |
503 | } |
507 | } |
504 | else // waypoint position is valid |
508 | else // waypoint position is valid |
505 | { |
509 | { |
506 | // check if the pointer to the waypoint has been changed or the data have been updated |
510 | // check if the pointer to the waypoint has been changed or the data have been updated |
507 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
511 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
508 | { |
512 | { |
509 | GPS_pWaypointOld = GPS_pWaypoint; |
513 | GPS_pWaypointOld = GPS_pWaypoint; |
510 | } |
514 | } |
511 | // if WP has been reached once, wait hold time before trigger to next one |
515 | // if WP has been reached once, wait hold time before trigger to next one |
512 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
516 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
513 | { |
517 | { |
514 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
518 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
515 | if(CheckDelay(WPTime)) |
519 | if(CheckDelay(WPTime)) |
516 | { |
520 | { |
517 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
521 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
518 | } |
522 | } |
519 | } // EOF if(WPArrived) |
523 | } // EOF if(WPArrived) |
520 | else |
524 | else |
521 | { |
525 | { |
522 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
526 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
523 | } |
527 | } |
524 | } |
528 | } |
525 | } // EOF waypoint trigger logic |
529 | } // EOF waypoint trigger logic |
526 | 530 | ||
527 | if(GPS_pWaypoint != NULL) // Waypoint exist |
531 | if(GPS_pWaypoint != NULL) // Waypoint exist |
528 | { |
532 | { |
529 | // update the hold position |
533 | // update the hold position |
530 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
534 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
531 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
535 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
532 | GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
536 | GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
533 | 537 | ||
534 | } |
538 | } |
535 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
539 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
536 | { |
540 | { |
537 | // fly back to home postion |
541 | // fly back to home postion |
538 | if(GPS_HomePosition.Status == INVALID) |
542 | if(GPS_HomePosition.Status == INVALID) |
539 | { |
543 | { |
540 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
544 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
541 | GPS_TargetRadius = 100; |
545 | GPS_TargetRadius = 100; |
542 | BeepTime = 255; // beep to indicate missin home position |
546 | BeepTime = 255; // beep to indicate missin home position |
543 | } |
547 | } |
544 | else // the home position is valid |
548 | else // the home position is valid |
545 | { |
549 | { |
546 | // update the hold position |
550 | // update the hold position |
547 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
551 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
548 | // set target to home position |
552 | // set target to home position |
549 | GPS_pTargetPosition = &GPS_HomePosition; |
553 | GPS_pTargetPosition = &GPS_HomePosition; |
550 | GPS_TargetRadius = 100; |
554 | GPS_TargetRadius = 100; |
551 | } |
555 | } |
552 | } |
556 | } |
553 | } // EOF no manual control |
557 | } // EOF no manual control |
554 | break; |
558 | break; |
555 | 559 | ||
556 | case GPS_FLIGHT_MODE_UNDEF: |
560 | case GPS_FLIGHT_MODE_UNDEF: |
557 | default: |
561 | default: |
558 | GPS_Parameter.PID_Limit = 0; // disables PID output |
562 | GPS_Parameter.PID_Limit = 0; // disables PID output |
559 | // update hold position |
563 | // update hold position |
560 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
564 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
561 | // no target position |
565 | // no target position |
562 | GPS_pTargetPosition = NULL; |
566 | GPS_pTargetPosition = NULL; |
563 | GPS_TargetRadius = 0; |
567 | GPS_TargetRadius = 0; |
564 | break; |
568 | break; |
565 | 569 | ||
566 | }// EOF GPS Mode Handling |
570 | }// EOF GPS Mode Handling |
567 | 571 | ||
568 | 572 | ||
569 | /* Calculation of range target based on the real target */ |
573 | /* Calculation of range target based on the real target */ |
570 | 574 | ||
571 | // if no target position exist clear the ranged target position |
575 | // if no target position exist clear the ranged target position |
572 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
576 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
573 | else |
577 | else |
574 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
578 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
575 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
579 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
576 | { |
580 | { |
577 | BeepTime = 255; // beep to indicate setting of a new target position |
581 | BeepTime = 255; // beep to indicate setting of a new target position |
578 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
582 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
579 | // calculate deviation of new target position from home position |
583 | // calculate deviation of new target position from home position |
580 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
584 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
581 | { |
585 | { |
582 | // check distance from home position |
586 | // check distance from home position |
583 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
587 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
584 | { |
588 | { |
585 | //calculate ranged target position to be within the operation radius area |
589 | //calculate ranged target position to be within the operation radius area |
586 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
590 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
587 | 591 | ||
588 | TargetHomeDeviation.North = (s32)(((float)TargetHomeDeviation.North * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
592 | TargetHomeDeviation.North = (s32)(((float)TargetHomeDeviation.North * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
589 | TargetHomeDeviation.East = (s32)(((float)TargetHomeDeviation.East * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
593 | TargetHomeDeviation.East = (s32)(((float)TargetHomeDeviation.East * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
590 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
594 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
591 | 595 | ||
592 | RangedTargetPosition.Status = INVALID; |
596 | RangedTargetPosition.Status = INVALID; |
593 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
597 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
594 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
598 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
595 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
599 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
596 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
600 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
597 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
601 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
598 | RangedTargetPosition.Status = NEWDATA; |
602 | RangedTargetPosition.Status = NEWDATA; |
599 | } |
603 | } |
600 | else |
604 | else |
601 | { // the target is located within the operation radius area |
605 | { // the target is located within the operation radius area |
602 | // simple copy the loaction to the ranged target position |
606 | // simple copy the loaction to the ranged target position |
603 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
607 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
604 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
608 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
605 | } |
609 | } |
606 | } |
610 | } |
607 | else |
611 | else |
608 | { // deviation could not be determined |
612 | { // deviation could not be determined |
609 | GPS_ClearPosition(&RangedTargetPosition); |
613 | GPS_ClearPosition(&RangedTargetPosition); |
610 | } |
614 | } |
611 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
615 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
612 | } |
616 | } |
613 | } |
617 | } |
614 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
618 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
615 | // remember last target position pointer |
619 | // remember last target position pointer |
616 | pTargetPositionOld = GPS_pTargetPosition; |
620 | pTargetPositionOld = GPS_pTargetPosition; |
617 | 621 | ||
618 | /* Calculate position deviation from ranged target */ |
622 | /* Calculate position deviation from ranged target */ |
619 | 623 | ||
620 | // calculate deviation of current position to ranged target position in cm |
624 | // calculate deviation of current position to ranged target position in cm |
621 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
625 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
622 | { // set target reached flag of we once reached the target point |
626 | { // set target reached flag of we once reached the target point |
623 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
627 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
624 | { |
628 | { |
625 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
629 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
626 | } |
630 | } |
627 | // implement your control code here based |
631 | // implement your control code here based |
628 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
632 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
629 | GPS_Stick.Nick = 0; |
633 | GPS_Stick.Nick = 0; |
630 | GPS_Stick.Roll = 0; |
634 | GPS_Stick.Roll = 0; |
631 | GPS_Stick.Yaw = 0; |
635 | GPS_Stick.Yaw = 0; |
632 | } |
636 | } |
633 | else // deviation could not be calculated |
637 | else // deviation could not be calculated |
634 | { // do nothing on gps sticks! |
638 | { // do nothing on gps sticks! |
635 | GPS_Neutral(); |
639 | GPS_Neutral(); |
- | 640 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached |
|
636 | } |
641 | } |
637 | 642 | ||
638 | }// eof if GPSSignal is OK |
643 | }// eof if GPSSignal is OK |
639 | else // GPSSignal not OK |
644 | else // GPSSignal not OK |
640 | { |
645 | { |
641 | GPS_Neutral(); |
646 | GPS_Neutral(); |
642 | // beep if signal is not sufficient |
647 | // beep if signal is not sufficient |
643 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
648 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
644 | { |
649 | { |
645 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
650 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
646 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
651 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
647 | } |
652 | } |
648 | } |
653 | } |
649 | GPSData.Status = PROCESSED; // mark as processed |
654 | GPSData.Status = PROCESSED; // mark as processed |
650 | break; |
655 | break; |
651 | } |
656 | } |
652 | 657 | ||
653 | DebugOut.Analog[6] = NCFlags; |
658 | DebugOut.Analog[6] = NCFlags; |
654 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
659 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
655 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
660 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
656 | DebugOut.Analog[29] = GPS_Stick.Nick; |
661 | DebugOut.Analog[29] = GPS_Stick.Nick; |
657 | DebugOut.Analog[30] = GPS_Stick.Roll; |
662 | DebugOut.Analog[30] = GPS_Stick.Roll; |
658 | 663 | ||
659 | // update navi data, send back to ground station |
664 | // update navi data, send back to ground station |
660 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
665 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
661 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
666 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
662 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
667 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
663 | NaviData.SatsInUse = GPSData.NumOfSats; |
668 | NaviData.SatsInUse = GPSData.NumOfSats; |
664 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
669 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
665 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
670 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
666 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
671 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
667 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
672 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
668 | NaviData.UBat = FC.UBat; |
673 | NaviData.UBat = FC.UBat; |
669 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
674 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
670 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
675 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
671 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
676 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
672 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
677 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
673 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
678 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
674 | NaviData.RC_Quality = (u8)FC.RC_Quality; |
679 | NaviData.RC_Quality = (u8)FC.RC_Quality; |
675 | NaviData.MKFlags = (u8)FC.MKFlags; |
680 | NaviData.MKFlags = (u8)FC.MKFlags; |
676 | NaviData.NCFlags = NCFlags; |
681 | NaviData.NCFlags = NCFlags; |
677 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
682 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
678 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
683 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
679 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
684 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
680 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
681 | return; |
686 | return; |
682 | } |
687 | } |
683 | 688 | ||
684 | 689 |