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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 / NON-COMMERCIAL USE ONLY |
16 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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 oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
38 | // + Die Portierung oder Nutzung 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 the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
53 | // + * porting the sources to other systems or using the software on other systems (except 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 "timer1.h" |
74 | #include "timer1.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 | #define SWITCH_DELAY 500 |
137 | #define SWITCH_DELAY 500 |
- | 138 | static u8 wpclear = FALSE; |
|
138 | static u32 SwitchDelay = 0; |
139 | static u32 SwitchDelay = 0; |
139 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
140 | static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
140 | 141 | ||
141 | // in case of bad receiving conditions |
142 | // in case of bad receiving conditions |
142 | if(FC.RC_Quality < 100) |
143 | if(FC.RC_Quality < 100) |
143 | { // set fixed parameter |
144 | { // set fixed parameter |
144 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
145 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
145 | GPS_Parameter.Gain = (float) 100; |
146 | GPS_Parameter.Gain = (float) 100; |
146 | GPS_Parameter.P = (float) 90; |
147 | GPS_Parameter.P = (float) 90; |
147 | GPS_Parameter.I = (float) 90; |
148 | GPS_Parameter.I = (float) 90; |
148 | GPS_Parameter.D = (float) 90; |
149 | GPS_Parameter.D = (float) 90; |
149 | GPS_Parameter.A = (float) 90; |
150 | GPS_Parameter.A = (float) 90; |
150 | GPS_Parameter.ACC = (float) 0; |
151 | GPS_Parameter.ACC = (float) 0; |
151 | GPS_Parameter.P_Limit = 90; |
152 | GPS_Parameter.P_Limit = 90; |
152 | GPS_Parameter.I_Limit = 90; |
153 | GPS_Parameter.I_Limit = 90; |
153 | GPS_Parameter.D_Limit = 90; |
154 | GPS_Parameter.D_Limit = 90; |
154 | GPS_Parameter.PID_Limit = 200; |
155 | GPS_Parameter.PID_Limit = 200; |
155 | GPS_Parameter.BrakingDuration = 0; |
156 | GPS_Parameter.BrakingDuration = 0; |
156 | GPS_Parameter.SpeedCompensation = (float) 30; |
157 | GPS_Parameter.SpeedCompensation = (float) 30; |
157 | GPS_Parameter.MinSat = 6; |
158 | GPS_Parameter.MinSat = 6; |
158 | GPS_Parameter.StickThreshold = 8; |
159 | GPS_Parameter.StickThreshold = 8; |
159 | GPS_Parameter.WindCorrection = 0.0; |
160 | GPS_Parameter.WindCorrection = 0.0; |
160 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
161 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
161 | 162 | ||
162 | } |
163 | } |
163 | else |
164 | else |
164 | { |
165 | { |
165 | // update parameter from FC |
166 | // update parameter from FC |
166 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
167 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
167 | else |
168 | else |
168 | { |
169 | { |
169 | if(Parameter.NaviGpsModeControl < 50) |
170 | if(Parameter.NaviGpsModeControl < 50) |
170 | { |
171 | { |
171 | if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY); |
172 | if(FlightMode_Old == GPS_FLIGHT_MODE_FREE) SetDelay(SWITCH_DELAY); |
172 | if(CheckDelay(SwitchDelay)) |
173 | if(CheckDelay(SwitchDelay)) |
173 | { |
174 | { |
174 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
175 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
175 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
- | |
176 | NCFlags |= NC_FLAG_FREE; |
- | |
177 | } |
176 | } |
178 | } |
177 | } |
179 | else if(Parameter.NaviGpsModeControl < 180) |
178 | else if(Parameter.NaviGpsModeControl < 180) |
180 | { |
179 | { |
181 | if(FlightMode_Old == GPS_FLIGHT_MODE_AID) SetDelay(SWITCH_DELAY); |
180 | if(FlightMode_Old == GPS_FLIGHT_MODE_AID) SetDelay(SWITCH_DELAY); |
182 | if(CheckDelay(SwitchDelay)) |
181 | if(CheckDelay(SwitchDelay)) |
183 | { |
182 | { |
184 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
183 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
185 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
- | |
186 | NCFlags |= NC_FLAG_PH; |
- | |
187 | } |
184 | } |
188 | } |
185 | } |
189 | else |
186 | else |
190 | { |
187 | { |
191 | if(FlightMode_Old == GPS_FLIGHT_MODE_WAYPOINT) SetDelay(SWITCH_DELAY); |
188 | if(FlightMode_Old == GPS_FLIGHT_MODE_WAYPOINT) SetDelay(SWITCH_DELAY); |
192 | if(CheckDelay(SwitchDelay)) |
189 | if(CheckDelay(SwitchDelay)) |
193 | { |
190 | { |
194 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
191 | GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
195 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
- | |
196 | NCFlags |= NC_FLAG_CH; |
- | |
197 | } |
192 | } |
198 | } |
193 | } |
199 | } |
194 | } |
200 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
195 | GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
201 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
196 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
202 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
197 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
203 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
198 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
204 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
199 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
205 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
200 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
206 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
201 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
207 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
202 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
208 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
203 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
209 | GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation; |
204 | GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation; |
210 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
205 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
211 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
206 | GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation; |
212 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
207 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
213 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
208 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
214 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
209 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
215 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
210 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
216 | } |
211 | } |
217 | // FlightMode changed? |
212 | // FlightMode transitions |
218 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
213 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
219 | { |
214 | { |
220 | BeepTime = 200; // beep to indicate that mode has been switched |
215 | BeepTime = 100; // beep to indicate that mode has been switched |
221 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
216 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
- | 217 | switch(GPS_Parameter.FlightMode) |
|
- | 218 | { |
|
- | 219 | case GPS_FLIGHT_MODE_FREE: |
|
- | 220 | NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
|
- | 221 | NCFlags |= NC_FLAG_FREE; |
|
222 | // if the mode has changed to free (avoid clear of WP-List when StopNavigation is active) |
222 | if(!StopNavigation && wpclear) |
- | 223 | { |
|
223 | if((!StopNavigation) && (GPS_Parameter.FlightMode == GPS_FLIGHT_MODE_FREE)) WPList_Clear(); // clear WPList if mode has changed to Free |
224 | WPList_Clear(); // clear WPList if mode has changed to Free |
- | 225 | wpclear = FALSE; |
|
- | 226 | } |
|
- | 227 | break; |
|
- | 228 | ||
- | 229 | case GPS_FLIGHT_MODE_AID: |
|
- | 230 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
|
- | 231 | NCFlags |= NC_FLAG_PH; |
|
- | 232 | break; |
|
- | 233 | ||
- | 234 | case GPS_FLIGHT_MODE_WAYPOINT: |
|
- | 235 | wpclear = TRUE; // clear WP's only if CH was once active |
|
- | 236 | NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
|
- | 237 | NCFlags |= NC_FLAG_CH; |
|
- | 238 | break; |
|
- | 239 | ||
- | 240 | default: // should never happen |
|
- | 241 | NCFlags = 0; |
|
- | 242 | break; |
|
- | 243 | } |
|
- | 244 | FlightMode_Old = GPS_Parameter.FlightMode; |
|
224 | } |
245 | } |
225 | FlightMode_Old = GPS_Parameter.FlightMode; |
- | |
226 | } |
246 | } |
227 | 247 | ||
228 | //------------------------------------------------------------- |
248 | //------------------------------------------------------------- |
229 | // This function defines a good GPS signal condition |
249 | // This function defines a good GPS signal condition |
230 | u8 GPS_IsSignalOK(void) |
250 | u8 GPS_IsSignalOK(void) |
231 | { |
251 | { |
232 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
252 | if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
233 | else return(0); |
253 | else return(0); |
234 | } |
254 | } |
235 | 255 | ||
236 | //------------------------------------------------------------ |
256 | //------------------------------------------------------------ |
237 | // Checks for manual control action |
257 | // Checks for manual control action |
238 | u8 GPS_IsManuallyControlled(void) |
258 | u8 GPS_IsManuallyControlled(void) |
239 | { |
259 | { |
240 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0) && (FC.RC_Quality > 150) ) |
260 | if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0) && (FC.RC_Quality > 150) ) |
241 | { |
261 | { |
242 | NCFlags |= NC_FLAG_MANUAL_CONTROL; |
262 | NCFlags |= NC_FLAG_MANUAL_CONTROL; |
243 | return(1); |
263 | return(1); |
244 | } |
264 | } |
245 | else |
265 | else |
246 | { |
266 | { |
247 | NCFlags &= ~NC_FLAG_MANUAL_CONTROL; |
267 | NCFlags &= ~NC_FLAG_MANUAL_CONTROL; |
248 | return(0); |
268 | return(0); |
249 | } |
269 | } |
250 | } |
270 | } |
251 | 271 | ||
252 | //------------------------------------------------------------ |
272 | //------------------------------------------------------------ |
253 | // copy GPS position from source position to target position |
273 | // copy GPS position from source position to target position |
254 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
274 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
255 | { |
275 | { |
256 | u8 retval = 0; |
276 | u8 retval = 0; |
257 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
277 | if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
258 | // copy only valid positions |
278 | // copy only valid positions |
259 | if(pGPSPosSrc->Status != INVALID) |
279 | if(pGPSPosSrc->Status != INVALID) |
260 | { |
280 | { |
261 | // if the source GPS position is not invalid |
281 | // if the source GPS position is not invalid |
262 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
282 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
263 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
283 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
264 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
284 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
265 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
285 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
266 | retval = 1; |
286 | retval = 1; |
267 | } |
287 | } |
268 | return(retval); |
288 | return(retval); |
269 | } |
289 | } |
270 | 290 | ||
271 | //------------------------------------------------------------ |
291 | //------------------------------------------------------------ |
272 | // clear position data |
292 | // clear position data |
273 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
293 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
274 | { |
294 | { |
275 | u8 retval = FALSE; |
295 | u8 retval = FALSE; |
276 | if(pGPSPos == NULL) return(retval); // bad pointer |
296 | if(pGPSPos == NULL) return(retval); // bad pointer |
277 | else |
297 | else |
278 | { |
298 | { |
279 | pGPSPos->Longitude = 0; |
299 | pGPSPos->Longitude = 0; |
280 | pGPSPos->Latitude = 0; |
300 | pGPSPos->Latitude = 0; |
281 | pGPSPos->Altitude = 0; |
301 | pGPSPos->Altitude = 0; |
282 | pGPSPos->Status = INVALID; |
302 | pGPSPos->Status = INVALID; |
283 | retval = TRUE; |
303 | retval = TRUE; |
284 | } |
304 | } |
285 | return (retval); |
305 | return (retval); |
286 | } |
306 | } |
287 | 307 | ||
288 | 308 | ||
289 | //------------------------------------------------------------ |
309 | //------------------------------------------------------------ |
290 | void GPS_Neutral(void) |
310 | void GPS_Neutral(void) |
291 | { |
311 | { |
292 | GPS_Stick.Nick = 0; |
312 | GPS_Stick.Nick = 0; |
293 | GPS_Stick.Roll = 0; |
313 | GPS_Stick.Roll = 0; |
294 | GPS_Stick.Yaw = 0; |
314 | GPS_Stick.Yaw = 0; |
295 | } |
315 | } |
296 | 316 | ||
297 | //------------------------------------------------------------ |
317 | //------------------------------------------------------------ |
298 | void GPS_Init(void) |
318 | void GPS_Init(void) |
299 | { |
319 | { |
300 | UART1_PutString("\r\n GPS init..."); |
320 | UART1_PutString("\r\n GPS init..."); |
301 | UBX_Init(); |
321 | UBX_Init(); |
302 | GPS_Neutral(); |
322 | GPS_Neutral(); |
303 | GPS_ClearPosition(&GPS_HoldPosition); |
323 | GPS_ClearPosition(&GPS_HoldPosition); |
304 | GPS_ClearPosition(&GPS_HomePosition); |
324 | GPS_ClearPosition(&GPS_HomePosition); |
305 | GPS_pTargetPosition = NULL; |
325 | GPS_pTargetPosition = NULL; |
306 | WPList_Init(); |
326 | WPList_Init(); |
307 | GPS_pWaypoint = NULL; |
327 | GPS_pWaypoint = NULL; |
308 | GPS_UpdateParameter(); |
328 | GPS_UpdateParameter(); |
309 | UART1_PutString("ok"); |
329 | UART1_PutString("ok"); |
310 | } |
330 | } |
311 | 331 | ||
312 | //------------------------------------------------------------ |
332 | //------------------------------------------------------------ |
313 | // calculate the bearing to target position from its deviation |
333 | // calculate the bearing to target position from its deviation |
314 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
334 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
315 | { |
335 | { |
316 | s32 bearing; |
336 | s32 bearing; |
317 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
337 | bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
318 | bearing = (270L - bearing)%360L; |
338 | bearing = (270L - bearing)%360L; |
319 | return(bearing); |
339 | return(bearing); |
320 | } |
340 | } |
321 | 341 | ||
322 | 342 | ||
323 | //------------------------------------------------------------ |
343 | //------------------------------------------------------------ |
324 | // Rescale xy-vector length if length limit is violated |
344 | // Rescale xy-vector length if length limit is violated |
325 | // returns vector len after scaling |
345 | // returns vector len after scaling |
326 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
346 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
327 | { |
347 | { |
328 | s32 dist; |
348 | s32 dist; |
329 | 349 | ||
330 | dist = (s32)hypot(*x,*y); // the length of the vector |
350 | dist = (s32)hypot(*x,*y); // the length of the vector |
331 | if (dist > limit) |
351 | if (dist > limit) |
332 | // if vector length is larger than the given limit |
352 | // if vector length is larger than the given limit |
333 | { // scale vector compontents so that the length is cut off to limit |
353 | { // scale vector compontents so that the length is cut off to limit |
334 | *x = (s32)(( (double)(*x) * (double)limit ) / (double)dist); |
354 | *x = (s32)(( (double)(*x) * (double)limit ) / (double)dist); |
335 | *y = (s32)(( (double)(*y) * (double)limit ) / (double)dist); |
355 | *y = (s32)(( (double)(*y) * (double)limit ) / (double)dist); |
336 | dist = limit; |
356 | dist = limit; |
337 | } |
357 | } |
338 | return(dist); |
358 | return(dist); |
339 | } |
359 | } |
340 | 360 | ||
341 | //------------------------------------------------------------ |
361 | //------------------------------------------------------------ |
342 | // transform the integer deg into float radians |
362 | // transform the integer deg into float radians |
343 | inline double RadiansFromGPS(s32 deg) |
363 | inline double RadiansFromGPS(s32 deg) |
344 | { |
364 | { |
345 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
365 | return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
346 | } |
366 | } |
347 | 367 | ||
348 | //------------------------------------------------------------ |
368 | //------------------------------------------------------------ |
349 | // transform the integer deg into float deg |
369 | // transform the integer deg into float deg |
350 | inline double DegFromGPS(s32 deg) |
370 | inline double DegFromGPS(s32 deg) |
351 | { |
371 | { |
352 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
372 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
353 | } |
373 | } |
354 | 374 | ||
355 | //------------------------------------------------------------ |
375 | //------------------------------------------------------------ |
356 | // calculate the deviation from the current position to the target position |
376 | // calculate the deviation from the current position to the target position |
357 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
377 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
358 | { |
378 | { |
359 | double temp1, temp2; |
379 | double temp1, temp2; |
360 | // if given pointer is NULL |
380 | // if given pointer is NULL |
361 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
381 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
362 | // if positions are invalid |
382 | // if positions are invalid |
363 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
383 | if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
364 | 384 | ||
365 | // The deviation from the current to the target position along north and east direction is |
385 | // The deviation from the current to the target position along north and east direction is |
366 | // simple the lat/lon difference. To convert that angular deviation into an |
386 | // simple the lat/lon difference. To convert that angular deviation into an |
367 | // arc length the spherical projection has to be considered. |
387 | // arc length the spherical projection has to be considered. |
368 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
388 | // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
369 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
389 | // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
370 | // The arc length per longitude degree depends on the correspondig latitude and |
390 | // The arc length per longitude degree depends on the correspondig latitude and |
371 | // is 111.2km * cos(latitude). |
391 | // is 111.2km * cos(latitude). |
372 | 392 | ||
373 | // calculate the shortest longitude deviation from target |
393 | // calculate the shortest longitude deviation from target |
374 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
394 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
375 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
395 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
376 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
396 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
377 | if(temp1 > 180.0f) temp1 -= 360.0f; |
397 | if(temp1 > 180.0f) temp1 -= 360.0f; |
378 | else if (temp1 < -180.0f) temp1 += 360.0f; |
398 | else if (temp1 < -180.0f) temp1 += 360.0f; |
379 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
399 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
380 | // calculate latitude deviation from target |
400 | // calculate latitude deviation from target |
381 | // this is allways within -180 deg ... 180 deg |
401 | // this is allways within -180 deg ... 180 deg |
382 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
402 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
383 | // deviation from target position in cm |
403 | // deviation from target position in cm |
384 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
404 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
385 | 405 | ||
386 | pDeviationFromTarget->Status = INVALID; |
406 | pDeviationFromTarget->Status = INVALID; |
387 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
407 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
388 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
408 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
389 | // If the position deviation is small enough to neglect the earth curvature |
409 | // If the position deviation is small enough to neglect the earth curvature |
390 | // (this is for our application always fulfilled) the distance to target |
410 | // (this is for our application always fulfilled) the distance to target |
391 | // can be calculated by the pythagoras of north and east deviation. |
411 | // can be calculated by the pythagoras of north and east deviation. |
392 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
412 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
393 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
413 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
394 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
414 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
395 | pDeviationFromTarget->Status = NEWDATA; |
415 | pDeviationFromTarget->Status = NEWDATA; |
396 | return TRUE; |
416 | return TRUE; |
397 | 417 | ||
398 | baddata: |
418 | baddata: |
399 | pDeviationFromTarget->North = 0L; |
419 | pDeviationFromTarget->North = 0L; |
400 | pDeviationFromTarget->East = 0L; |
420 | pDeviationFromTarget->East = 0L; |
401 | pDeviationFromTarget->Distance = 0L; |
421 | pDeviationFromTarget->Distance = 0L; |
402 | pDeviationFromTarget->Bearing = 0L; |
422 | pDeviationFromTarget->Bearing = 0L; |
403 | pDeviationFromTarget->Status = INVALID; |
423 | pDeviationFromTarget->Status = INVALID; |
404 | return FALSE; |
424 | return FALSE; |
405 | } |
425 | } |
406 | 426 | ||
407 | //------------------------------------------------------------ |
427 | //------------------------------------------------------------ |
408 | void GPS_Navigation(void) |
428 | void GPS_Navigation(void) |
409 | { |
429 | { |
410 | static u32 beep_rythm; |
430 | static u32 beep_rythm; |
411 | static u32 GPSDataTimeout = 0; |
431 | static u32 GPSDataTimeout = 0; |
412 | float compassheading, sin_h, cos_h; |
432 | float compassheading, sin_h, cos_h; |
413 | 433 | ||
414 | // pointer to current target position |
434 | // pointer to current target position |
415 | static GPS_Pos_t * pTargetPositionOld = NULL; |
435 | static GPS_Pos_t * pTargetPositionOld = NULL; |
416 | 436 | ||
417 | 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 |
437 | 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 |
418 | static s32 OperatingRadiusOld = -1; |
438 | static s32 OperatingRadiusOld = -1; |
419 | static u32 WPTime = 0; |
439 | static u32 WPTime = 0; |
420 | 440 | ||
421 | 441 | ||
422 | 442 | ||
423 | // get current heading from the FC gyro compass heading |
443 | // get current heading from the FC gyro compass heading |
424 | if(abs(FC.StickYaw) > 20 || FromFlightCtrl.GyroHeading > 3600) compassheading = (float)I2C_Heading.Heading * M_PI_180; |
444 | if(abs(FC.StickYaw) > 20 || FromFlightCtrl.GyroHeading > 3600) compassheading = (float)I2C_Heading.Heading * M_PI_180; |
425 | else compassheading = ((float)FromFlightCtrl.GyroHeading * M_PI_180) / 10.0; |
445 | else compassheading = ((float)FromFlightCtrl.GyroHeading * M_PI_180) / 10.0; |
426 | 446 | ||
427 | sin_h = sin(compassheading); |
447 | sin_h = sin(compassheading); |
428 | cos_h = cos(compassheading); |
448 | cos_h = cos(compassheading); |
429 | 449 | ||
430 | 450 | ||
431 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
451 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
432 | //+ Check for new data from GPS-receiver |
452 | //+ Check for new data from GPS-receiver |
433 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
453 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
434 | switch(GPSData.Status) |
454 | switch(GPSData.Status) |
435 | { |
455 | { |
436 | case INVALID: // no gps data available |
456 | case INVALID: // no gps data available |
437 | // do nothing |
457 | // do nothing |
438 | GPS_Parameter.PID_Limit = 0; // disables PID output |
458 | GPS_Parameter.PID_Limit = 0; // disables PID output |
439 | break; |
459 | break; |
440 | 460 | ||
441 | case PROCESSED: // the current data have been allready processed |
461 | case PROCESSED: // the current data have been allready processed |
442 | // if no new data are available within the timeout switch to invalid state. |
462 | // if no new data are available within the timeout switch to invalid state. |
443 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
463 | if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
444 | // wait for new gps data |
464 | // wait for new gps data |
445 | break; |
465 | break; |
446 | 466 | ||
447 | case NEWDATA: // handle new gps data |
467 | case NEWDATA: // handle new gps data |
448 | 468 | ||
449 | // update GPS Parameter from FC-Data via SPI interface |
469 | // update GPS Parameter from FC-Data via SPI interface |
450 | GPS_UpdateParameter(); |
470 | GPS_UpdateParameter(); |
451 | 471 | ||
452 | // wait maximum of 3 times the normal data update time before data timemout |
472 | // wait maximum of 3 times the normal data update time before data timemout |
453 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
473 | GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
454 | beep_rythm++; |
474 | beep_rythm++; |
455 | 475 | ||
456 | // debug |
476 | // debug |
457 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
477 | DebugOut.Analog[21] = (s16)GPSData.Speed_North; |
458 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
478 | DebugOut.Analog[22] = (s16)GPSData.Speed_East; |
459 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
479 | DebugOut.Analog[31] = (s16)GPSData.NumOfSats; |
460 | 480 | ||
461 | // If GPS signal condition is sufficient for a reliable position measurement |
481 | // If GPS signal condition is sufficient for a reliable position measurement |
462 | if(GPS_IsSignalOK()) |
482 | if(GPS_IsSignalOK()) |
463 | { |
483 | { |
464 | // update home deviation info |
484 | // update home deviation info |
465 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
485 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
466 | 486 | ||
467 | // if the MK is starting or the home position is invalid then store the home position |
487 | // if the MK is starting or the home position is invalid then store the home position |
468 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
488 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
469 | { // try to update the home position from the current position |
489 | { // try to update the home position from the current position |
470 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
490 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
471 | { |
491 | { |
472 | BeepTime = 700; // beep on success |
492 | BeepTime = 700; // beep on success |
473 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
493 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
474 | } |
494 | } |
475 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
495 | GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
476 | if(GPS_pWaypoint != NULL) // if new WP exist |
496 | if(GPS_pWaypoint != NULL) // if new WP exist |
477 | { // update WP hold time stamp immediately! |
497 | { // update WP hold time stamp immediately! |
478 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
498 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
479 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
499 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
480 | } |
500 | } |
481 | } |
501 | } |
482 | 502 | ||
483 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
503 | /* The selected flight mode influences the target position pointer and therefore the behavior */ |
484 | 504 | ||
485 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
505 | // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
486 | switch(GPS_Parameter.FlightMode) |
506 | switch(GPS_Parameter.FlightMode) |
487 | { |
507 | { |
488 | // the GPS control is deactived |
508 | // the GPS control is deactived |
489 | case GPS_FLIGHT_MODE_FREE: |
509 | case GPS_FLIGHT_MODE_FREE: |
490 | 510 | ||
491 | GPS_Parameter.PID_Limit = 0; // disables PID output |
511 | GPS_Parameter.PID_Limit = 0; // disables PID output |
492 | // update hold position |
512 | // update hold position |
493 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
513 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
494 | // no target position |
514 | // no target position |
495 | GPS_pTargetPosition = NULL; |
515 | GPS_pTargetPosition = NULL; |
496 | GPS_TargetRadius = 0; |
516 | GPS_TargetRadius = 0; |
497 | break; |
517 | break; |
498 | 518 | ||
499 | // the GPS supports the position hold, if the pilot takes no action |
519 | // the GPS supports the position hold, if the pilot takes no action |
500 | case GPS_FLIGHT_MODE_AID: |
520 | case GPS_FLIGHT_MODE_AID: |
501 | 521 | ||
502 | if(GPS_IsManuallyControlled()) |
522 | if(GPS_IsManuallyControlled()) |
503 | { |
523 | { |
504 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
524 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
505 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
525 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
506 | GPS_pTargetPosition = NULL; |
526 | GPS_pTargetPosition = NULL; |
507 | GPS_TargetRadius = 0; |
527 | GPS_TargetRadius = 0; |
508 | } |
528 | } |
509 | else |
529 | else |
510 | { |
530 | { |
511 | /* |
531 | /* |
512 | #define PH_MOVE_THRESHOLD 8 |
532 | #define PH_MOVE_THRESHOLD 8 |
513 | if( ((abs(FC.StickNick) > PH_MOVE_THRESHOLD) || (abs(FC.StickRoll) > PH_MOVE_THRESHOLD) ) && (FC.RC_Quality > 150)) |
533 | if( ((abs(FC.StickNick) > PH_MOVE_THRESHOLD) || (abs(FC.StickRoll) > PH_MOVE_THRESHOLD) ) && (FC.RC_Quality > 150)) |
514 | { // indirect control by moving the hold position with rc sticks |
534 | { // indirect control by moving the hold position with rc sticks |
515 | // rc sticks have a range of +/-127 counts |
535 | // rc sticks have a range of +/-127 counts |
516 | // GPS Coordinates are in 1-E7 deg, i.e. 1 counts is 1E-7°/360°*40E+8cm = 1.11 cm |
536 | // GPS Coordinates are in 1-E7 deg, i.e. 1 counts is 1E-7°/360°*40E+8cm = 1.11 cm |
517 | // normal manual activtion threshold is 8 counts that results in a change of the hold position |
537 | // normal manual activtion threshold is 8 counts that results in a change of the hold position |
518 | // of min 8*1.11cm * 5Hz = 8.88 = 44.4cm/s an max 127*1.11cm *5Hz = 705cm/s |
538 | // of min 8*1.11cm * 5Hz = 8.88 = 44.4cm/s an max 127*1.11cm *5Hz = 705cm/s |
519 | GPS_HoldPosition.Latitude += (s32)(cos_h*FC.StickNick + sin_h*FC.StickRoll); |
539 | GPS_HoldPosition.Latitude += (s32)(cos_h*FC.StickNick + sin_h*FC.StickRoll); |
520 | GPS_HoldPosition.Longitude += (s32)((sin_h*FC.StickNick - cos_h*FC.StickRoll) / cos(RadiansFromGPS(GPS_HoldPosition.Latitude)) ); |
540 | GPS_HoldPosition.Longitude += (s32)((sin_h*FC.StickNick - cos_h*FC.StickRoll) / cos(RadiansFromGPS(GPS_HoldPosition.Latitude)) ); |
521 | }*/ |
541 | }*/ |
522 | // set target position |
542 | // set target position |
523 | GPS_pTargetPosition = &GPS_HoldPosition; |
543 | GPS_pTargetPosition = &GPS_HoldPosition; |
524 | GPS_TargetRadius = 100; // 1 meter |
544 | GPS_TargetRadius = 100; // 1 meter |
525 | } |
545 | } |
526 | break; |
546 | break; |
527 | 547 | ||
528 | // the GPS control is directed to a target position |
548 | // the GPS control is directed to a target position |
529 | // given by a waypoint or by the home position |
549 | // given by a waypoint or by the home position |
530 | case GPS_FLIGHT_MODE_WAYPOINT: |
550 | case GPS_FLIGHT_MODE_WAYPOINT: |
531 | 551 | ||
532 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
552 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
533 | { |
553 | { |
534 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
554 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
535 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
555 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
536 | GPS_pTargetPosition = NULL; // set target position invalid |
556 | GPS_pTargetPosition = NULL; // set target position invalid |
537 | GPS_TargetRadius = 0; |
557 | GPS_TargetRadius = 0; |
538 | } |
558 | } |
539 | else // no manual control -> gps position hold active |
559 | else // no manual control -> gps position hold active |
540 | { |
560 | { |
541 | // waypoint trigger logic |
561 | // waypoint trigger logic |
542 | if(GPS_pWaypoint != NULL) // pointer to waypoint exist |
562 | if(GPS_pWaypoint != NULL) // pointer to waypoint exist |
543 | { |
563 | { |
544 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
564 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
545 | { |
565 | { |
546 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
566 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
547 | if(GPS_pWaypoint != NULL) // if new WP exist |
567 | if(GPS_pWaypoint != NULL) // if new WP exist |
548 | { // update WP hold time stamp immediately! |
568 | { // update WP hold time stamp immediately! |
549 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
569 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
550 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
570 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
551 | } |
571 | } |
552 | BeepTime = 255; |
572 | BeepTime = 255; |
553 | } |
573 | } |
554 | else // waypoint position is valid |
574 | else // waypoint position is valid |
555 | { |
575 | { |
556 | // if WP has been reached once, wait hold time before trigger to next one |
576 | // if WP has been reached once, wait hold time before trigger to next one |
557 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
577 | if(NCFlags & NC_FLAG_TARGET_REACHED) |
558 | { |
578 | { |
559 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
579 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
560 | if(CheckDelay(WPTime)) |
580 | if(CheckDelay(WPTime)) |
561 | { |
581 | { |
562 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
582 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
563 | if(GPS_pWaypoint == NULL) GPS_pWaypoint = WPList_End(); // goto last WP if next one not exist |
583 | if(GPS_pWaypoint == NULL) GPS_pWaypoint = WPList_End(); // goto last WP if next one not exist |
564 | if(GPS_pWaypoint != NULL) // if new WP exist |
584 | if(GPS_pWaypoint != NULL) // if new WP exist |
565 | { // update WP hold time stamp immediately! |
585 | { // update WP hold time stamp immediately! |
566 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
586 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
567 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
587 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
568 | } |
588 | } |
569 | } |
589 | } |
570 | } // EOF target reached |
590 | } // EOF target reached |
571 | else |
591 | else |
572 | { |
592 | { |
573 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
593 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
574 | } |
594 | } |
575 | } |
595 | } |
576 | } |
596 | } |
577 | else // pointer to waypoint does not exist |
597 | else // pointer to waypoint does not exist |
578 | { |
598 | { |
579 | // try to catch the first waypoint from the list |
599 | // try to catch the first waypoint from the list |
580 | GPS_pWaypoint = WPList_Begin(); |
600 | GPS_pWaypoint = WPList_Begin(); |
581 | if(GPS_pWaypoint != NULL) // if new WP exist |
601 | if(GPS_pWaypoint != NULL) // if new WP exist |
582 | { // update WP hold time stamp immediately! |
602 | { // update WP hold time stamp immediately! |
583 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
603 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
584 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
604 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
585 | } |
605 | } |
586 | } |
606 | } |
587 | // EOF waypoint trigger logic |
607 | // EOF waypoint trigger logic |
588 | 608 | ||
589 | if(GPS_pWaypoint != NULL) // Waypoint exist |
609 | if(GPS_pWaypoint != NULL) // Waypoint exist |
590 | { |
610 | { |
591 | // possible new data have been put into wp-list |
611 | // possible new data have been put into wp-list |
592 | if(GPS_pWaypoint->Position.Status == NEWDATA) |
612 | if(GPS_pWaypoint->Position.Status == NEWDATA) |
593 | { |
613 | { |
594 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
614 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
595 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
615 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
596 | } |
616 | } |
597 | // update the hold position |
617 | // update the hold position |
598 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
618 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
599 | // set target to the waypoint |
619 | // set target to the waypoint |
600 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
620 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
601 | // update target radius |
621 | // update target radius |
602 | GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
622 | GPS_TargetRadius = (s32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
603 | 623 | ||
604 | } |
624 | } |
605 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
625 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
606 | { |
626 | { |
607 | // fly back to home postion |
627 | // fly back to home postion |
608 | if(GPS_HomePosition.Status == INVALID) |
628 | if(GPS_HomePosition.Status == INVALID) |
609 | { |
629 | { |
610 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
630 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
611 | GPS_TargetRadius = 100; |
631 | GPS_TargetRadius = 100; |
612 | BeepTime = 255; // beep to indicate missin home position |
632 | BeepTime = 255; // beep to indicate missin home position |
613 | } |
633 | } |
614 | else // the home position is valid |
634 | else // the home position is valid |
615 | { |
635 | { |
616 | // update the hold position |
636 | // update the hold position |
617 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
637 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
618 | // set target to home position |
638 | // set target to home position |
619 | GPS_pTargetPosition = &GPS_HomePosition; |
639 | GPS_pTargetPosition = &GPS_HomePosition; |
620 | GPS_TargetRadius = 100; |
640 | GPS_TargetRadius = 100; |
621 | } |
641 | } |
622 | } |
642 | } |
623 | } // EOF no manual control |
643 | } // EOF no manual control |
624 | break; |
644 | break; |
625 | 645 | ||
626 | case GPS_FLIGHT_MODE_UNDEF: |
646 | case GPS_FLIGHT_MODE_UNDEF: |
627 | default: |
647 | default: |
628 | GPS_Parameter.PID_Limit = 0; // disables PID output |
648 | GPS_Parameter.PID_Limit = 0; // disables PID output |
629 | // update hold position |
649 | // update hold position |
630 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
650 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
631 | // no target position |
651 | // no target position |
632 | GPS_pTargetPosition = NULL; |
652 | GPS_pTargetPosition = NULL; |
633 | GPS_TargetRadius = 0; |
653 | GPS_TargetRadius = 0; |
634 | break; |
654 | break; |
635 | 655 | ||
636 | }// EOF GPS Mode Handling |
656 | }// EOF GPS Mode Handling |
637 | 657 | ||
638 | 658 | ||
639 | /* Calculation of range target based on the real target */ |
659 | /* Calculation of range target based on the real target */ |
640 | 660 | ||
641 | // if no target position exist clear the ranged target position |
661 | // if no target position exist clear the ranged target position |
642 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
662 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
643 | else |
663 | else |
644 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
664 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
645 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
665 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
646 | { |
666 | { |
647 | BeepTime = 255; // beep to indicate setting of a new target position |
667 | BeepTime = 255; // beep to indicate setting of a new target position |
648 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
668 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag |
649 | // calculate deviation of new target position from home position |
669 | // calculate deviation of new target position from home position |
650 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
670 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
651 | { |
671 | { |
652 | // check distance from home position |
672 | // check distance from home position |
653 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
673 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
654 | { |
674 | { |
655 | //calculate ranged target position to be within the operation radius area |
675 | //calculate ranged target position to be within the operation radius area |
656 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
676 | NCFlags |= NC_FLAG_RANGE_LIMIT; |
657 | 677 | ||
658 | TargetHomeDeviation.North = (s32)(((float)TargetHomeDeviation.North * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
678 | TargetHomeDeviation.North = (s32)(((float)TargetHomeDeviation.North * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
659 | TargetHomeDeviation.East = (s32)(((float)TargetHomeDeviation.East * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
679 | TargetHomeDeviation.East = (s32)(((float)TargetHomeDeviation.East * (float)GPS_Parameter.OperatingRadius) / (float)TargetHomeDeviation.Distance); |
660 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
680 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
661 | 681 | ||
662 | RangedTargetPosition.Status = INVALID; |
682 | RangedTargetPosition.Status = INVALID; |
663 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
683 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
664 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
684 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
665 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
685 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
666 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
686 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
667 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
687 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
668 | RangedTargetPosition.Status = NEWDATA; |
688 | RangedTargetPosition.Status = NEWDATA; |
669 | } |
689 | } |
670 | else |
690 | else |
671 | { // the target is located within the operation radius area |
691 | { // the target is located within the operation radius area |
672 | // simple copy the loaction to the ranged target position |
692 | // simple copy the loaction to the ranged target position |
673 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
693 | GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
674 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
694 | NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
675 | } |
695 | } |
676 | } |
696 | } |
677 | else |
697 | else |
678 | { // deviation could not be determined |
698 | { // deviation could not be determined |
679 | GPS_ClearPosition(&RangedTargetPosition); |
699 | GPS_ClearPosition(&RangedTargetPosition); |
680 | } |
700 | } |
681 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
701 | GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
682 | } |
702 | } |
683 | } |
703 | } |
684 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
704 | OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
685 | // remember last target position pointer |
705 | // remember last target position pointer |
686 | pTargetPositionOld = GPS_pTargetPosition; |
706 | pTargetPositionOld = GPS_pTargetPosition; |
687 | 707 | ||
688 | /* Calculate position deviation from ranged target */ |
708 | /* Calculate position deviation from ranged target */ |
689 | 709 | ||
690 | // calculate deviation of current position to ranged target position in cm |
710 | // calculate deviation of current position to ranged target position in cm |
691 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
711 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
692 | { // set target reached flag of we once reached the target point |
712 | { // set target reached flag of we once reached the target point |
693 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
713 | if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
694 | { |
714 | { |
695 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
715 | NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
696 | } |
716 | } |
697 | // implement your control code here based |
717 | // implement your control code here based |
698 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
718 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
699 | GPS_Stick.Nick = 0; |
719 | GPS_Stick.Nick = 0; |
700 | GPS_Stick.Roll = 0; |
720 | GPS_Stick.Roll = 0; |
701 | GPS_Stick.Yaw = 0; |
721 | GPS_Stick.Yaw = 0; |
702 | } |
722 | } |
703 | else // deviation could not be calculated |
723 | else // deviation could not be calculated |
704 | { // do nothing on gps sticks! |
724 | { // do nothing on gps sticks! |
705 | GPS_Neutral(); |
725 | GPS_Neutral(); |
706 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached |
726 | NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached |
707 | } |
727 | } |
708 | 728 | ||
709 | }// eof if GPSSignal is OK |
729 | }// eof if GPSSignal is OK |
710 | else // GPSSignal not OK |
730 | else // GPSSignal not OK |
711 | { |
731 | { |
712 | GPS_Neutral(); |
732 | GPS_Neutral(); |
713 | // beep if signal is not sufficient |
733 | // beep if signal is not sufficient |
714 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
734 | if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
715 | { |
735 | { |
716 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
736 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
717 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
737 | else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
718 | } |
738 | } |
719 | } |
739 | } |
720 | GPSData.Status = PROCESSED; // mark as processed |
740 | GPSData.Status = PROCESSED; // mark as processed |
721 | break; |
741 | break; |
722 | } |
742 | } |
723 | 743 | ||
724 | DebugOut.Analog[6] = NCFlags; |
744 | DebugOut.Analog[6] = NCFlags; |
725 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
745 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
726 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
746 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
727 | DebugOut.Analog[29] = GPS_Stick.Nick; |
747 | DebugOut.Analog[29] = GPS_Stick.Nick; |
728 | DebugOut.Analog[30] = GPS_Stick.Roll; |
748 | DebugOut.Analog[30] = GPS_Stick.Roll; |
729 | 749 | ||
730 | // update navi data, send back to ground station |
750 | // update navi data, send back to ground station |
731 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
751 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
732 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
752 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
733 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
753 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
734 | NaviData.SatsInUse = GPSData.NumOfSats; |
754 | NaviData.SatsInUse = GPSData.NumOfSats; |
735 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
755 | NaviData.TargetPositionDeviation.Distance = (u16)CurrentTargetDeviation.Distance/10; // dm |
736 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
756 | NaviData.TargetPositionDeviation.Bearing = (s16)CurrentTargetDeviation.Bearing; |
737 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
757 | NaviData.HomePositionDeviation.Distance = (u16)CurrentHomeDeviation.Distance/10; // dm |
738 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
758 | NaviData.HomePositionDeviation.Bearing = (s16)CurrentHomeDeviation.Bearing; |
739 | NaviData.UBat = FC.UBat; |
759 | NaviData.UBat = FC.UBat; |
740 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
760 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
741 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
761 | NaviData.Heading = (s16)(GPSData.Heading/100000L); |
742 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
762 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
743 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
763 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
744 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
764 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
745 | NaviData.RC_Quality = FC.RC_Quality; |
765 | NaviData.RC_Quality = FC.RC_Quality; |
746 | NaviData.RC_RSSI = FC.RC_RSSI; |
766 | NaviData.RC_RSSI = FC.RC_RSSI; |
747 | NaviData.MKFlags = FC.MKFlags; |
767 | NaviData.MKFlags = FC.MKFlags; |
748 | NaviData.NCFlags = NCFlags; |
768 | NaviData.NCFlags = NCFlags; |
749 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
769 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
750 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
770 | NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s |
751 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
771 | NaviData.TargetHoldTime = (u8)(GetDelay(WPTime)/1000); // in s |
752 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
772 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
753 | return; |
773 | return; |
754 | } |
774 | } |
755 | 775 | ||
756 | 776 |