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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + see the File "License.txt" for further Informations |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 7 | #include "main.h" |
1 | #include <inttypes.h> |
| 8 | - | ||
| 9 | signed int GPS_Pitch = 0; |
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| 10 | signed int GPS_Roll = 0; |
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| 11 | long GpsReading_X = 0; |
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| 12 | long GpsReading_Y = 0; |
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| 13 | long GpsTarget_X = 0; |
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| 14 | long GpsTarget_Y = 0; |
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| Line -... | Line 2... | ||
| - | 2 | ||
| - | 3 | #include "fc.h" |
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| 15 | 4 | #include "ubx.h" |
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| 16 | void GPS_Neutral(void) |
5 | #include "mymath.h" |
| 17 | { |
6 | |
| 18 | GpsTarget_X = GpsReading_X; |
7 | int16_t GPS_Pitch = 0; |
| 19 | GpsTarget_Y = GpsReading_Y; |
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| Line -... | Line 8... | ||
| - | 8 | int16_t GPS_Roll = 0; |
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| 20 | } |
9 | |
| - | 10 | uint8_t GPS_P_Factor = 0; |
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| - | 11 | uint8_t GPS_D_Factor = 0; |
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| 21 | 12 | ||
| - | 13 | typedef struct |
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| 22 | void GPS_CalcTargetDirection(void) |
14 | { |
| 23 | { |
15 | int32_t Northing; |
| 24 | GPS_Pitch = 0; |
16 | int32_t Easting; |
| - | 17 | uint8_t Status; |
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| Line -... | Line 18... | ||
| - | 18 | ||
| - | 19 | } GPS_Pos_t; |
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| - | 20 | ||
| - | 21 | // GPS coordinates for hold position |
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| Line -... | Line 22... | ||
| - | 22 | GPS_Pos_t GPSHoldPoint = {0,0, INVALID}; |
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| - | 23 | // GPS coordinates for flying home |
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| - | 24 | GPS_Pos_t GPSHomePoint = {0,0, INVALID};; |
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| - | 25 | ||
| - | 26 | ||
| - | 27 | ||
| - | 28 | // --------------------------------------------------------------------------------- |
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| - | 29 | ||
| - | 30 | ||
| - | 31 | void GPS_Main(void) |
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| - | 32 | { |
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| - | 33 | int32_t coscompass, sincompass; |
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| - | 34 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0; |
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| - | 35 | int32_t PD_North = 0, PD_East = 0; |
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| - | 36 | int32_t GPSPosDev_North = 0, GPSPosDev_East = 0; |
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| - | 37 | ||
| - | 38 | // poti2 enables the gps feature |
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| - | 39 | if(Poti2 > 70) // run GPS function only if Poti 2 is larger than 70 (switch on) |
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| - | 40 | { |
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| - | 41 | switch(GPSInfo.status) |
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| - | 42 | { |
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| - | 43 | case INVALID: // invalid gps data |
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| - | 44 | GPS_Pitch = 0; |
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| - | 45 | GPS_Roll = 0; |
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| - | 46 | break; |
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| - | 47 | case PROCESSED: // if gps data are already processed |
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| - | 48 | // downcount timeout |
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| - | 49 | if(GPSTimeout) GPSTimeout--; |
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| - | 50 | // if no new data arrived within timeout set current data invalid |
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| - | 51 | // and therefore disable GPS |
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| - | 52 | else |
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| - | 53 | { |
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| - | 54 | GPS_Pitch = 0; |
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| - | 55 | GPS_Roll = 0; |
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| - | 56 | GPSInfo.status = INVALID; |
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| - | 57 | } |
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| - | 58 | break; |
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| - | 59 | case VALID: // new valid data from gps device |
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| - | 60 | // if the gps data quality is sufficient |
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| - | 61 | if (GPSInfo.satfix == SATFIX_3D) |
|
| - | 62 | { |
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| - | 63 | // if sticks are centered and hold position is valid enable position hold |
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| - | 64 | if ((MaxStickPitch < 20) && (MaxStickRoll < 20) && (GPSHoldPoint.Status == VALID)) |
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| - | 65 | { |
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| - | 66 | coscompass = (int32_t)c_cos_8192(CompassHeading); |
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| - | 67 | sincompass = (int32_t)c_sin_8192(CompassHeading); |
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| - | 68 | ||
| - | 69 | // Calculate deviation from hold position |
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| - | 70 | GPSPosDev_North = GPSInfo.utmnorth - GPSHoldPoint.Northing; |
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| - | 71 | GPSPosDev_East = GPSInfo.utmeast - GPSHoldPoint.Easting; |
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| - | 72 | ||
| - | 73 | //Calculate PD-components of the controller |
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| - | 74 | P_North = (GPS_P_Factor * GPSPosDev_North)/2048; |
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| - | 75 | D_North = (GPS_D_Factor * GPSInfo.velnorth)/255; |
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| - | 76 | P_East = (GPS_P_Factor * GPSPosDev_East)/2048; |
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| - | 77 | D_East = (GPS_D_Factor * GPSInfo.veleast)/255; |
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| - | 78 | ||
| - | 79 | // PD-controller |
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| - | 80 | PD_North = (-P_North + D_North); |
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| - | 81 | PD_East = (P_East - D_East); |
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| - | 82 | ||
| - | 83 | // GPS to pitch and roll |
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| - | 84 | GPS_Pitch = (int16_t)((coscompass * PD_North - sincompass * PD_East) / 8192); |
|
| - | 85 | GPS_Roll = (int16_t)((sincompass * PD_North + coscompass * PD_East) / 8192); |
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| - | 86 | ||
| - | 87 | // limit GPS controls |
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| - | 88 | if (GPS_Pitch > 35) GPS_Pitch = 35; |
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| - | 89 | if (GPS_Pitch < -35) GPS_Pitch = -35; |
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| - | 90 | if (GPS_Roll > 35) GPS_Roll = 35; |
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| - | 91 | if (GPS_Roll < -35) GPS_Roll = -35; |
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| - | 92 | } |
|
| - | 93 | else // MK controlled by user |
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| - | 94 | { |
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| - | 95 | // update hold point to current gps position |
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| - | 96 | GPSHoldPoint.Northing = GPSInfo.utmnorth; |
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| - | 97 | GPSHoldPoint.Easting = GPSInfo.utmeast; |
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| - | 98 | GPSHoldPoint.Status = VALID; |
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| - | 99 | // disable gps control |
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| - | 100 | GPS_Pitch = 0; |
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| - | 101 | GPS_Roll = 0; |
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| - | 102 | } |
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| - | 103 | } // eof 3D-FIX |
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| - | 104 | else // no 3D-SATFIX |
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| - | 105 | { // diable gps control |
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| - | 106 | GPS_Pitch = 0; |
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| - | 107 | GPS_Roll = 0; |
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| - | 108 | } |
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| - | 109 | // set current data as processed to avoid further calculations on the same gps data |
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| - | 110 | GPSInfo.status = PROCESSED; |
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