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13 | #include "controlMixer.h" |
13 | #include "controlMixer.h" |
14 | #include "output.h" |
14 | #include "output.h" |
15 | #include "isqrt.h" |
15 | #include "isqrt.h" |
16 | #include "attitude.h" |
16 | #include "attitude.h" |
17 | #include "dongfangMath.h" |
17 | #include "dongfangMath.h" |
- | 18 | #include "attitude.h" |
|
Line 18... | Line 19... | ||
18 | 19 | ||
19 | typedef enum { |
20 | typedef enum { |
20 | GPS_FLIGHT_MODE_UNDEF, |
21 | GPS_FLIGHT_MODE_UNDEF, |
21 | GPS_FLIGHT_MODE_FREE, |
22 | GPS_FLIGHT_MODE_FREE, |
Line 48... | Line 49... | ||
48 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD |
49 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD |
49 | || MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
50 | || MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
50 | flightMode = GPS_FLIGHT_MODE_HOME; |
51 | flightMode = GPS_FLIGHT_MODE_HOME; |
51 | } else { |
52 | } else { |
52 | if (dynamicParams.naviMode < 50) |
53 | if (dynamicParams.naviMode < 50) |
53 | flightMode = GPS_FLIGHT_MODE_FREE; |
54 | flightMode = GPS_FLIGHT_MODE_HOME; |
54 | else if (dynamicParams.naviMode < 180) |
55 | else if (dynamicParams.naviMode < 180) |
55 | flightMode = GPS_FLIGHT_MODE_AID; |
56 | flightMode = GPS_FLIGHT_MODE_AID; |
56 | else |
57 | else |
57 | flightMode = GPS_FLIGHT_MODE_HOME; |
58 | flightMode = GPS_FLIGHT_MODE_FREE; |
58 | } |
59 | } |
Line 59... | Line 60... | ||
59 | 60 | ||
60 | if (flightMode != flightModeOld) { |
61 | if (flightMode != flightModeOld) { |
61 | beep(100); |
62 | beep(100); |
Line 91... | Line 92... | ||
91 | } |
92 | } |
92 | return 0; |
93 | return 0; |
93 | } |
94 | } |
Line 94... | Line 95... | ||
94 | 95 | ||
95 | // checks nick and roll sticks for manual control |
96 | // checks nick and roll sticks for manual control |
96 | uint8_t navi_isManuallyControlled(int16_t* sticks) { |
97 | uint8_t navi_isManuallyControlled(int16_t* PRTY) { |
97 | if (sticks[CONTROL_PITCH] < staticParams.naviStickThreshold |
98 | if (PRTY[CONTROL_PITCH] < staticParams.naviStickThreshold |
98 | && sticks[CONTROL_ROLL] < staticParams.naviStickThreshold) |
99 | && PRTY[CONTROL_ROLL] < staticParams.naviStickThreshold) |
99 | return 0; |
100 | return 0; |
100 | else |
101 | else |
101 | return 1; |
102 | return 1; |
Line 132... | Line 133... | ||
132 | } |
133 | } |
Line 133... | Line 134... | ||
133 | 134 | ||
134 | // calculates the GPS control stick values from the deviation to target position |
135 | // calculates the GPS control stick values from the deviation to target position |
135 | // if the pointer to the target positin is NULL or is the target position invalid |
136 | // if the pointer to the target positin is NULL or is the target position invalid |
136 | // then the P part of the controller is deactivated. |
137 | // then the P part of the controller is deactivated. |
137 | void navi_PIDController(GPS_Pos_t *pTargetPos, int16_t* sticks) { |
138 | void navi_PIDController(GPS_Pos_t *pTargetPos, int16_t *PRTY) { |
138 | static int32_t PID_Nick, PID_Roll; |
139 | static int32_t PID_Nick, PID_Roll; |
139 | int32_t coscompass, sincompass; |
140 | int32_t coscompass, sincompass; |
140 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
141 | int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
141 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
142 | int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
Line 228... | Line 229... | ||
228 | // copter should fly to west (positive roll). |
229 | // copter should fly to west (positive roll). |
229 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
230 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
230 | // in the flight.c. Therefore a positive north deviation/velocity should result in a positive |
231 | // in the flight.c. Therefore a positive north deviation/velocity should result in a positive |
231 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
232 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
Line 232... | Line 233... | ||
232 | 233 | ||
233 | coscompass = cos_360(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
234 | coscompass = -cos_360(heading / GYRO_DEG_FACTOR_YAW); |
Line 234... | Line 235... | ||
234 | sincompass = sin_360(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
235 | sincompass = -sin_360(heading / GYRO_DEG_FACTOR_YAW); |
235 | 236 | ||
Line 236... | Line 237... | ||
236 | PID_Nick = (coscompass * PID_North + sincompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
237 | PID_Nick = (coscompass * PID_North + sincompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
237 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
238 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) >> (LOG_MATH_UNIT_FACTOR-LOG_NAVI_STICK_GAIN); |
Line 238... | Line -... | ||
238 | - | ||
239 | // limit resulting GPS control vector |
- | |
240 | navi_limitXY(&PID_Nick, &PID_Roll, staticParams.naviStickLimit << LOG_NAVI_STICK_GAIN); |
- | |
241 | 239 | ||
242 | debugOut.analog[27] = -PID_Nick; |
240 | // limit resulting GPS control vector |
Line 243... | Line 241... | ||
243 | debugOut.analog[28] = -PID_Roll; |
241 | navi_limitXY(&PID_Nick, &PID_Roll, staticParams.naviStickLimit << LOG_NAVI_STICK_GAIN); |
244 | 242 | ||
245 | sticks[CONTROL_PITCH] -= PID_Nick; |
243 | PRTY[CONTROL_PITCH] += PID_Nick; |
246 | sticks[CONTROL_ROLL] -= PID_Roll; |
244 | PRTY[CONTROL_ROLL] += PID_Roll; |
247 | 245 | ||
248 | } else { // invalid GPS data or bad compass reading |
246 | } else { // invalid GPS data or bad compass reading |
Line 249... | Line 247... | ||
249 | // reset error integral |
247 | // reset error integral |
250 | GPSPosDevIntegral_North = 0; |
248 | GPSPosDevIntegral_North = 0; |
251 | GPSPosDevIntegral_East = 0; |
249 | GPSPosDevIntegral_East = 0; |
Line 252... | Line 250... | ||
252 | } |
250 | } |
Line 294... | Line 292... | ||
294 | // disable gps control |
292 | // disable gps control |
295 | break; |
293 | break; |
Line 296... | Line 294... | ||
296 | 294 | ||
297 | case GPS_FLIGHT_MODE_AID: |
295 | case GPS_FLIGHT_MODE_AID: |
298 | if (holdPosition.status != INVALID) { |
296 | if (holdPosition.status != INVALID) { |
299 | if (navi_isManuallyControlled(sticks)) { // MK controlled by user |
297 | if (navi_isManuallyControlled(PRTY)) { // MK controlled by user |
300 | // update hold point to current gps position |
298 | // update hold point to current gps position |
301 | navi_writeCurrPositionTo(&holdPosition); |
299 | navi_writeCurrPositionTo(&holdPosition); |
302 | // disable gps control |
300 | // disable gps control |
303 | GPS_P_Delay = 0; |
301 | GPS_P_Delay = 0; |
304 | } else { // GPS control active |
302 | } else { // GPS control active |
305 | if (GPS_P_Delay < 7) { |
303 | if (GPS_P_Delay < 7) { |
306 | // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
304 | // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
307 | GPS_P_Delay++; |
305 | GPS_P_Delay++; |
308 | navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position |
306 | navi_writeCurrPositionTo(&holdPosition); // update hold point to current gps position |
309 | navi_PIDController(NULL, sticks); // activates only the D-Part |
307 | navi_PIDController(NULL, PRTY); // activates only the D-Part |
310 | } else |
308 | } else |
311 | navi_PIDController(&holdPosition, sticks); // activates the P&D-Part |
309 | navi_PIDController(&holdPosition, PRTY); // activates the P&D-Part |
312 | } |
310 | } |
313 | } else // invalid Hold Position |
311 | } else // invalid Hold Position |
314 | { // try to catch a valid hold position from gps data input |
312 | { // try to catch a valid hold position from gps data input |
315 | navi_writeCurrPositionTo(&holdPosition); |
313 | navi_writeCurrPositionTo(&holdPosition); |
Line 319... | Line 317... | ||
319 | case GPS_FLIGHT_MODE_HOME: |
317 | case GPS_FLIGHT_MODE_HOME: |
320 | if (homePosition.status != INVALID) { |
318 | if (homePosition.status != INVALID) { |
321 | // update hold point to current gps position |
319 | // update hold point to current gps position |
322 | // to avoid a flight back if home comming is deactivated |
320 | // to avoid a flight back if home comming is deactivated |
323 | navi_writeCurrPositionTo(&holdPosition); |
321 | navi_writeCurrPositionTo(&holdPosition); |
324 | if (navi_isManuallyControlled(sticks)) // MK controlled by user |
322 | if (navi_isManuallyControlled(PRTY)) // MK controlled by user |
325 | { |
323 | { |
326 | } else {// GPS control active |
324 | } else {// GPS control active |
327 | navi_PIDController(&homePosition, sticks); |
325 | navi_PIDController(&homePosition, PRTY); |
328 | } |
326 | } |
329 | } else { |
327 | } else { |
330 | // bad home position |
328 | // bad home position |
331 | beep(50); // signal invalid home position |
329 | beep(50); // signal invalid home position |
332 | // try to hold at least the position as a fallback option |
330 | // try to hold at least the position as a fallback option |
Line 333... | Line 331... | ||
333 | 331 | ||
334 | if (holdPosition.status != INVALID) { |
332 | if (holdPosition.status != INVALID) { |
335 | if (navi_isManuallyControlled(sticks)) { |
333 | if (navi_isManuallyControlled(PRTY)) { |
336 | // MK controlled by user |
334 | // MK controlled by user |
337 | } else { |
335 | } else { |
338 | // GPS control active |
336 | // GPS control active |
339 | navi_PIDController(&holdPosition, sticks); |
337 | navi_PIDController(&holdPosition, PRTY); |
340 | } |
338 | } |
341 | } else { // try to catch a valid hold position |
339 | } else { // try to catch a valid hold position |
342 | navi_writeCurrPositionTo(&holdPosition); |
340 | navi_writeCurrPositionTo(&holdPosition); |
343 | } |
341 | } |
Line 363... | Line 361... | ||
363 | break; |
361 | break; |
364 | } // eof GPSInfo.status |
362 | } // eof GPSInfo.status |
Line 365... | Line 363... | ||
365 | 363 | ||
366 | debugOut.analog[11] = GPSInfo.satnum; |
364 | debugOut.analog[11] = GPSInfo.satnum; |
367 | } |
- | |
368 | - |