Rev 62 | Rev 74 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 62 | Rev 73 | ||
|---|---|---|---|
| Line 93... | Line 93... | ||
| 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; |
|
| - | 99 | s32 I_Limit; |
|
| - | 100 | s32 D_Limit; |
|
| - | 101 | s32 PID_Limit; |
|
| - | 102 | u32 BrakingDuration; |
|
| 98 | u8 MinSat; |
103 | u8 MinSat; |
| 99 | s8 StickThreshold; |
104 | s8 StickThreshold; |
| 100 | float WindCorrection; |
105 | float WindCorrection; |
| 101 | s32 OperatingRadius; |
106 | s32 OperatingRadius; |
| 102 | u32 NaviAngleLimitation; |
- | |
| 103 | GPS_FlightMode_t FlightMode; |
107 | GPS_FlightMode_t FlightMode; |
| 104 | } __attribute__((packed)) GPS_Parameter_t; |
108 | } __attribute__((packed)) GPS_Parameter_t; |
| Line 105... | Line 109... | ||
| 105 | 109 | ||
| 106 | typedef struct |
110 | typedef struct |
| Line 109... | Line 113... | ||
| 109 | s32 North; // in cm |
113 | s32 North; // in cm |
| 110 | s32 East; // in cm |
114 | s32 East; // in cm |
| 111 | s32 Bearing; // in deg |
115 | s32 Bearing; // in deg |
| 112 | s32 Distance; // in cm |
116 | s32 Distance; // in cm |
| 113 | } __attribute__((packed)) GPS_Deviation_t; |
117 | } __attribute__((packed)) GPS_Deviation_t; |
| 114 | GPS_Deviation_t TargetDeviation; |
118 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
| - | 119 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
|
| - | 120 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
|
| Line 115... | Line 121... | ||
| 115 | 121 | ||
| 116 | GPS_Stick_t GPS_Stick; |
122 | GPS_Stick_t GPS_Stick; |
| Line 117... | Line 123... | ||
| 117 | GPS_Parameter_t GPS_Parameter; |
123 | GPS_Parameter_t GPS_Parameter; |
| Line 135... | Line 141... | ||
| 135 | GPS_Parameter.P = (float) 90; |
141 | GPS_Parameter.P = (float) 90; |
| 136 | GPS_Parameter.I = (float) 90; |
142 | GPS_Parameter.I = (float) 90; |
| 137 | GPS_Parameter.D = (float) 90; |
143 | GPS_Parameter.D = (float) 90; |
| 138 | GPS_Parameter.A = (float) 90; |
144 | GPS_Parameter.A = (float) 90; |
| 139 | GPS_Parameter.ACC = (float) 0; |
145 | GPS_Parameter.ACC = (float) 0; |
| - | 146 | GPS_Parameter.P_Limit = 90; |
|
| - | 147 | GPS_Parameter.I_Limit = 90; |
|
| - | 148 | GPS_Parameter.D_Limit = 90; |
|
| - | 149 | GPS_Parameter.PID_Limit = 200; |
|
| - | 150 | GPS_Parameter.BrakingDuration = 0; |
|
| 140 | GPS_Parameter.MinSat = 6; |
151 | GPS_Parameter.MinSat = 6; |
| 141 | GPS_Parameter.StickThreshold = 8; |
152 | GPS_Parameter.StickThreshold = 8; |
| 142 | GPS_Parameter.WindCorrection = 0.0; |
153 | GPS_Parameter.WindCorrection = 0.0; |
| 143 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
154 | GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
| 144 | GPS_Parameter.NaviAngleLimitation = 125; |
- | |
| - | 155 | ||
| 145 | } |
156 | } |
| 146 | else |
157 | else |
| 147 | { |
158 | { |
| 148 | // update parameter from FC |
159 | // update parameter from FC |
| 149 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
160 | if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| Line 157... | Line 168... | ||
| 157 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
168 | GPS_Parameter.P = (float)Parameter.NaviGpsP; |
| 158 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
169 | GPS_Parameter.I = (float)Parameter.NaviGpsI; |
| 159 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
170 | GPS_Parameter.D = (float)Parameter.NaviGpsD; |
| 160 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
171 | GPS_Parameter.A = (float)Parameter.NaviGpsD; |
| 161 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
172 | GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
| - | 173 | GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit; |
|
| - | 174 | GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit; |
|
| - | 175 | GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit; |
|
| - | 176 | GPS_Parameter.PID_Limit = 2* (s32)Parameter.NaviAngleLimitation; |
|
| - | 177 | GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime; |
|
| 162 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
178 | GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
| 163 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
179 | GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
| 164 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
180 | GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
| 165 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
181 | GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
| 166 | GPS_Parameter.NaviAngleLimitation = (u32) Parameter.NaviAngleLimitation * 2; |
- | |
| 167 | } |
182 | } |
| 168 | // FlightMode changed? |
183 | // FlightMode changed? |
| 169 | if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
184 | if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
| 170 | FlightMode_Old = GPS_Parameter.FlightMode; |
185 | FlightMode_Old = GPS_Parameter.FlightMode; |
| 171 | } |
186 | } |
| Line 261... | Line 276... | ||
| 261 | // Rescale xy-vector length if length limit is violated |
276 | // Rescale xy-vector length if length limit is violated |
| 262 | void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
277 | void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
| 263 | { |
278 | { |
| 264 | s32 dist; |
279 | s32 dist; |
| 265 | dist = (s32)hypot(*x,*y); // the length of the vector |
280 | dist = (s32)hypot(*x,*y); // the length of the vector |
| - | 281 | if (dist == 0) |
|
| - | 282 | { |
|
| - | 283 | *x = 0; |
|
| - | 284 | *y = 0; |
|
| - | 285 | } |
|
| 266 | if ((dist != 0L) && (dist > limit)) |
286 | else if (dist > limit) |
| 267 | // if vector length is larger than the given limit |
287 | // if vector length is larger than the given limit |
| 268 | { // scale vector compontents so that the length is cut off to limit |
288 | { // scale vector compontents so that the length is cut off to limit |
| 269 | *x = (*x * limit) / dist; |
289 | *x = (*x * limit) / dist; |
| 270 | *y = (*y * limit) / dist; |
290 | *y = (*y * limit) / dist; |
| 271 | } |
291 | } |
| 272 | } |
292 | } |
| Line 273... | Line 293... | ||
| 273 | 293 | ||
| Line 285... | Line 305... | ||
| 285 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
305 | return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
| 286 | } |
306 | } |
| Line 287... | Line 307... | ||
| 287 | 307 | ||
| 288 | //------------------------------------------------------------ |
308 | //------------------------------------------------------------ |
| 289 | // calculate the deviation from the current position to the target position |
309 | // calculate the deviation from the current position to the target position |
| 290 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos) |
310 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
| 291 | { |
311 | { |
| 292 | double temp1, temp2; |
312 | double temp1, temp2; |
| 293 | // if given pointer is NULL |
313 | // if given pointer is NULL |
| 294 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
314 | if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
| 295 | // if positions are invalid |
315 | // if positions are invalid |
| Line 307... | Line 327... | ||
| 307 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
327 | temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
| 308 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
328 | // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
| 309 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
329 | // In our application we wont fly more than 20.000 km but along the date line this is important. |
| 310 | if(temp1 > 180.0f) temp1 -= 360.0f; |
330 | if(temp1 > 180.0f) temp1 -= 360.0f; |
| 311 | else if (temp1 < -180.0f) temp1 += 360.0f; |
331 | else if (temp1 < -180.0f) temp1 += 360.0f; |
| 312 | temp1 *= cos(RadiansFromGPS(pTargetPos->Latitude)); |
332 | temp1 *= cos((RadiansFromGPS(pTargetPos->Latitude) + RadiansFromGPS(pCurrentPos->Latitude))/2); |
| 313 | // calculate latitude deviation from target |
333 | // calculate latitude deviation from target |
| 314 | // this is allways within -180 deg ... 180 deg |
334 | // this is allways within -180 deg ... 180 deg |
| 315 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
335 | temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
| 316 | // deviation from target position in cm |
336 | // deviation from target position in cm |
| 317 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
337 | // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
| Line 318... | Line 338... | ||
| 318 | 338 | ||
| 319 | TargetDeviation.Status = INVALID; |
339 | pDeviationFromTarget->Status = INVALID; |
| 320 | TargetDeviation.North = (s32)(11119492.7f * temp2); |
340 | pDeviationFromTarget->North = (s32)(11119492.7f * temp2); |
| 321 | TargetDeviation.East = (s32)(11119492.7f * temp1); |
341 | pDeviationFromTarget->East = (s32)(11119492.7f * temp1); |
| 322 | // If the position deviation is small enough to neglect the earth curvature |
342 | // If the position deviation is small enough to neglect the earth curvature |
| 323 | // (this is for our application always fulfilled) the distance to target |
343 | // (this is for our application always fulfilled) the distance to target |
| 324 | // can be calculated by the pythagoras of north and east deviation. |
344 | // can be calculated by the pythagoras of north and east deviation. |
| 325 | TargetDeviation.Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
345 | pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
| 326 | if (TargetDeviation.Distance == 0L) TargetDeviation.Bearing = 0L; |
346 | if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L; |
| 327 | else TargetDeviation.Bearing = DirectionToTarget_N_E(temp2, temp1); |
347 | else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1); |
| 328 | TargetDeviation.Status = NEWDATA; |
348 | pDeviationFromTarget->Status = NEWDATA; |
| Line 329... | Line 349... | ||
| 329 | return TRUE; |
349 | return TRUE; |
| 330 | 350 | ||
| 331 | baddata: |
351 | baddata: |
| 332 | TargetDeviation.North = 0L; |
352 | pDeviationFromTarget->North = 0L; |
| 333 | TargetDeviation.East = 0L; |
353 | pDeviationFromTarget->East = 0L; |
| 334 | TargetDeviation.Distance = 0L; |
354 | pDeviationFromTarget->Distance = 0L; |
| 335 | TargetDeviation.Bearing = 0L; |
355 | pDeviationFromTarget->Bearing = 0L; |
| 336 | TargetDeviation.Status = INVALID; |
356 | pDeviationFromTarget->Status = INVALID; |
| Line 337... | Line 357... | ||
| 337 | return FALSE; |
357 | return FALSE; |
| 338 | } |
358 | } |
| Line 357... | Line 377... | ||
| 357 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
377 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 358 | switch(GPSData.Status) |
378 | switch(GPSData.Status) |
| 359 | { |
379 | { |
| 360 | case INVALID: // no gps data available |
380 | case INVALID: // no gps data available |
| 361 | // do nothing |
381 | // do nothing |
| - | 382 | GPS_Parameter.PID_Limit = 0; // disables PID output |
|
| 362 | break; |
383 | break; |
| Line 363... | Line 384... | ||
| 363 | 384 | ||
| 364 | case PROCESSED: // the current data have been allready processed |
385 | case PROCESSED: // the current data have been allready processed |
| 365 | // if no new data are available within the timeout switch to invalid state. |
386 | // if no new data are available within the timeout switch to invalid state. |
| Line 382... | Line 403... | ||
| 382 | DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
403 | DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
| Line 383... | Line 404... | ||
| 383 | 404 | ||
| 384 | // If GPS signal condition is sufficient for a reliable position measurement |
405 | // If GPS signal condition is sufficient for a reliable position measurement |
| 385 | if(GPS_IsSignalOK()) |
406 | if(GPS_IsSignalOK()) |
| - | 407 | { |
|
| - | 408 | // update home deviation info |
|
| - | 409 | GPS_CalculateDeviation(&(GPSData.Position), &GPS_HomePosition, &CurrentHomeDeviation); |
|
| 386 | { |
410 | |
| 387 | // if the MK is starting or the home position is invalid then store the home position |
411 | // if the MK is starting or the home position is invalid then store the home position |
| 388 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
412 | if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
| 389 | { // try to update the home position from the current position |
413 | { // try to update the home position from the current position |
| 390 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
414 | if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
| Line 402... | Line 426... | ||
| 402 | { |
426 | { |
| 403 | // the GPS control is deactived |
427 | // the GPS control is deactived |
| 404 | case GPS_FLIGHT_MODE_FREE: |
428 | case GPS_FLIGHT_MODE_FREE: |
| 405 | NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
429 | NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
| 406 | NaviData.NCFlags |= NC_FLAG_FREE; |
430 | NaviData.NCFlags |= NC_FLAG_FREE; |
| 407 | - | ||
| - | 431 | GPS_Parameter.PID_Limit = 0; // disables PID output |
|
| 408 | // update hold position |
432 | // update hold position |
| 409 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
433 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 410 | // no target position |
434 | // no target position |
| 411 | GPS_pTargetPosition = NULL; |
435 | GPS_pTargetPosition = NULL; |
| 412 | break; |
436 | break; |
| Line 418... | Line 442... | ||
| 418 | // reset WPList to begin |
442 | // reset WPList to begin |
| 419 | GPS_pWaypoint = WPList_Begin(); |
443 | GPS_pWaypoint = WPList_Begin(); |
| Line 420... | Line 444... | ||
| 420 | 444 | ||
| 421 | if(GPS_IsManuallyControlled()) |
445 | if(GPS_IsManuallyControlled()) |
| - | 446 | { |
|
| 422 | { |
447 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
| 423 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
448 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 424 | GPS_pTargetPosition = NULL; |
449 | GPS_pTargetPosition = NULL; |
| 425 | } |
450 | } |
| 426 | else |
451 | else |
| Line 432... | Line 457... | ||
| 432 | // the GPS control is directed to a target position |
457 | // the GPS control is directed to a target position |
| 433 | // given by a waypoint or by the home position |
458 | // given by a waypoint or by the home position |
| 434 | case GPS_FLIGHT_MODE_WAYPOINT: |
459 | case GPS_FLIGHT_MODE_WAYPOINT: |
| 435 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
460 | NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
| 436 | NaviData.NCFlags |= NC_FLAG_CH; |
461 | NaviData.NCFlags |= NC_FLAG_CH; |
| 437 | 462 | ||
| 438 | // waypoint trigger logic |
- | |
| 439 | if(GPS_pWaypoint != NULL) // waypoint exist |
463 | if(GPS_IsManuallyControlled()) // the human pilot takes the action |
| 440 | { |
464 | { |
| - | 465 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
|
| - | 466 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position |
|
| 441 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
467 | GPS_pTargetPosition = NULL; // set target position invalid |
| 442 | { |
468 | } |
| 443 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
469 | else // no manual control -> gps position hold active |
| 444 | WPArrived = FALSE; |
- | |
| 445 | BeepTime = 255; |
- | |
| 446 | } |
470 | { |
| 447 | else // waypoint position is valid |
471 | // waypoint trigger logic |
| - | 472 | if(GPS_pWaypoint != NULL) // waypoint exist |
|
| 448 | { |
473 | { |
| 449 | // check if the pointer to the waypoint has been changed or the data have been updated |
- | |
| 450 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
474 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
| 451 | { |
475 | { |
| 452 | GPS_pWaypointOld = GPS_pWaypoint; |
476 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
| 453 | // reset the arrived bit to break a pending HoldTime of the old WP |
- | |
| 454 | WPArrived = FALSE; |
477 | WPArrived = FALSE; |
| - | 478 | BeepTime = 255; |
|
| 455 | } |
479 | } |
| 456 | - | ||
| 457 | if(TargetDeviation.Status != INVALID) |
480 | else // waypoint position is valid |
| 458 | { // if the waypoint was not catched and the target area has been reached |
- | |
| 459 | if(!WPArrived && (TargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
- | |
| 460 | { |
- | |
| 461 | WPArrived = TRUE; |
- | |
| 462 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
- | |
| 463 | } |
- | |
| 464 | } |
- | |
| 465 | // if WP has been reached once, wait hold time before trigger to next one |
- | |
| 466 | if(WPArrived) |
- | |
| 467 | { |
481 | { |
| 468 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
482 | // check if the pointer to the waypoint has been changed or the data have been updated |
| 469 | if(CheckDelay(WPTime)) |
483 | if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
| 470 | { |
484 | { |
| - | 485 | GPS_pWaypointOld = GPS_pWaypoint; |
|
| 471 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
486 | // reset the arrived bit to break a pending HoldTime of the old WP |
| 472 | WPArrived = FALSE; // which is not arrived |
487 | WPArrived = FALSE; |
| 473 | } |
488 | } |
| 474 | } // EOF if(WPArrived) |
- | |
| 475 | } |
- | |
| 476 | } // EOF waypoint trigger logic |
- | |
| 477 | 489 | ||
| 478 | if(GPS_pWaypoint != NULL) // Waypoint exist |
490 | if(CurrentTargetDeviation.Status != INVALID) |
| - | 491 | { // if the waypoint was not catched and the target area has been reached |
|
| - | 492 | if(!WPArrived && (CurrentTargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
|
| 479 | { |
493 | { |
| 480 | // update the hold position |
494 | WPArrived = TRUE; |
| 481 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
495 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
| 482 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
496 | } |
| 483 | } |
497 | } |
| 484 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
498 | // if WP has been reached once, wait hold time before trigger to next one |
| - | 499 | if(WPArrived) |
|
| 485 | { |
500 | { |
| 486 | // fly back to home postion |
501 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
| 487 | if(GPS_HomePosition.Status == INVALID) |
502 | if(CheckDelay(WPTime)) |
| 488 | { |
503 | { |
| 489 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
504 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
| 490 | BeepTime = 255; // beep to indicate missin home position |
505 | WPArrived = FALSE; // which is not arrived |
| - | 506 | } |
|
| - | 507 | } // EOF if(WPArrived) |
|
| 491 | } |
508 | } |
| 492 | else // the home position is valid |
509 | } // EOF waypoint trigger logic |
| - | 510 | ||
| - | 511 | if(GPS_pWaypoint != NULL) // Waypoint exist |
|
| 493 | { |
512 | { |
| 494 | // update the hold position |
513 | // update the hold position |
| 495 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
514 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 496 | // set target to home position |
- | |
| 497 | GPS_pTargetPosition = &GPS_HomePosition; |
515 | GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
| 498 | } |
516 | } |
| - | 517 | else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
|
| - | 518 | { |
|
| - | 519 | // fly back to home postion |
|
| - | 520 | if(GPS_HomePosition.Status == INVALID) |
|
| - | 521 | { |
|
| - | 522 | GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
|
| - | 523 | BeepTime = 255; // beep to indicate missin home position |
|
| - | 524 | } |
|
| - | 525 | else // the home position is valid |
|
| - | 526 | { |
|
| - | 527 | // update the hold position |
|
| - | 528 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
|
| - | 529 | // set target to home position |
|
| - | 530 | GPS_pTargetPosition = &GPS_HomePosition; |
|
| - | 531 | } |
|
| 499 | } |
532 | } |
| - | 533 | } // EOF no manual control |
|
| 500 | break; |
534 | break; |
| Line 501... | Line 535... | ||
| 501 | 535 | ||
| 502 | case GPS_FLIGHT_MODE_UNDEF: |
536 | case GPS_FLIGHT_MODE_UNDEF: |
| - | 537 | default: |
|
| 503 | default: |
538 | GPS_Parameter.PID_Limit = 0; // disables PID output |
| 504 | // update hold position |
539 | // update hold position |
| 505 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
540 | GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| 506 | // no target position |
541 | // no target position |
| 507 | GPS_pTargetPosition = NULL; |
542 | GPS_pTargetPosition = NULL; |
| Line 516... | Line 551... | ||
| 516 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
551 | if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
| 517 | else |
552 | else |
| 518 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
553 | { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
| 519 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
554 | if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
| 520 | { |
555 | { |
| - | 556 | BeepTime = 255; // beep to indicate setting of a new target position |
|
| 521 | // calculate deviation of new target position from home position |
557 | // calculate deviation of new target position from home position |
| 522 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition)) |
558 | if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation)) |
| 523 | { |
559 | { |
| 524 | // check distance from home position |
560 | // check distance from home position |
| 525 | if(TargetDeviation.Distance > GPS_Parameter.OperatingRadius) |
561 | if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius) |
| 526 | { |
562 | { |
| 527 | //calculate ranged target position to be within the operation radius area |
563 | //calculate ranged target position to be within the operation radius area |
| 528 | NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
564 | NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
| - | 565 | ||
| 529 | TargetDeviation.Distance = GPS_Parameter.OperatingRadius; |
566 | TargetHomeDeviation.North *= GPS_Parameter.OperatingRadius; |
| 530 | GPS_LimitXY(&(TargetDeviation.East), &(TargetDeviation.North), TargetDeviation.Distance); |
567 | TargetHomeDeviation.North /= TargetHomeDeviation.Distance; |
| - | 568 | TargetHomeDeviation.East *= GPS_Parameter.OperatingRadius; |
|
| - | 569 | TargetHomeDeviation.East /= TargetHomeDeviation.Distance; |
|
| - | 570 | TargetHomeDeviation.Distance = GPS_Parameter.OperatingRadius; |
|
| Line 531... | Line 571... | ||
| 531 | 571 | ||
| 532 | RangedTargetPosition.Status = INVALID; |
572 | RangedTargetPosition.Status = INVALID; |
| 533 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
573 | RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
| 534 | RangedTargetPosition.Latitude += (s32)((float)TargetDeviation.North / 1.11194927f); |
574 | RangedTargetPosition.Latitude += (s32)((float)TargetHomeDeviation.North / 1.11194927f); |
| 535 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
575 | RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
| 536 | RangedTargetPosition.Longitude += (s32)((float)TargetDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
576 | RangedTargetPosition.Longitude += (s32)((float)TargetHomeDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
| 537 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
577 | RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
| 538 | RangedTargetPosition.Status = NEWDATA; |
578 | RangedTargetPosition.Status = NEWDATA; |
| 539 | } |
579 | } |
| 540 | else |
580 | else |
| Line 556... | Line 596... | ||
| 556 | pTargetPositionOld = GPS_pTargetPosition; |
596 | pTargetPositionOld = GPS_pTargetPosition; |
| Line 557... | Line 597... | ||
| 557 | 597 | ||
| Line 558... | Line 598... | ||
| 558 | /* Calculate position deviation from ranged target */ |
598 | /* Calculate position deviation from ranged target */ |
| 559 | 599 | ||
| 560 | // calculate deviation of current position to ranged target position in cm |
600 | // calculate deviation of current position to ranged target position in cm |
| 561 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition)) |
601 | if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
| 562 | { |
602 | { |
| 563 | // implement your control code here based |
603 | // implement your control code here based |
| 564 | // in the info available in the TargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
604 | // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
| 565 | GPS_Stick.Nick = 0; |
605 | GPS_Stick.Nick = 0; |
| 566 | GPS_Stick.Roll = 0; |
606 | GPS_Stick.Roll = 0; |
| 567 | GPS_Stick.Yaw = 0; |
607 | GPS_Stick.Yaw = 0; |
| Line 584... | Line 624... | ||
| 584 | } |
624 | } |
| 585 | GPSData.Status = PROCESSED; // mark as processed |
625 | GPSData.Status = PROCESSED; // mark as processed |
| 586 | break; |
626 | break; |
| 587 | } |
627 | } |
| Line 588... | Line 628... | ||
| 588 | 628 | ||
| 589 | DebugOut.Analog[27] = (s16)TargetDeviation.North; |
629 | DebugOut.Analog[27] = (s16)CurrentTargetDeviation.North; |
| 590 | DebugOut.Analog[28] = (s16)TargetDeviation.East; |
630 | DebugOut.Analog[28] = (s16)CurrentTargetDeviation.East; |
| 591 | DebugOut.Analog[29] = GPS_Stick.Nick; |
631 | DebugOut.Analog[29] = GPS_Stick.Nick; |
| Line 592... | Line 632... | ||
| 592 | DebugOut.Analog[30] = GPS_Stick.Roll; |
632 | DebugOut.Analog[30] = GPS_Stick.Roll; |
| 593 | 633 | ||
| 594 | // update navi data, send back to ground station |
634 | // update navi data, send back to ground station |
| - | 635 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
|
| 595 | GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
636 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
| 596 | GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
637 | GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
| 597 | NaviData.SatsInUse = GPSData.NumOfSats; |
638 | NaviData.SatsInUse = GPSData.NumOfSats; |
| - | 639 | NaviData.TargetPositionDeviation.Distance = CurrentTargetDeviation.Distance; |
|
| - | 640 | NaviData.TargetPositionDeviation.Bearing = CurrentTargetDeviation.Bearing; |
|
| 598 | NaviData.TargetPositionDeviation.Distance = TargetDeviation.Distance; |
641 | NaviData.HomePositionDeviation.Distance = CurrentHomeDeviation.Distance; |
| 599 | NaviData.TargetPositionDeviation.Bearing = TargetDeviation.Bearing; |
642 | NaviData.HomePositionDeviation.Bearing = CurrentHomeDeviation.Bearing; |
| 600 | NaviData.UBat = FC.UBat; |
643 | NaviData.UBat = FC.UBat; |
| 601 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
644 | NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
| 602 | NaviData.Heading = (s16)GPSData.Heading; |
645 | NaviData.Heading = (s16)GPSData.Heading; |
| 603 | NaviData.CompassHeading = FromFlightCtrl.GyroHeading / 10; // in deg |
646 | NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg |
| 604 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
647 | NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg |
| 605 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
648 | NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg |
| - | 649 | NaviData.RC_Quality = (u8) FC.RC_Quality; |
|
| Line 606... | Line 650... | ||
| 606 | NaviData.RC_Quality = (u8) FC.RC_Quality; |
650 | NaviData.MKFlags = (u8)FC.MKFlags; |
| 607 | NaviData.MKFlags = (u8)FC.MKFlags; |
651 | NaviData.OperatingRadius = Parameter.NaviOperatingRadius; |
| 608 | 652 | ||