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#include <inttypes.h>
#include "fc.h"
#include "ubx.h"
#include "mymath.h"
#include "timer0.h"
#include "uart.h"
#define TSK_IDLE 0
#define TSK_HOLD 1
#define TSK_HOME 2
int16_t GPS_Pitch = 0;
int16_t GPS_Roll = 0;
int32_t GPS_P_Factor = 0, GPS_D_Factor = 0;
int32_t GPSPosDev_North = 0, GPSPosDev_East = 0;
typedef struct
{
int32_t Northing;
int32_t Easting;
uint8_t Status;
} GPS_Pos_t;
// GPS coordinates for hold position
GPS_Pos_t HoldPosition = {0,0, INVALID};
// GPS coordinates for home position
GPS_Pos_t HomePosition = {0,0, INVALID};
// ---------------------------------------------------------------------------------
// set home position to current hold positon
void GPS_SetHomePosition(void)
{
HomePosition.Northing = HoldPosition.Northing;
HomePosition.Easting = HoldPosition.Easting;
HomePosition.Status = HoldPosition.Status;
if(HomePosition.Status == VALID) BeepTime = 1000; // signal if new home position was set
}
// disable GPS control sticks
void GPS_Neutral(void)
{
GPS_Pitch = 0;
GPS_Roll = 0;
}
// calculates the GPS control sticks values from the position deviation
void GPS_PDController(void)
{
int32_t coscompass, sincompass;
int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0;
int32_t PD_North = 0, PD_East = 0;
//Calculate PD-components of the controller (negative sign for compensation)
P_North = -(GPS_P_Factor * GPSPosDev_North)/2048;
D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512;
P_East = -(GPS_P_Factor * GPSPosDev_East)/2048;
D_East = -(GPS_D_Factor * GPSInfo.veleast)/512;
// PD-controller
PD_North = P_North + D_North;
PD_East = P_East + D_East;
// GPS to pitch and roll settings
//A positive pitch angle moves head downwards (flying forward).
//A positive roll angle tilts left side downwards (flying left).
// If compass heading is 0 the head of the copter is in north direction.
// A positive pitch angle will fly to north and a positive roll angle will fly to west.
// In case of a positive north deviation/velocity the
// copter should fly to south (negative pitch).
// In case of a positive east position deviation and a positive east velocity the
// copter should fly to west (positive roll).
// The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values
// in the fc.c. Therefore a positive north deviation/velocity should result in a positive
// GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll.
// rotation transformation to compass heading to match any copter orientation
if (CompassHeading < 0) // no valid compass data
{ // disable GPS
GPS_Neutral();
}
else
{
coscompass = (int32_t)c_cos_8192(CompassHeading);
sincompass = (int32_t)c_sin_8192(CompassHeading);
GPS_Roll = (int16_t)((coscompass * PD_East - sincompass * PD_North) / 8192);
GPS_Pitch = -1*(int16_t)((sincompass * PD_East + coscompass * PD_North) / 8192);
}
// limit GPS controls
#define GPS_CTRL_LIMIT 35
if (GPS_Pitch > GPS_CTRL_LIMIT) GPS_Pitch = GPS_CTRL_LIMIT;
if (GPS_Pitch < -GPS_CTRL_LIMIT) GPS_Pitch = -GPS_CTRL_LIMIT;
if (GPS_Roll > GPS_CTRL_LIMIT) GPS_Roll = GPS_CTRL_LIMIT;
if (GPS_Roll < -GPS_CTRL_LIMIT) GPS_Roll = -GPS_CTRL_LIMIT;
}
void GPS_Main(void)
{
static uint8_t GPS_Task = TSK_IDLE;
// poti2 enables the gps feature
if(Poti2 < 70) GPS_Task = TSK_IDLE;
else if (Poti2 < 160) GPS_Task = TSK_HOLD;
else GPS_Task = TSK_HOME; // Poti2 >= 160
switch(GPSInfo.status)
{
case INVALID: // invalid gps data
GPS_Neutral();
if(GPS_Task != TSK_IDLE) BeepTime = 50; // beep if signal is neccesary
break;
case PROCESSED: // if gps data are already processed
// downcount timeout
if(GPSTimeout) GPSTimeout--;
// if no new data arrived within timeout set current data invalid
// and therefore disable GPS
else
{
GPS_Neutral();
GPSInfo.status = INVALID;
}
break;
case VALID: // new valid data from gps device
// if the gps data quality is sufficient
if (GPSInfo.satfix == SATFIX_3D)
{
switch(GPS_Task) // check what's to do
{
case TSK_IDLE:
// update hold point to current gps position
HoldPosition.Northing = GPSInfo.utmnorth;
HoldPosition.Easting = GPSInfo.utmeast;
HoldPosition.Status = VALID;
// disable gps control
GPS_Neutral();
break; // eof TSK_IDLE
case TSK_HOLD:
// if sticks are centered and hold position is valid enable position hold control
if ((MaxStickPitch < 20) && (MaxStickRoll < 20) && (HoldPosition.Status == VALID))
{
// Calculate deviation from hold position
GPSPosDev_North = GPSInfo.utmnorth - HoldPosition.Northing;
GPSPosDev_East = GPSInfo.utmeast - HoldPosition.Easting;
DebugOut.Analog[12] = GPSPosDev_North;
DebugOut.Analog[13] = GPSPosDev_East;
GPS_PDController();
}
else // MK controlled by user
{
// update hold point to current gps position
HoldPosition.Northing = GPSInfo.utmnorth;
HoldPosition.Easting = GPSInfo.utmeast;
HoldPosition.Status = VALID;
// disable gps control
GPS_Neutral();
}
break; // eof TSK_HOLD
case TSK_HOME:
if(HomePosition.Status == VALID)
{
// update hold point to current gps position
HoldPosition.Northing = GPSInfo.utmnorth;
HoldPosition.Easting = GPSInfo.utmeast;
HoldPosition.Status = VALID;
// Calculate deviation from home position
GPSPosDev_North = GPSInfo.utmnorth - HomePosition.Northing;
GPSPosDev_East = GPSInfo.utmeast - HomePosition.Easting;
DebugOut.Analog[12] = GPSPosDev_North;
DebugOut.Analog[13] = GPSPosDev_East;
GPS_PDController();
}
else // bad home position
{
GPS_Neutral();
BeepTime = 50; // signal invalid home position
}
break; // eof TSK_HOME
default: // unhandled task
GPS_Neutral();
break; // eof default
} // eof switch GPS_Task
} // eof 3D-FIX
else // no 3D-SATFIX
{ // disable gps control
GPS_Neutral();
if(GPS_Task != TSK_IDLE) BeepTime = 50;
}
// set current data as processed to avoid further calculations on the same gps data
GPSInfo.status = PROCESSED;
break;
} // eof GPSInfo.status
DebugOut.Analog[14] = GPS_Pitch;
DebugOut.Analog[15] = GPS_Roll;
}