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Code Issues Wiki Activity

Split navigation functionality from io/gps.c into flight/navigation.c.

Browse source 
gps.c now only has code that deals with gps hardware, state and
messaging.
navigation.c  now only has code dealing with flight
navigation/waypoints/home/hold/etc
This commit is contained in:
Dominic Clifton 2014-08-07 14:23:05 +01:00
parent fe9df45a24
commit 9906294cd8
14 changed files with 6131 additions and 6014 deletions
Download patch file Download diff file Expand all files Collapse all files

3
Makefile
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@ -156,8 +156,9 @@ COMMON_SRC = build_config.c \
$(DEVICE_STDPERIPH_SRC) $(DEVICE_STDPERIPH_SRC)
HIGHEND_SRC = flight/autotune.c \ HIGHEND_SRC = flight/autotune.c \
flight/navigation.c \
flight/gps_conversion.c \
io/gps.c \ io/gps.c \
io/gps_conversion.c \
io/ledstrip.c \ io/ledstrip.c \
rx/sbus.c \ rx/sbus.c \
rx/sumd.c \ rx/sumd.c \

1
src/main/config/config.c
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@ -53,6 +53,7 @@
#include "io/gps.h" #include "io/gps.h"
#include "flight/failsafe.h" #include "flight/failsafe.h"
#include "flight/imu.h" #include "flight/imu.h"
#include "flight/navigation.h"
#include "config/runtime_config.h" #include "config/runtime_config.h"
#include "config/config.h" #include "config/config.h"

1
src/main/flight/altitudehold.c
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@ -47,6 +47,7 @@
#include "flight/failsafe.h" #include "flight/failsafe.h"
#include "flight/imu.h" #include "flight/imu.h"
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/navigation.h"
#include "telemetry/telemetry.h" #include "telemetry/telemetry.h"
#include "rx/rx.h" #include "rx/rx.h"

0
src/main/io/gps_conversion.c → src/main/flight/gps_conversion.c
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0
src/main/io/gps_conversion.h → src/main/flight/gps_conversion.h
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688
src/main/flight/navigation.c Normal file
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@ -0,0 +1,688 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <ctype.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "common/maths.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#include "drivers/serial_uart.h"
#include "io/serial.h"
#include "drivers/gpio.h"
#include "drivers/light_led.h"
#include "common/axis.h"
#include "flight/flight.h"
#include "sensors/sensors.h"
#include "config/config.h"
#include "config/runtime_config.h"
#include "flight/gps_conversion.h"
#include "io/gps.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "flight/navigation.h"
#ifdef GPS
extern int16_t debug[4];
bool areSticksInApModePosition(uint16_t ap_mode);
// **********************
// GPS
// **********************
int16_t GPS_angle[ANGLE_INDEX_COUNT] = { 0, 0 }; // it's the angles that must be applied for GPS correction
int32_t GPS_home[2];
int32_t GPS_hold[2];
uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home or hol point in degrees
static int16_t nav[2];
static int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
navigationMode_e nav_mode = NAV_MODE_NONE; // Navigation mode
static gpsProfile_t *gpsProfile;
void gpsUseProfile(gpsProfile_t *gpsProfileToUse)
{
gpsProfile = gpsProfileToUse;
}
// When using PWM input GPS usage reduces number of available channels by 2 - see pwm_common.c/pwmInit()
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile)
{
gpsUseProfile(initialGpsProfile);
gpsUsePIDs(pidProfile);
}
/*-----------------------------------------------------------
*
* Multiwii GPS code - revision: 1097
*
*-----------------------------------------------------------*/
#define POSHOLD_IMAX 20 // degrees
#define POSHOLD_RATE_IMAX 20 // degrees
#define NAV_IMAX 20 // degrees
/* GPS navigation can control the heading */
#define NAV_TAIL_FIRST 0 // true - copter comes in with tail first
#define NAV_SET_TAKEOFF_HEADING 1 // true - when copter arrives to home position it rotates it's head to takeoff direction
#define GPS_FILTERING 1 // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency
#define GPS_LOW_SPEED_D_FILTER 1 // below .5m/s speed ignore D term for POSHOLD_RATE, theoretically this also removed D term induced noise
static bool check_missed_wp(void);
static void GPS_distance_cm_bearing(int32_t * lat1, int32_t * lon1, int32_t * lat2, int32_t * lon2, uint32_t * dist, int32_t * bearing);
//static void GPS_distance(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2, uint16_t* dist, int16_t* bearing);
static void GPS_calc_longitude_scaling(int32_t lat);
static void GPS_calc_velocity(void);
static void GPS_calc_location_error(int32_t * target_lat, int32_t * target_lng, int32_t * gps_lat, int32_t * gps_lng);
static void GPS_calc_poshold(void);
static void GPS_calc_nav_rate(uint16_t max_speed);
static void GPS_update_crosstrack(void);
static uint16_t GPS_calc_desired_speed(uint16_t max_speed, bool _slow);
static int32_t wrap_18000(int32_t error);
static int32_t wrap_36000(int32_t angle);
typedef struct {
int16_t last_velocity;
} LeadFilter_PARAM;
typedef struct {
float kP;
float kI;
float kD;
float Imax;
} PID_PARAM;
static PID_PARAM posholdPID_PARAM;
static PID_PARAM poshold_ratePID_PARAM;
static PID_PARAM navPID_PARAM;
typedef struct {
float integrator; // integrator value
int32_t last_input; // last input for derivative
float last_derivative; // last derivative for low-pass filter
float output;
float derivative;
} PID;
static PID posholdPID[2];
static PID poshold_ratePID[2];
static PID navPID[2];
static int32_t get_P(int32_t error, PID_PARAM *pid)
{
return (float)error * pid->kP;
}
static int32_t get_I(int32_t error, float *dt, PID *pid, PID_PARAM *pid_param)
{
pid->integrator += ((float)error * pid_param->kI) * *dt;
pid->integrator = constrain(pid->integrator, -pid_param->Imax, pid_param->Imax);
return pid->integrator;
}
static int32_t get_D(int32_t input, float *dt, PID *pid, PID_PARAM *pid_param)
{
pid->derivative = (input - pid->last_input) / *dt;
// Low pass filter cut frequency for derivative calculation
// Set to "1 / ( 2 * PI * gps_lpf )
float pidFilter = (1.0f / (2.0f * M_PI * (float)gpsProfile->gps_lpf));
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
pid->derivative = pid->last_derivative + (*dt / (pidFilter + *dt)) * (pid->derivative - pid->last_derivative);
// update state
pid->last_input = input;
pid->last_derivative = pid->derivative;
// add in derivative component
return pid_param->kD * pid->derivative;
}
static void reset_PID(PID *pid)
{
pid->integrator = 0;
pid->last_input = 0;
pid->last_derivative = 0;
}
#define GPS_X 1
#define GPS_Y 0
/****************** PI and PID controllers for GPS ********************///32938 -> 33160
#define RADX100 0.000174532925f
#define CROSSTRACK_GAIN 1
#define NAV_SLOW_NAV true
#define NAV_BANK_MAX 3000 // 30deg max banking when navigating (just for security and testing)
static float dTnav; // Delta Time in milliseconds for navigation computations, updated with every good GPS read
static int16_t actual_speed[2] = { 0, 0 };
static float GPS_scaleLonDown = 1.0f; // this is used to offset the shrinking longitude as we go towards the poles
// The difference between the desired rate of travel and the actual rate of travel
// updated after GPS read - 5-10hz
static int16_t rate_error[2];
static int32_t error[2];
// Currently used WP
static int32_t GPS_WP[2];
////////////////////////////////////////////////////////////////////////////////
// Location & Navigation
////////////////////////////////////////////////////////////////////////////////
// This is the angle from the copter to the "next_WP" location in degrees * 100
static int32_t target_bearing;
////////////////////////////////////////////////////////////////////////////////
// Crosstrack
////////////////////////////////////////////////////////////////////////////////
// deg * 100, The original angle to the next_WP when the next_WP was set
// Also used to check when we pass a WP
static int32_t original_target_bearing;
// The amount of angle correction applied to target_bearing to bring the copter back on its optimum path
static int16_t crosstrack_error;
////////////////////////////////////////////////////////////////////////////////
// The location of the copter in relation to home, updated every GPS read (1deg - 100)
//static int32_t home_to_copter_bearing;
// distance between plane and home in cm
//static int32_t home_distance;
// distance between plane and next_WP in cm
static uint32_t wp_distance;
// used for slow speed wind up when start navigation;
static int16_t waypoint_speed_gov;
////////////////////////////////////////////////////////////////////////////////////
// moving average filter variables
//
#define GPS_FILTER_VECTOR_LENGTH 5
static uint8_t GPS_filter_index = 0;
static int32_t GPS_filter[2][GPS_FILTER_VECTOR_LENGTH];
static int32_t GPS_filter_sum[2];
static int32_t GPS_read[2];
static int32_t GPS_filtered[2];
static int32_t GPS_degree[2]; //the lat lon degree without any decimals (lat/10 000 000)
static uint16_t fraction3[2];
// This is the angle from the copter to the "next_WP" location
// with the addition of Crosstrack error in degrees * 100
static int32_t nav_bearing;
// saves the bearing at takeof (1deg = 1) used to rotate to takeoff direction when arrives at home
static int16_t nav_takeoff_bearing;
void onGpsNewData(void)
{
int axis;
static uint32_t nav_loopTimer;
uint32_t dist;
int32_t dir;
uint16_t speed;
if (!(f.GPS_FIX && GPS_numSat >= 5)) {
return;
}
if (!f.ARMED)
f.GPS_FIX_HOME = 0;
if (!f.GPS_FIX_HOME && f.ARMED)
GPS_reset_home_position();
// Apply moving average filter to GPS data
#if defined(GPS_FILTERING)
GPS_filter_index = (GPS_filter_index + 1) % GPS_FILTER_VECTOR_LENGTH;
for (axis = 0; axis < 2; axis++) {
GPS_read[axis] = GPS_coord[axis]; // latest unfiltered data is in GPS_latitude and GPS_longitude
GPS_degree[axis] = GPS_read[axis] / 10000000; // get the degree to assure the sum fits to the int32_t
// How close we are to a degree line ? its the first three digits from the fractions of degree
// later we use it to Check if we are close to a degree line, if yes, disable averaging,
fraction3[axis] = (GPS_read[axis] - GPS_degree[axis] * 10000000) / 10000;
GPS_filter_sum[axis] -= GPS_filter[axis][GPS_filter_index];
GPS_filter[axis][GPS_filter_index] = GPS_read[axis] - (GPS_degree[axis] * 10000000);
GPS_filter_sum[axis] += GPS_filter[axis][GPS_filter_index];
GPS_filtered[axis] = GPS_filter_sum[axis] / GPS_FILTER_VECTOR_LENGTH + (GPS_degree[axis] * 10000000);
if (nav_mode == NAV_MODE_POSHOLD) { // we use gps averaging only in poshold mode...
if (fraction3[axis] > 1 && fraction3[axis] < 999)
GPS_coord[axis] = GPS_filtered[axis];
}
}
#endif
// dTnav calculation
// Time for calculating x,y speed and navigation pids
dTnav = (float)(millis() - nav_loopTimer) / 1000.0f;
nav_loopTimer = millis();
// prevent runup from bad GPS
dTnav = min(dTnav, 1.0f);
// calculate distance and bearings for gui and other stuff continously - From home to copter
GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_home[LAT], &GPS_home[LON], &dist, &dir);
GPS_distanceToHome = dist / 100;
GPS_directionToHome = dir / 100;
if (!f.GPS_FIX_HOME) { // If we don't have home set, do not display anything
GPS_distanceToHome = 0;
GPS_directionToHome = 0;
}
// calculate the current velocity based on gps coordinates continously to get a valid speed at the moment when we start navigating
GPS_calc_velocity();
if (f.GPS_HOLD_MODE || f.GPS_HOME_MODE) { // ok we are navigating
// do gps nav calculations here, these are common for nav and poshold
GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_WP[LAT], &GPS_WP[LON], &wp_distance, &target_bearing);
GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &GPS_coord[LAT], &GPS_coord[LON]);
switch (nav_mode) {
case NAV_MODE_POSHOLD:
// Desired output is in nav_lat and nav_lon where 1deg inclination is 100
GPS_calc_poshold();
break;
case NAV_MODE_WP:
speed = GPS_calc_desired_speed(gpsProfile->nav_speed_max, NAV_SLOW_NAV); // slow navigation
// use error as the desired rate towards the target
// Desired output is in nav_lat and nav_lon where 1deg inclination is 100
GPS_calc_nav_rate(speed);
// Tail control
if (gpsProfile->nav_controls_heading) {
if (NAV_TAIL_FIRST) {
magHold = wrap_18000(nav_bearing - 18000) / 100;
} else {
magHold = nav_bearing / 100;
}
}
// Are we there yet ?(within x meters of the destination)
if ((wp_distance <= gpsProfile->gps_wp_radius) || check_missed_wp()) { // if yes switch to poshold mode
nav_mode = NAV_MODE_POSHOLD;
if (NAV_SET_TAKEOFF_HEADING) {
magHold = nav_takeoff_bearing;
}
}
break;
default:
break;
}
} //end of gps calcs
}
void GPS_reset_home_position(void)
{
if (f.GPS_FIX && GPS_numSat >= 5) {
GPS_home[LAT] = GPS_coord[LAT];
GPS_home[LON] = GPS_coord[LON];
GPS_calc_longitude_scaling(GPS_coord[LAT]); // need an initial value for distance and bearing calc
nav_takeoff_bearing = heading; // save takeoff heading
// Set ground altitude
f.GPS_FIX_HOME = 1;
}
}
// reset navigation (stop the navigation processor, and clear nav)
void GPS_reset_nav(void)
{
int i;
for (i = 0; i < 2; i++) {
GPS_angle[i] = 0;
nav_rated[i] = 0;
nav[i] = 0;
reset_PID(&posholdPID[i]);
reset_PID(&poshold_ratePID[i]);
reset_PID(&navPID[i]);
}
}
// Get the relevant P I D values and set the PID controllers
void gpsUsePIDs(pidProfile_t *pidProfile)
{
posholdPID_PARAM.kP = (float)pidProfile->P8[PIDPOS] / 100.0f;
posholdPID_PARAM.kI = (float)pidProfile->I8[PIDPOS] / 100.0f;
posholdPID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
poshold_ratePID_PARAM.kP = (float)pidProfile->P8[PIDPOSR] / 10.0f;
poshold_ratePID_PARAM.kI = (float)pidProfile->I8[PIDPOSR] / 100.0f;
poshold_ratePID_PARAM.kD = (float)pidProfile->D8[PIDPOSR] / 1000.0f;
poshold_ratePID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
navPID_PARAM.kP = (float)pidProfile->P8[PIDNAVR] / 10.0f;
navPID_PARAM.kI = (float)pidProfile->I8[PIDNAVR] / 100.0f;
navPID_PARAM.kD = (float)pidProfile->D8[PIDNAVR] / 1000.0f;
navPID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
}
// OK here is the onboard GPS code
////////////////////////////////////////////////////////////////////////////////////
// PID based GPS navigation functions
// Author : EOSBandi
// Based on code and ideas from the Arducopter team: Jason Short,Randy Mackay, Pat Hickey, Jose Julio, Jani Hirvinen
// Andrew Tridgell, Justin Beech, Adam Rivera, Jean-Louis Naudin, Roberto Navoni
////////////////////////////////////////////////////////////////////////////////////
// this is used to offset the shrinking longitude as we go towards the poles
// It's ok to calculate this once per waypoint setting, since it changes a little within the reach of a multicopter
//
static void GPS_calc_longitude_scaling(int32_t lat)
{
float rads = (abs((float)lat) / 10000000.0f) * 0.0174532925f;
GPS_scaleLonDown = cosf(rads);
}
////////////////////////////////////////////////////////////////////////////////////
// Sets the waypoint to navigate, reset neccessary variables and calculate initial values
//
void GPS_set_next_wp(int32_t *lat, int32_t *lon)
{
GPS_WP[LAT] = *lat;
GPS_WP[LON] = *lon;
GPS_calc_longitude_scaling(*lat);
GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_WP[LAT], &GPS_WP[LON], &wp_distance, &target_bearing);
nav_bearing = target_bearing;
GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &GPS_coord[LAT], &GPS_coord[LON]);
original_target_bearing = target_bearing;
waypoint_speed_gov = gpsProfile->nav_speed_min;
}
////////////////////////////////////////////////////////////////////////////////////
// Check if we missed the destination somehow
//
static bool check_missed_wp(void)
{
int32_t temp;
temp = target_bearing - original_target_bearing;
temp = wrap_18000(temp);
return (abs(temp) > 10000); // we passed the waypoint by 100 degrees
}
////////////////////////////////////////////////////////////////////////////////////
// Get distance between two points in cm
// Get bearing from pos1 to pos2, returns an 1deg = 100 precision
static void GPS_distance_cm_bearing(int32_t * lat1, int32_t * lon1, int32_t * lat2, int32_t * lon2, uint32_t * dist, int32_t * bearing)
{
float dLat = *lat2 - *lat1; // difference of latitude in 1/10 000 000 degrees
float dLon = (float)(*lon2 - *lon1) * GPS_scaleLonDown;
*dist = sqrtf(sq(dLat) + sq(dLon)) * 1.113195f;
*bearing = 9000.0f + atan2f(-dLat, dLon) * 5729.57795f; // Convert the output radians to 100xdeg
if (*bearing < 0)
*bearing += 36000;
}
////////////////////////////////////////////////////////////////////////////////////
// keep old calculation function for compatibility (could be removed later) distance in meters, bearing in degree
//
//static void GPS_distance(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2, uint16_t* dist, int16_t* bearing) {
// uint32_t d1;
// int32_t d2;
// GPS_distance_cm_bearing(&lat1,&lon1,&lat2,&lon2,&d1,&d2);
// *dist = d1 / 100; //convert to meters
// *bearing = d2 / 100; //convert to degrees
//}
////////////////////////////////////////////////////////////////////////////////////
// Calculate our current speed vector from gps position data
//
static void GPS_calc_velocity(void)
{
static int16_t speed_old[2] = { 0, 0 };
static int32_t last[2] = { 0, 0 };
static uint8_t init = 0;
// y_GPS_speed positve = Up
// x_GPS_speed positve = Right
if (init) {
float tmp = 1.0f / dTnav;
actual_speed[GPS_X] = (float)(GPS_coord[LON] - last[LON]) * GPS_scaleLonDown * tmp;
actual_speed[GPS_Y] = (float)(GPS_coord[LAT] - last[LAT]) * tmp;
actual_speed[GPS_X] = (actual_speed[GPS_X] + speed_old[GPS_X]) / 2;
actual_speed[GPS_Y] = (actual_speed[GPS_Y] + speed_old[GPS_Y]) / 2;
speed_old[GPS_X] = actual_speed[GPS_X];
speed_old[GPS_Y] = actual_speed[GPS_Y];
}
init = 1;
last[LON] = GPS_coord[LON];
last[LAT] = GPS_coord[LAT];
}
////////////////////////////////////////////////////////////////////////////////////
// Calculate a location error between two gps coordinates
// Because we are using lat and lon to do our distance errors here's a quick chart:
// 100 = 1m
// 1000 = 11m = 36 feet
// 1800 = 19.80m = 60 feet
// 3000 = 33m
// 10000 = 111m
//
static void GPS_calc_location_error(int32_t *target_lat, int32_t *target_lng, int32_t *gps_lat, int32_t *gps_lng)
{
error[LON] = (float)(*target_lng - *gps_lng) * GPS_scaleLonDown; // X Error
error[LAT] = *target_lat - *gps_lat; // Y Error
}
////////////////////////////////////////////////////////////////////////////////////
// Calculate nav_lat and nav_lon from the x and y error and the speed
//
static void GPS_calc_poshold(void)
{
int32_t d;
int32_t target_speed;
int axis;
for (axis = 0; axis < 2; axis++) {
target_speed = get_P(error[axis], &posholdPID_PARAM); // calculate desired speed from lon error
rate_error[axis] = target_speed - actual_speed[axis]; // calc the speed error
nav[axis] = get_P(rate_error[axis], &poshold_ratePID_PARAM) +
get_I(rate_error[axis] + error[axis], &dTnav, &poshold_ratePID[axis], &poshold_ratePID_PARAM);
d = get_D(error[axis], &dTnav, &poshold_ratePID[axis], &poshold_ratePID_PARAM);
d = constrain(d, -2000, 2000);
// get rid of noise
#if defined(GPS_LOW_SPEED_D_FILTER)
if (abs(actual_speed[axis]) < 50)
d = 0;
#endif
nav[axis] += d;
nav[axis] = constrain(nav[axis], -NAV_BANK_MAX, NAV_BANK_MAX);
navPID[axis].integrator = poshold_ratePID[axis].integrator;
}
}
////////////////////////////////////////////////////////////////////////////////////
// Calculate the desired nav_lat and nav_lon for distance flying such as RTH
//
static void GPS_calc_nav_rate(uint16_t max_speed)
{
float trig[2];
float temp;
int axis;
// push us towards the original track
GPS_update_crosstrack();
// nav_bearing includes crosstrack
temp = (9000l - nav_bearing) * RADX100;
trig[GPS_X] = cosf(temp);
trig[GPS_Y] = sinf(temp);
for (axis = 0; axis < 2; axis++) {
rate_error[axis] = (trig[axis] * max_speed) - actual_speed[axis];
rate_error[axis] = constrain(rate_error[axis], -1000, 1000);
// P + I + D
nav[axis] = get_P(rate_error[axis], &navPID_PARAM) +
get_I(rate_error[axis], &dTnav, &navPID[axis], &navPID_PARAM) +
get_D(rate_error[axis], &dTnav, &navPID[axis], &navPID_PARAM);
nav[axis] = constrain(nav[axis], -NAV_BANK_MAX, NAV_BANK_MAX);
poshold_ratePID[axis].integrator = navPID[axis].integrator;
}
}
////////////////////////////////////////////////////////////////////////////////////
// Calculating cross track error, this tries to keep the copter on a direct line
// when flying to a waypoint.
//
static void GPS_update_crosstrack(void)
{
if (abs(wrap_18000(target_bearing - original_target_bearing)) < 4500) { // If we are too far off or too close we don't do track following
float temp = (target_bearing - original_target_bearing) * RADX100;
crosstrack_error = sinf(temp) * (wp_distance * CROSSTRACK_GAIN); // Meters we are off track line
nav_bearing = target_bearing + constrain(crosstrack_error, -3000, 3000);
nav_bearing = wrap_36000(nav_bearing);
} else {
nav_bearing = target_bearing;
}
}
////////////////////////////////////////////////////////////////////////////////////
// Determine desired speed when navigating towards a waypoint, also implement slow
// speed rampup when starting a navigation
//
// |< WP Radius
// 0 1 2 3 4 5 6 7 8m
// ...|...|...|...|...|...|...|...|
// 100 | 200 300 400cm/s
// | +|+
// |< we should slow to 1.5 m/s as we hit the target
//
static uint16_t GPS_calc_desired_speed(uint16_t max_speed, bool _slow)
{
// max_speed is default 400 or 4m/s
if (_slow) {
max_speed = min(max_speed, wp_distance / 2);
} else {
max_speed = min(max_speed, wp_distance);
max_speed = max(max_speed, gpsProfile->nav_speed_min); // go at least 100cm/s
}
// limit the ramp up of the speed
// waypoint_speed_gov is reset to 0 at each new WP command
if (max_speed > waypoint_speed_gov) {
waypoint_speed_gov += (int)(100.0f * dTnav); // increase at .5/ms
max_speed = waypoint_speed_gov;
}
return max_speed;
}
////////////////////////////////////////////////////////////////////////////////////
// Utilities
//
static int32_t wrap_18000(int32_t error)
{
if (error > 18000)
error -= 36000;
if (error < -18000)
error += 36000;
return error;
}
static int32_t wrap_36000(int32_t angle)
{
if (angle > 36000)
angle -= 36000;
if (angle < 0)
angle += 36000;
return angle;
}
void updateGpsStateForHomeAndHoldMode(void)
{
float sin_yaw_y = sinf(heading * 0.0174532925f);
float cos_yaw_x = cosf(heading * 0.0174532925f);
if (gpsProfile->nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -gpsProfile->nav_slew_rate, gpsProfile->nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -gpsProfile->nav_slew_rate, gpsProfile->nav_slew_rate);
GPS_angle[AI_ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
GPS_angle[AI_PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
} else {
GPS_angle[AI_ROLL] = (nav[LON] * cos_yaw_x - nav[LAT] * sin_yaw_y) / 10;
GPS_angle[AI_PITCH] = (nav[LON] * sin_yaw_y + nav[LAT] * cos_yaw_x) / 10;
}
}
void updateGpsWaypointsAndMode(void)
{
static uint8_t GPSNavReset = 1;
if (f.GPS_FIX && GPS_numSat >= 5) {
// if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority
if (rcOptions[BOXGPSHOME]) {
if (!f.GPS_HOME_MODE) {
f.GPS_HOME_MODE = 1;
f.GPS_HOLD_MODE = 0;
GPSNavReset = 0;
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
}
} else {
f.GPS_HOME_MODE = 0;
if (rcOptions[BOXGPSHOLD] && areSticksInApModePosition(gpsProfile->ap_mode)) {
if (!f.GPS_HOLD_MODE) {
f.GPS_HOLD_MODE = 1;
GPSNavReset = 0;
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
}
} else {
f.GPS_HOLD_MODE = 0;
// both boxes are unselected here, nav is reset if not already done
if (GPSNavReset == 0) {
GPSNavReset = 1;
GPS_reset_nav();
}
}
}
} else {
f.GPS_HOME_MODE = 0;
f.GPS_HOLD_MODE = 0;
nav_mode = NAV_MODE_NONE;
}
}
#endif

55
src/main/flight/navigation.h Normal file
View file

@ -0,0 +1,55 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// navigation mode
typedef enum {
NAV_MODE_NONE = 0,
NAV_MODE_POSHOLD,
NAV_MODE_WP
} navigationMode_e;
typedef struct gpsProfile_s {
uint16_t gps_wp_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
uint8_t gps_lpf; // Low pass filter cut frequency for derivative calculation (default 20Hz)
uint8_t nav_slew_rate; // Adds a rate control to nav output, will smoothen out nav angle spikes
uint8_t nav_controls_heading; // copter faces toward the navigation point, maghold must be enabled for it
uint16_t nav_speed_min; // cm/sec
uint16_t nav_speed_max; // cm/sec
uint16_t ap_mode; // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
} gpsProfile_t;
extern int16_t GPS_angle[ANGLE_INDEX_COUNT]; // it's the angles that must be applied for GPS correction
extern int32_t GPS_home[2];
extern int32_t GPS_hold[2];
extern uint16_t GPS_distanceToHome; // distance to home point in meters
extern int16_t GPS_directionToHome; // direction to home or hol point in degrees
extern navigationMode_e nav_mode; // Navigation mode
void GPS_reset_home_position(void);
void GPS_reset_nav(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);
void gpsUseProfile(gpsProfile_t *gpsProfileToUse);
void gpsUsePIDs(pidProfile_t *pidProfile);
void updateGpsStateForHomeAndHoldMode(void);
void updateGpsWaypointsAndMode(void);
void onGpsNewData(void);

877
src/main/io/gps.c
View file

@ -43,7 +43,9 @@
#include "config/config.h" #include "config/config.h"
#include "config/runtime_config.h" #include "config/runtime_config.h"
#include "gps_conversion.h" #include "flight/gps_conversion.h"
#include "flight/navigation.h"
#include "io/gps.h" #include "io/gps.h"
#ifdef GPS #ifdef GPS
@ -54,17 +56,11 @@ extern int16_t debug[4];
// ********************** // **********************
// GPS // GPS
// ********************** // **********************
int16_t GPS_angle[ANGLE_INDEX_COUNT] = { 0, 0 }; // it's the angles that must be applied for GPS correction
int32_t GPS_coord[2]; // LAT/LON int32_t GPS_coord[2]; // LAT/LON
int32_t GPS_home[2];
int32_t GPS_hold[2];
uint8_t GPS_numSat; uint8_t GPS_numSat;
uint8_t GPS_update = 0; // it's a binary toggle to distinct a GPS position update uint8_t GPS_update = 0; // it's a binary toggle to distinct a GPS position update
uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home or hol point in degrees
uint16_t GPS_altitude; // altitude in 0.1m uint16_t GPS_altitude; // altitude in 0.1m
uint16_t GPS_speed; // speed in 0.1m/s uint16_t GPS_speed; // speed in 0.1m/s
uint16_t GPS_ground_course = 0; // degrees * 10 uint16_t GPS_ground_course = 0; // degrees * 10
@ -75,11 +71,6 @@ uint8_t GPS_svinfo_svid[16]; // Satellite ID
uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity
uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength) uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength)
static int16_t nav[2];
static int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
navigationMode_e nav_mode = NAV_MODE_NONE; // Navigation mode
static gpsConfig_t *gpsConfig; static gpsConfig_t *gpsConfig;
// GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 2.5second) // GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 2.5second)
@ -88,8 +79,6 @@ static gpsConfig_t *gpsConfig;
#define GPS_INIT_ENTRIES (GPS_BAUDRATE_MAX + 1) #define GPS_INIT_ENTRIES (GPS_BAUDRATE_MAX + 1)
#define GPS_BAUDRATE_CHATE_DELAY (100) #define GPS_BAUDRATE_CHATE_DELAY (100)
static gpsProfile_t *gpsProfile;
static serialConfig_t *serialConfig; static serialConfig_t *serialConfig;
static serialPort_t *gpsPort; static serialPort_t *gpsPort;
@ -158,30 +147,7 @@ enum {
GPS_LOST_COMMUNICATION, GPS_LOST_COMMUNICATION,
}; };
typedef enum { gpsData_t gpsData;
GPS_MESSAGE_STATE_IDLE = 0,
GPS_MESSAGE_STATE_INIT,
GPS_MESSAGE_STATE_SBAS,
GPS_MESSAGE_STATE_MAX = GPS_MESSAGE_STATE_SBAS
} gpsMessageState_e;
#define GPS_MESSAGE_STATE_ENTRY_COUNT (GPS_MESSAGE_STATE_MAX + 1)
typedef struct gpsData_t {
uint8_t state; // GPS thread state. Used for detecting cable disconnects and configuring attached devices
uint8_t baudrateIndex; // index into auto-detecting or current baudrate
int errors; // gps error counter - crc error/lost of data/sync etc. reset on each reinit.
uint32_t lastMessage; // last time valid GPS data was received (millis)
uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta.
uint32_t state_position; // incremental variable for loops
uint32_t state_ts; // timestamp for last state_position increment
gpsMessageState_e messageState;
} gpsData_t;
static gpsData_t gpsData;
bool areSticksInApModePosition(uint16_t ap_mode); // FIXME should probably live in rc_sticks.h
static void gpsNewData(uint16_t c); static void gpsNewData(uint16_t c);
static bool gpsNewFrameNMEA(char c); static bool gpsNewFrameNMEA(char c);
@ -195,13 +161,8 @@ static void gpsSetState(uint8_t state)
gpsData.messageState = GPS_MESSAGE_STATE_IDLE; gpsData.messageState = GPS_MESSAGE_STATE_IDLE;
} }
void gpsUseProfile(gpsProfile_t *gpsProfileToUse)
{
gpsProfile = gpsProfileToUse;
}
// When using PWM input GPS usage reduces number of available channels by 2 - see pwm_common.c/pwmInit() // When using PWM input GPS usage reduces number of available channels by 2 - see pwm_common.c/pwmInit()
void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile) void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
{ {
serialConfig = initialSerialConfig; serialConfig = initialSerialConfig;
@ -215,7 +176,6 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig,
} }
gpsConfig = initialGpsConfig; gpsConfig = initialGpsConfig;
gpsUseProfile(initialGpsProfile);
// init gpsData structure. if we're not actually enabled, don't bother doing anything else // init gpsData structure. if we're not actually enabled, don't bother doing anything else
gpsSetState(GPS_UNKNOWN); gpsSetState(GPS_UNKNOWN);
@ -228,8 +188,6 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig,
if (gpsConfig->provider == GPS_NMEA) if (gpsConfig->provider == GPS_NMEA)
mode = MODE_RX; mode = MODE_RX;
gpsUsePIDs(pidProfile);
// no callback - buffer will be consumed in gpsThread() // no callback - buffer will be consumed in gpsThread()
gpsPort = openSerialPort(FUNCTION_GPS, NULL, gpsInitData[gpsData.baudrateIndex].baudrate, mode, SERIAL_NOT_INVERTED); gpsPort = openSerialPort(FUNCTION_GPS, NULL, gpsInitData[gpsData.baudrateIndex].baudrate, mode, SERIAL_NOT_INVERTED);
if (!gpsPort) { if (!gpsPort) {
@ -375,7 +333,30 @@ void gpsThread(void)
} }
} }
static bool gpsNewFrame(uint8_t c) static void gpsNewData(uint16_t c)
{
if (!gpsNewFrame(c)) {
return;
}
// new data received and parsed, we're in business
gpsData.lastLastMessage = gpsData.lastMessage;
gpsData.lastMessage = millis();
sensorsSet(SENSOR_GPS);
if (GPS_update == 1)
GPS_update = 0;
else
GPS_update = 1;
#if 0
debug[3] = GPS_update;
#endif
onGpsNewData();
}
bool gpsNewFrame(uint8_t c)
{ {
switch (gpsConfig->provider) { switch (gpsConfig->provider) {
case GPS_NMEA: // NMEA case GPS_NMEA: // NMEA
@ -388,595 +369,25 @@ static bool gpsNewFrame(uint8_t c)
} }
/* This is a light implementation of a GPS frame decoding
This should work with most of modern GPS devices configured to output NMEA frames.
It assumes there are some NMEA GGA frames to decode on the serial bus
Now verifies checksum correctly before applying data
Here we use only the following data :
- latitude
- longitude
- GPS fix is/is not ok
- GPS num sat (4 is enough to be +/- reliable)
// added by Mis
- GPS altitude (for OSD displaying)
- GPS speed (for OSD displaying)
*/
#define NO_FRAME 0
#define FRAME_GGA 1
#define FRAME_RMC 2
/*-----------------------------------------------------------
*
* Multiwii GPS code - revision: 1097
*
*-----------------------------------------------------------*/
#define POSHOLD_IMAX 20 // degrees
#define POSHOLD_RATE_IMAX 20 // degrees
#define NAV_IMAX 20 // degrees
/* GPS navigation can control the heading */
#define NAV_TAIL_FIRST 0 // true - copter comes in with tail first
#define NAV_SET_TAKEOFF_HEADING 1 // true - when copter arrives to home position it rotates it's head to takeoff direction
#define GPS_FILTERING 1 // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency
#define GPS_LOW_SPEED_D_FILTER 1 // below .5m/s speed ignore D term for POSHOLD_RATE, theoretically this also removed D term induced noise
static bool check_missed_wp(void);
static void GPS_distance_cm_bearing(int32_t * lat1, int32_t * lon1, int32_t * lat2, int32_t * lon2, uint32_t * dist, int32_t * bearing);
//static void GPS_distance(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2, uint16_t* dist, int16_t* bearing);
static void GPS_calc_longitude_scaling(int32_t lat);
static void GPS_calc_velocity(void);
static void GPS_calc_location_error(int32_t * target_lat, int32_t * target_lng, int32_t * gps_lat, int32_t * gps_lng);
static void GPS_calc_poshold(void);
static void GPS_calc_nav_rate(uint16_t max_speed);
static void GPS_update_crosstrack(void);
static bool UBLOX_parse_gps(void);
static uint16_t GPS_calc_desired_speed(uint16_t max_speed, bool _slow);
static int32_t wrap_18000(int32_t error);
static int32_t wrap_36000(int32_t angle);
typedef struct {
int16_t last_velocity;
} LeadFilter_PARAM;
typedef struct {
float kP;
float kI;
float kD;
float Imax;
} PID_PARAM;
static PID_PARAM posholdPID_PARAM;
static PID_PARAM poshold_ratePID_PARAM;
static PID_PARAM navPID_PARAM;
typedef struct {
float integrator; // integrator value
int32_t last_input; // last input for derivative
float last_derivative; // last derivative for low-pass filter
float output;
float derivative;
} PID;
static PID posholdPID[2];
static PID poshold_ratePID[2];
static PID navPID[2];
static int32_t get_P(int32_t error, PID_PARAM *pid)
{
return (float)error * pid->kP;
}
static int32_t get_I(int32_t error, float *dt, PID *pid, PID_PARAM *pid_param)
{
pid->integrator += ((float)error * pid_param->kI) * *dt;
pid->integrator = constrain(pid->integrator, -pid_param->Imax, pid_param->Imax);
return pid->integrator;
}
static int32_t get_D(int32_t input, float *dt, PID *pid, PID_PARAM *pid_param)
{
pid->derivative = (input - pid->last_input) / *dt;
// Low pass filter cut frequency for derivative calculation
// Set to "1 / ( 2 * PI * gps_lpf )
float pidFilter = (1.0f / (2.0f * M_PI * (float)gpsProfile->gps_lpf));
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
pid->derivative = pid->last_derivative + (*dt / (pidFilter + *dt)) * (pid->derivative - pid->last_derivative);
// update state
pid->last_input = input;
pid->last_derivative = pid->derivative;
// add in derivative component
return pid_param->kD * pid->derivative;
}
static void reset_PID(PID *pid)
{
pid->integrator = 0;
pid->last_input = 0;
pid->last_derivative = 0;
}
#define GPS_X 1
#define GPS_Y 0
/****************** PI and PID controllers for GPS ********************///32938 -> 33160
#define RADX100 0.000174532925f
#define CROSSTRACK_GAIN 1
#define NAV_SLOW_NAV true
#define NAV_BANK_MAX 3000 // 30deg max banking when navigating (just for security and testing)
static float dTnav; // Delta Time in milliseconds for navigation computations, updated with every good GPS read
static int16_t actual_speed[2] = { 0, 0 };
static float GPS_scaleLonDown = 1.0f; // this is used to offset the shrinking longitude as we go towards the poles
// The difference between the desired rate of travel and the actual rate of travel
// updated after GPS read - 5-10hz
static int16_t rate_error[2];
static int32_t error[2];
// Currently used WP
static int32_t GPS_WP[2];
////////////////////////////////////////////////////////////////////////////////
// Location & Navigation
////////////////////////////////////////////////////////////////////////////////
// This is the angle from the copter to the "next_WP" location in degrees * 100
static int32_t target_bearing;
////////////////////////////////////////////////////////////////////////////////
// Crosstrack
////////////////////////////////////////////////////////////////////////////////
// deg * 100, The original angle to the next_WP when the next_WP was set
// Also used to check when we pass a WP
static int32_t original_target_bearing;
// The amount of angle correction applied to target_bearing to bring the copter back on its optimum path
static int16_t crosstrack_error;
////////////////////////////////////////////////////////////////////////////////
// The location of the copter in relation to home, updated every GPS read (1deg - 100)
//static int32_t home_to_copter_bearing;
// distance between plane and home in cm
//static int32_t home_distance;
// distance between plane and next_WP in cm
static uint32_t wp_distance;
// used for slow speed wind up when start navigation;
static int16_t waypoint_speed_gov;
////////////////////////////////////////////////////////////////////////////////////
// moving average filter variables
//
#define GPS_FILTER_VECTOR_LENGTH 5
static uint8_t GPS_filter_index = 0;
static int32_t GPS_filter[2][GPS_FILTER_VECTOR_LENGTH];
static int32_t GPS_filter_sum[2];
static int32_t GPS_read[2];
static int32_t GPS_filtered[2];
static int32_t GPS_degree[2]; //the lat lon degree without any decimals (lat/10 000 000)
static uint16_t fraction3[2];
// This is the angle from the copter to the "next_WP" location
// with the addition of Crosstrack error in degrees * 100
static int32_t nav_bearing;
// saves the bearing at takeof (1deg = 1) used to rotate to takeoff direction when arrives at home
static int16_t nav_takeoff_bearing;
static void gpsNewData(uint16_t c)
{
int axis;
static uint32_t nav_loopTimer;
uint32_t dist;
int32_t dir;
uint16_t speed;
if (gpsNewFrame(c)) {
// new data received and parsed, we're in business
gpsData.lastLastMessage = gpsData.lastMessage;
gpsData.lastMessage = millis();
sensorsSet(SENSOR_GPS);
if (GPS_update == 1)
GPS_update = 0;
else
GPS_update = 1;
#if 0
debug[3] = GPS_update;
#endif
if (f.GPS_FIX && GPS_numSat >= 5) {
if (!f.ARMED)
f.GPS_FIX_HOME = 0;
if (!f.GPS_FIX_HOME && f.ARMED)
GPS_reset_home_position();
// Apply moving average filter to GPS data
#if defined(GPS_FILTERING)
GPS_filter_index = (GPS_filter_index + 1) % GPS_FILTER_VECTOR_LENGTH;
for (axis = 0; axis < 2; axis++) {
GPS_read[axis] = GPS_coord[axis]; // latest unfiltered data is in GPS_latitude and GPS_longitude
GPS_degree[axis] = GPS_read[axis] / 10000000; // get the degree to assure the sum fits to the int32_t
// How close we are to a degree line ? its the first three digits from the fractions of degree
// later we use it to Check if we are close to a degree line, if yes, disable averaging,
fraction3[axis] = (GPS_read[axis] - GPS_degree[axis] * 10000000) / 10000;
GPS_filter_sum[axis] -= GPS_filter[axis][GPS_filter_index];
GPS_filter[axis][GPS_filter_index] = GPS_read[axis] - (GPS_degree[axis] * 10000000);
GPS_filter_sum[axis] += GPS_filter[axis][GPS_filter_index];
GPS_filtered[axis] = GPS_filter_sum[axis] / GPS_FILTER_VECTOR_LENGTH + (GPS_degree[axis] * 10000000);
if (nav_mode == NAV_MODE_POSHOLD) { // we use gps averaging only in poshold mode...
if (fraction3[axis] > 1 && fraction3[axis] < 999)
GPS_coord[axis] = GPS_filtered[axis];
}
}
#endif
// dTnav calculation
// Time for calculating x,y speed and navigation pids
dTnav = (float)(millis() - nav_loopTimer) / 1000.0f;
nav_loopTimer = millis();
// prevent runup from bad GPS
dTnav = min(dTnav, 1.0f);
// calculate distance and bearings for gui and other stuff continously - From home to copter
GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_home[LAT], &GPS_home[LON], &dist, &dir);
GPS_distanceToHome = dist / 100;
GPS_directionToHome = dir / 100;
if (!f.GPS_FIX_HOME) { // If we don't have home set, do not display anything
GPS_distanceToHome = 0;
GPS_directionToHome = 0;
}
// calculate the current velocity based on gps coordinates continously to get a valid speed at the moment when we start navigating
GPS_calc_velocity();
if (f.GPS_HOLD_MODE || f.GPS_HOME_MODE) { // ok we are navigating
// do gps nav calculations here, these are common for nav and poshold
GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_WP[LAT], &GPS_WP[LON], &wp_distance, &target_bearing);
GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &GPS_coord[LAT], &GPS_coord[LON]);
switch (nav_mode) {
case NAV_MODE_POSHOLD:
// Desired output is in nav_lat and nav_lon where 1deg inclination is 100
GPS_calc_poshold();
break;
case NAV_MODE_WP:
speed = GPS_calc_desired_speed(gpsProfile->nav_speed_max, NAV_SLOW_NAV); // slow navigation
// use error as the desired rate towards the target
// Desired output is in nav_lat and nav_lon where 1deg inclination is 100
GPS_calc_nav_rate(speed);
// Tail control
if (gpsProfile->nav_controls_heading) {
if (NAV_TAIL_FIRST) {
magHold = wrap_18000(nav_bearing - 18000) / 100;
} else {
magHold = nav_bearing / 100;
}
}
// Are we there yet ?(within x meters of the destination)
if ((wp_distance <= gpsProfile->gps_wp_radius) || check_missed_wp()) { // if yes switch to poshold mode
nav_mode = NAV_MODE_POSHOLD;
if (NAV_SET_TAKEOFF_HEADING) {
magHold = nav_takeoff_bearing;
}
}
break;
default:
break;
}
} //end of gps calcs
}
}
}
void GPS_reset_home_position(void)
{
if (f.GPS_FIX && GPS_numSat >= 5) {
GPS_home[LAT] = GPS_coord[LAT];
GPS_home[LON] = GPS_coord[LON];
GPS_calc_longitude_scaling(GPS_coord[LAT]); // need an initial value for distance and bearing calc
nav_takeoff_bearing = heading; // save takeoff heading
// Set ground altitude
f.GPS_FIX_HOME = 1;
}
}
// reset navigation (stop the navigation processor, and clear nav)
void GPS_reset_nav(void)
{
int i;
for (i = 0; i < 2; i++) {
GPS_angle[i] = 0;
nav_rated[i] = 0;
nav[i] = 0;
reset_PID(&posholdPID[i]);
reset_PID(&poshold_ratePID[i]);
reset_PID(&navPID[i]);
}
}
// Get the relevant P I D values and set the PID controllers
void gpsUsePIDs(pidProfile_t *pidProfile)
{
posholdPID_PARAM.kP = (float)pidProfile->P8[PIDPOS] / 100.0f;
posholdPID_PARAM.kI = (float)pidProfile->I8[PIDPOS] / 100.0f;
posholdPID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
poshold_ratePID_PARAM.kP = (float)pidProfile->P8[PIDPOSR] / 10.0f;
poshold_ratePID_PARAM.kI = (float)pidProfile->I8[PIDPOSR] / 100.0f;
poshold_ratePID_PARAM.kD = (float)pidProfile->D8[PIDPOSR] / 1000.0f;
poshold_ratePID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
navPID_PARAM.kP = (float)pidProfile->P8[PIDNAVR] / 10.0f;
navPID_PARAM.kI = (float)pidProfile->I8[PIDNAVR] / 100.0f;
navPID_PARAM.kD = (float)pidProfile->D8[PIDNAVR] / 1000.0f;
navPID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
}
gpsEnablePassthroughResult_e gpsEnablePassthrough(void)
{
if (gpsData.state != GPS_RECEIVING_DATA)
return GPS_PASSTHROUGH_NO_GPS;
serialPort_t *gpsPassthroughPort = findOpenSerialPort(FUNCTION_GPS_PASSTHROUGH);
if (gpsPassthroughPort) {
waitForSerialPortToFinishTransmitting(gpsPassthroughPort);
serialSetBaudRate(gpsPassthroughPort, serialConfig->gps_passthrough_baudrate);
} else {
gpsPassthroughPort = openSerialPort(FUNCTION_GPS_PASSTHROUGH, NULL, serialConfig->gps_passthrough_baudrate, MODE_RXTX, SERIAL_NOT_INVERTED);
if (!gpsPassthroughPort) {
return GPS_PASSTHROUGH_NO_SERIAL_PORT;
}
}
LED0_OFF;
LED1_OFF;
while(1) {
if (serialTotalBytesWaiting(gpsPort)) {
LED0_ON;
serialWrite(gpsPassthroughPort, serialRead(gpsPort));
LED0_OFF;
}
if (serialTotalBytesWaiting(gpsPassthroughPort)) {
LED1_ON;
serialWrite(gpsPort, serialRead(gpsPassthroughPort));
LED1_OFF;
}
}
return GPS_PASSTHROUGH_ENABLED;
}
// OK here is the onboard GPS code
////////////////////////////////////////////////////////////////////////////////////
// PID based GPS navigation functions
// Author : EOSBandi
// Based on code and ideas from the Arducopter team: Jason Short,Randy Mackay, Pat Hickey, Jose Julio, Jani Hirvinen
// Andrew Tridgell, Justin Beech, Adam Rivera, Jean-Louis Naudin, Roberto Navoni
////////////////////////////////////////////////////////////////////////////////////
// this is used to offset the shrinking longitude as we go towards the poles
// It's ok to calculate this once per waypoint setting, since it changes a little within the reach of a multicopter
//
static void GPS_calc_longitude_scaling(int32_t lat)
{
float rads = (abs((float)lat) / 10000000.0f) * 0.0174532925f;
GPS_scaleLonDown = cosf(rads);
}
////////////////////////////////////////////////////////////////////////////////////
// Sets the waypoint to navigate, reset neccessary variables and calculate initial values
//
void GPS_set_next_wp(int32_t *lat, int32_t *lon)
{
GPS_WP[LAT] = *lat;
GPS_WP[LON] = *lon;
GPS_calc_longitude_scaling(*lat);
GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_WP[LAT], &GPS_WP[LON], &wp_distance, &target_bearing);
nav_bearing = target_bearing;
GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &GPS_coord[LAT], &GPS_coord[LON]);
original_target_bearing = target_bearing;
waypoint_speed_gov = gpsProfile->nav_speed_min;
}
////////////////////////////////////////////////////////////////////////////////////
// Check if we missed the destination somehow
//
static bool check_missed_wp(void)
{
int32_t temp;
temp = target_bearing - original_target_bearing;
temp = wrap_18000(temp);
return (abs(temp) > 10000); // we passed the waypoint by 100 degrees
}
////////////////////////////////////////////////////////////////////////////////////
// Get distance between two points in cm
// Get bearing from pos1 to pos2, returns an 1deg = 100 precision
static void GPS_distance_cm_bearing(int32_t * lat1, int32_t * lon1, int32_t * lat2, int32_t * lon2, uint32_t * dist, int32_t * bearing)
{
float dLat = *lat2 - *lat1; // difference of latitude in 1/10 000 000 degrees
float dLon = (float)(*lon2 - *lon1) * GPS_scaleLonDown;
*dist = sqrtf(sq(dLat) + sq(dLon)) * 1.113195f;
*bearing = 9000.0f + atan2f(-dLat, dLon) * 5729.57795f; // Convert the output radians to 100xdeg
if (*bearing < 0)
*bearing += 36000;
}
////////////////////////////////////////////////////////////////////////////////////
// keep old calculation function for compatibility (could be removed later) distance in meters, bearing in degree
//
//static void GPS_distance(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2, uint16_t* dist, int16_t* bearing) {
// uint32_t d1;
// int32_t d2;
// GPS_distance_cm_bearing(&lat1,&lon1,&lat2,&lon2,&d1,&d2);
// *dist = d1 / 100; //convert to meters
// *bearing = d2 / 100; //convert to degrees
//}
////////////////////////////////////////////////////////////////////////////////////
// Calculate our current speed vector from gps position data
//
static void GPS_calc_velocity(void)
{
static int16_t speed_old[2] = { 0, 0 };
static int32_t last[2] = { 0, 0 };
static uint8_t init = 0;
// y_GPS_speed positve = Up
// x_GPS_speed positve = Right
if (init) {
float tmp = 1.0f / dTnav;
actual_speed[GPS_X] = (float)(GPS_coord[LON] - last[LON]) * GPS_scaleLonDown * tmp;
actual_speed[GPS_Y] = (float)(GPS_coord[LAT] - last[LAT]) * tmp;
actual_speed[GPS_X] = (actual_speed[GPS_X] + speed_old[GPS_X]) / 2;
actual_speed[GPS_Y] = (actual_speed[GPS_Y] + speed_old[GPS_Y]) / 2;
speed_old[GPS_X] = actual_speed[GPS_X];
speed_old[GPS_Y] = actual_speed[GPS_Y];
}
init = 1;
last[LON] = GPS_coord[LON];
last[LAT] = GPS_coord[LAT];
}
////////////////////////////////////////////////////////////////////////////////////
// Calculate a location error between two gps coordinates
// Because we are using lat and lon to do our distance errors here's a quick chart:
// 100 = 1m
// 1000 = 11m = 36 feet
// 1800 = 19.80m = 60 feet
// 3000 = 33m
// 10000 = 111m
//
static void GPS_calc_location_error(int32_t *target_lat, int32_t *target_lng, int32_t *gps_lat, int32_t *gps_lng)
{
error[LON] = (float)(*target_lng - *gps_lng) * GPS_scaleLonDown; // X Error
error[LAT] = *target_lat - *gps_lat; // Y Error
}
////////////////////////////////////////////////////////////////////////////////////
// Calculate nav_lat and nav_lon from the x and y error and the speed
//
static void GPS_calc_poshold(void)
{
int32_t d;
int32_t target_speed;
int axis;
for (axis = 0; axis < 2; axis++) {
target_speed = get_P(error[axis], &posholdPID_PARAM); // calculate desired speed from lon error
rate_error[axis] = target_speed - actual_speed[axis]; // calc the speed error
nav[axis] = get_P(rate_error[axis], &poshold_ratePID_PARAM) +
get_I(rate_error[axis] + error[axis], &dTnav, &poshold_ratePID[axis], &poshold_ratePID_PARAM);
d = get_D(error[axis], &dTnav, &poshold_ratePID[axis], &poshold_ratePID_PARAM);
d = constrain(d, -2000, 2000);
// get rid of noise
#if defined(GPS_LOW_SPEED_D_FILTER)
if (abs(actual_speed[axis]) < 50)
d = 0;
#endif
nav[axis] += d;
nav[axis] = constrain(nav[axis], -NAV_BANK_MAX, NAV_BANK_MAX);
navPID[axis].integrator = poshold_ratePID[axis].integrator;
}
}
////////////////////////////////////////////////////////////////////////////////////
// Calculate the desired nav_lat and nav_lon for distance flying such as RTH
//
static void GPS_calc_nav_rate(uint16_t max_speed)
{
float trig[2];
float temp;
int axis;
// push us towards the original track
GPS_update_crosstrack();
// nav_bearing includes crosstrack
temp = (9000l - nav_bearing) * RADX100;
trig[GPS_X] = cosf(temp);
trig[GPS_Y] = sinf(temp);
for (axis = 0; axis < 2; axis++) {
rate_error[axis] = (trig[axis] * max_speed) - actual_speed[axis];
rate_error[axis] = constrain(rate_error[axis], -1000, 1000);
// P + I + D
nav[axis] = get_P(rate_error[axis], &navPID_PARAM) +
get_I(rate_error[axis], &dTnav, &navPID[axis], &navPID_PARAM) +
get_D(rate_error[axis], &dTnav, &navPID[axis], &navPID_PARAM);
nav[axis] = constrain(nav[axis], -NAV_BANK_MAX, NAV_BANK_MAX);
poshold_ratePID[axis].integrator = navPID[axis].integrator;
}
}
////////////////////////////////////////////////////////////////////////////////////
// Calculating cross track error, this tries to keep the copter on a direct line
// when flying to a waypoint.
//
static void GPS_update_crosstrack(void)
{
if (abs(wrap_18000(target_bearing - original_target_bearing)) < 4500) { // If we are too far off or too close we don't do track following
float temp = (target_bearing - original_target_bearing) * RADX100;
crosstrack_error = sinf(temp) * (wp_distance * CROSSTRACK_GAIN); // Meters we are off track line
nav_bearing = target_bearing + constrain(crosstrack_error, -3000, 3000);
nav_bearing = wrap_36000(nav_bearing);
} else {
nav_bearing = target_bearing;
}
}
////////////////////////////////////////////////////////////////////////////////////
// Determine desired speed when navigating towards a waypoint, also implement slow
// speed rampup when starting a navigation
//
// |< WP Radius
// 0 1 2 3 4 5 6 7 8m
// ...|...|...|...|...|...|...|...|
// 100 | 200 300 400cm/s
// | +|+
// |< we should slow to 1.5 m/s as we hit the target
//
static uint16_t GPS_calc_desired_speed(uint16_t max_speed, bool _slow)
{
// max_speed is default 400 or 4m/s
if (_slow) {
max_speed = min(max_speed, wp_distance / 2);
} else {
max_speed = min(max_speed, wp_distance);
max_speed = max(max_speed, gpsProfile->nav_speed_min); // go at least 100cm/s
}
// limit the ramp up of the speed
// waypoint_speed_gov is reset to 0 at each new WP command
if (max_speed > waypoint_speed_gov) {
waypoint_speed_gov += (int)(100.0f * dTnav); // increase at .5/ms
max_speed = waypoint_speed_gov;
}
return max_speed;
}
////////////////////////////////////////////////////////////////////////////////////
// Utilities
//
static int32_t wrap_18000(int32_t error)
{
if (error > 18000)
error -= 36000;
if (error < -18000)
error += 36000;
return error;
}
static int32_t wrap_36000(int32_t angle)
{
if (angle > 36000)
angle -= 36000;
if (angle < 0)
angle += 36000;
return angle;
}
// This code is used for parsing NMEA data // This code is used for parsing NMEA data
@ -1040,25 +451,6 @@ static uint32_t grab_fields(char *src, uint8_t mult)
return tmp; return tmp;
} }
/* This is a light implementation of a GPS frame decoding
This should work with most of modern GPS devices configured to output NMEA frames.
It assumes there are some NMEA GGA frames to decode on the serial bus
Now verifies checksum correctly before applying data
Here we use only the following data :
- latitude
- longitude
- GPS fix is/is not ok
- GPS num sat (4 is enough to be +/- reliable)
// added by Mis
- GPS altitude (for OSD displaying)
- GPS speed (for OSD displaying)
*/
#define NO_FRAME 0
#define FRAME_GGA 1
#define FRAME_RMC 2
static bool gpsNewFrameNMEA(char c) static bool gpsNewFrameNMEA(char c)
{ {
typedef struct gpsdata_s { typedef struct gpsdata_s {
@ -1326,6 +718,61 @@ void _update_checksum(uint8_t *data, uint8_t len, uint8_t *ck_a, uint8_t *ck_b)
} }
} }
static bool UBLOX_parse_gps(void)
{
int i;
switch (_msg_id) {
case MSG_POSLLH:
//i2c_dataset.time = _buffer.posllh.time;
GPS_coord[LON] = _buffer.posllh.longitude;
GPS_coord[LAT] = _buffer.posllh.latitude;
GPS_altitude = _buffer.posllh.altitude_msl / 10 / 100; //alt in m
f.GPS_FIX = next_fix;
_new_position = true;
break;
case MSG_STATUS:
next_fix = (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) && (_buffer.status.fix_type == FIX_3D);
if (!next_fix)
f.GPS_FIX = false;
break;
case MSG_SOL:
next_fix = (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) && (_buffer.solution.fix_type == FIX_3D);
if (!next_fix)
f.GPS_FIX = false;
GPS_numSat = _buffer.solution.satellites;
// GPS_hdop = _buffer.solution.position_DOP;
break;
case MSG_VELNED:
// speed_3d = _buffer.velned.speed_3d; // cm/s
GPS_speed = _buffer.velned.speed_2d; // cm/s
GPS_ground_course = (uint16_t) (_buffer.velned.heading_2d / 10000); // Heading 2D deg * 100000 rescaled to deg * 10
_new_speed = true;
break;
case MSG_SVINFO:
GPS_numCh = _buffer.svinfo.numCh;
if (GPS_numCh > 16)
GPS_numCh = 16;
for (i = 0; i < GPS_numCh; i++){
GPS_svinfo_chn[i]= _buffer.svinfo.channel[i].chn;
GPS_svinfo_svid[i]= _buffer.svinfo.channel[i].svid;
GPS_svinfo_quality[i]=_buffer.svinfo.channel[i].quality;
GPS_svinfo_cno[i]= _buffer.svinfo.channel[i].cno;
}
break;
default:
return false;
}
// we only return true when we get new position and speed data
// this ensures we don't use stale data
if (_new_position && _new_speed) {
_new_speed = _new_position = false;
return true;
}
return false;
}
static bool gpsNewFrameUBLOX(uint8_t data) static bool gpsNewFrameUBLOX(uint8_t data)
{ {
bool parsed = false; bool parsed = false;
@ -1389,115 +836,39 @@ static bool gpsNewFrameUBLOX(uint8_t data)
return parsed; return parsed;
} }
static bool UBLOX_parse_gps(void) gpsEnablePassthroughResult_e gpsEnablePassthrough(void)
{ {
int i; if (gpsData.state != GPS_RECEIVING_DATA)
switch (_msg_id) { return GPS_PASSTHROUGH_NO_GPS;
case MSG_POSLLH:
//i2c_dataset.time = _buffer.posllh.time;
GPS_coord[LON] = _buffer.posllh.longitude;
GPS_coord[LAT] = _buffer.posllh.latitude;
GPS_altitude = _buffer.posllh.altitude_msl / 10 / 100; //alt in m
f.GPS_FIX = next_fix;
_new_position = true;
break;
case MSG_STATUS:
next_fix = (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) && (_buffer.status.fix_type == FIX_3D);
if (!next_fix)
f.GPS_FIX = false;
break;
case MSG_SOL:
next_fix = (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) && (_buffer.solution.fix_type == FIX_3D);
if (!next_fix)
f.GPS_FIX = false;
GPS_numSat = _buffer.solution.satellites;
// GPS_hdop = _buffer.solution.position_DOP;
break;
case MSG_VELNED:
// speed_3d = _buffer.velned.speed_3d; // cm/s
GPS_speed = _buffer.velned.speed_2d; // cm/s
GPS_ground_course = (uint16_t) (_buffer.velned.heading_2d / 10000); // Heading 2D deg * 100000 rescaled to deg * 10
_new_speed = true;
break;
case MSG_SVINFO:
GPS_numCh = _buffer.svinfo.numCh;
if (GPS_numCh > 16)
GPS_numCh = 16;
for (i = 0; i < GPS_numCh; i++){
GPS_svinfo_chn[i]= _buffer.svinfo.channel[i].chn;
GPS_svinfo_svid[i]= _buffer.svinfo.channel[i].svid;
GPS_svinfo_quality[i]=_buffer.svinfo.channel[i].quality;
GPS_svinfo_cno[i]= _buffer.svinfo.channel[i].cno;
}
break;
default:
return false;
}
// we only return true when we get new position and speed data serialPort_t *gpsPassthroughPort = findOpenSerialPort(FUNCTION_GPS_PASSTHROUGH);
// this ensures we don't use stale data if (gpsPassthroughPort) {
if (_new_position && _new_speed) {
_new_speed = _new_position = false;
return true;
}
return false;
}
void updateGpsStateForHomeAndHoldMode(void) waitForSerialPortToFinishTransmitting(gpsPassthroughPort);
{ serialSetBaudRate(gpsPassthroughPort, serialConfig->gps_passthrough_baudrate);
float sin_yaw_y = sinf(heading * 0.0174532925f);
float cos_yaw_x = cosf(heading * 0.0174532925f);
if (gpsProfile->nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -gpsProfile->nav_slew_rate, gpsProfile->nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -gpsProfile->nav_slew_rate, gpsProfile->nav_slew_rate);
GPS_angle[AI_ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
GPS_angle[AI_PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
} else { } else {
GPS_angle[AI_ROLL] = (nav[LON] * cos_yaw_x - nav[LAT] * sin_yaw_y) / 10; gpsPassthroughPort = openSerialPort(FUNCTION_GPS_PASSTHROUGH, NULL, serialConfig->gps_passthrough_baudrate, MODE_RXTX, SERIAL_NOT_INVERTED);
GPS_angle[AI_PITCH] = (nav[LON] * sin_yaw_y + nav[LAT] * cos_yaw_x) / 10; if (!gpsPassthroughPort) {
return GPS_PASSTHROUGH_NO_SERIAL_PORT;
} }
} }
void updateGpsWaypointsAndMode(void) LED0_OFF;
{ LED1_OFF;
static uint8_t GPSNavReset = 1;
if (f.GPS_FIX && GPS_numSat >= 5) { while(1) {
// if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority if (serialTotalBytesWaiting(gpsPort)) {
if (rcOptions[BOXGPSHOME]) { LED0_ON;
if (!f.GPS_HOME_MODE) { serialWrite(gpsPassthroughPort, serialRead(gpsPort));
f.GPS_HOME_MODE = 1; LED0_OFF;
f.GPS_HOLD_MODE = 0;
GPSNavReset = 0;
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
} }
} else { if (serialTotalBytesWaiting(gpsPassthroughPort)) {
f.GPS_HOME_MODE = 0; LED1_ON;
serialWrite(gpsPort, serialRead(gpsPassthroughPort));
if (rcOptions[BOXGPSHOLD] && areSticksInApModePosition(gpsProfile->ap_mode)) { LED1_OFF;
if (!f.GPS_HOLD_MODE) {
f.GPS_HOLD_MODE = 1;
GPSNavReset = 0;
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
}
} else {
f.GPS_HOLD_MODE = 0;
// both boxes are unselected here, nav is reset if not already done
if (GPSNavReset == 0) {
GPSNavReset = 1;
GPS_reset_nav();
} }
} }
} return GPS_PASSTHROUGH_ENABLED;
} else {
f.GPS_HOME_MODE = 0;
f.GPS_HOLD_MODE = 0;
nav_mode = NAV_MODE_NONE;
}
} }
void updateGpsIndicator(uint32_t currentTime) void updateGpsIndicator(uint32_t currentTime)

56
src/main/io/gps.h
View file

@ -47,24 +47,6 @@ typedef enum {
#define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
// Serial GPS only variables
// navigation mode
typedef enum {
NAV_MODE_NONE = 0,
NAV_MODE_POSHOLD,
NAV_MODE_WP
} navigationMode_e;
typedef struct gpsProfile_s {
uint16_t gps_wp_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
uint8_t gps_lpf; // Low pass filter cut frequency for derivative calculation (default 20Hz)
uint8_t nav_slew_rate; // Adds a rate control to nav output, will smoothen out nav angle spikes
uint8_t nav_controls_heading; // copter faces toward the navigation point, maghold must be enabled for it
uint16_t nav_speed_min; // cm/sec
uint16_t nav_speed_max; // cm/sec
uint16_t ap_mode; // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
} gpsProfile_t;
typedef struct gpsConfig_s { typedef struct gpsConfig_s {
gpsProvider_e provider; gpsProvider_e provider;
sbasMode_e sbasMode; sbasMode_e sbasMode;
@ -81,16 +63,34 @@ typedef struct gpsCoordinateDDDMMmmmm_s {
int16_t mmmm; int16_t mmmm;
} gpsCoordinateDDDMMmmmm_t; } gpsCoordinateDDDMMmmmm_t;
extern int16_t GPS_angle[ANGLE_INDEX_COUNT]; // it's the angles that must be applied for GPS correction
typedef enum {
GPS_MESSAGE_STATE_IDLE = 0,
GPS_MESSAGE_STATE_INIT,
GPS_MESSAGE_STATE_SBAS,
GPS_MESSAGE_STATE_MAX = GPS_MESSAGE_STATE_SBAS
} gpsMessageState_e;
#define GPS_MESSAGE_STATE_ENTRY_COUNT (GPS_MESSAGE_STATE_MAX + 1)
typedef struct gpsData_t {
uint8_t state; // GPS thread state. Used for detecting cable disconnects and configuring attached devices
uint8_t baudrateIndex; // index into auto-detecting or current baudrate
int errors; // gps error counter - crc error/lost of data/sync etc. reset on each reinit.
uint32_t lastMessage; // last time valid GPS data was received (millis)
uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta.
uint32_t state_position; // incremental variable for loops
uint32_t state_ts; // timestamp for last state_position increment
gpsMessageState_e messageState;
} gpsData_t;
extern gpsData_t gpsData;
extern int32_t GPS_coord[2]; // LAT/LON extern int32_t GPS_coord[2]; // LAT/LON
extern int32_t GPS_home[2];
extern int32_t GPS_hold[2];
extern uint8_t GPS_numSat; extern uint8_t GPS_numSat;
extern uint8_t GPS_update; // it's a binary toogle to distinct a GPS position update extern uint8_t GPS_update; // it's a binary toogle to distinct a GPS position update
extern uint16_t GPS_distanceToHome; // distance to home point in meters
extern int16_t GPS_directionToHome; // direction to home or hol point in degrees
extern uint16_t GPS_altitude; // altitude in 0.1m extern uint16_t GPS_altitude; // altitude in 0.1m
extern uint16_t GPS_speed; // speed in 0.1m/s extern uint16_t GPS_speed; // speed in 0.1m/s
extern uint16_t GPS_ground_course; // degrees * 10 extern uint16_t GPS_ground_course; // degrees * 10
@ -100,15 +100,7 @@ extern uint8_t GPS_svinfo_svid[16]; // Satellite ID
extern uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity extern uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity
extern uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength) extern uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength)
extern navigationMode_e nav_mode; // Navigation mode
void gpsThread(void); void gpsThread(void);
bool gpsNewFrame(uint8_t c);
gpsEnablePassthroughResult_e gpsEnablePassthrough(void); gpsEnablePassthroughResult_e gpsEnablePassthrough(void);
void GPS_reset_home_position(void);
void GPS_reset_nav(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);
void gpsUseProfile(gpsProfile_t *gpsProfileToUse);
void gpsUsePIDs(pidProfile_t *pidProfile);
void updateGpsStateForHomeAndHoldMode(void);
void updateGpsWaypointsAndMode(void);
void updateGpsIndicator(uint32_t currentTime); void updateGpsIndicator(uint32_t currentTime);

1
src/main/io/serial_cli.c
View file

@ -39,6 +39,7 @@
#include "drivers/pwm_rx.h" #include "drivers/pwm_rx.h"
#include "flight/flight.h" #include "flight/flight.h"
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/failsafe.h" #include "flight/failsafe.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "io/escservo.h" #include "io/escservo.h"

1
src/main/io/serial_msp.c
View file

@ -38,6 +38,7 @@
#include "flight/flight.h" #include "flight/flight.h"
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/failsafe.h" #include "flight/failsafe.h"
#include "flight/navigation.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "rx/msp.h" #include "rx/msp.h"
#include "io/escservo.h" #include "io/escservo.h"

8
src/main/main.c
View file

@ -43,6 +43,7 @@
#include "io/serial.h" #include "io/serial.h"
#include "flight/failsafe.h" #include "flight/failsafe.h"
#include "flight/navigation.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "io/gps.h" #include "io/gps.h"
@ -85,7 +86,8 @@ void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers);
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration); void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe); void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void beepcodeInit(failsafe_t *initialFailsafe); void beepcodeInit(failsafe_t *initialFailsafe);
void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile); void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig); bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
void imuInit(void); void imuInit(void);
void ledStripInit(void); void ledStripInit(void);
@ -219,7 +221,9 @@ void init(void)
if (feature(FEATURE_GPS)) { if (feature(FEATURE_GPS)) {
gpsInit( gpsInit(
&masterConfig.serialConfig, &masterConfig.serialConfig,
&masterConfig.gpsConfig, &masterConfig.gpsConfig
);
navigationInit(
&currentProfile.gpsProfile, &currentProfile.gpsProfile,
&currentProfile.pidProfile &currentProfile.pidProfile
); );

1
src/main/mw.c
View file

@ -50,6 +50,7 @@
#include "flight/imu.h" #include "flight/imu.h"
#include "flight/autotune.h" #include "flight/autotune.h"
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/navigation.h"
#include "io/gimbal.h" #include "io/gimbal.h"
#include "io/gps.h" #include "io/gps.h"
#include "io/ledstrip.h" #include "io/ledstrip.h"

1
src/main/telemetry/hott.c
View file

@ -73,6 +73,7 @@
#include "sensors/battery.h" #include "sensors/battery.h"
#include "flight/flight.h" #include "flight/flight.h"
#include "flight/navigation.h"
#include "io/gps.h" #include "io/gps.h"
#include "telemetry/telemetry.h" #include "telemetry/telemetry.h"