You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
152 lines
5.4 KiB
152 lines
5.4 KiB
/* |
|
www.ArduCopter.com - www.DIYDrones.com |
|
Copyright (c) 2010. All rights reserved. |
|
An Open Source Arduino based multicopter. |
|
|
|
File : Navigation.pde |
|
Version : v1.0, Aug 27, 2010 |
|
Author(s): ArduCopter Team |
|
Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz, |
|
Jani Hirvinen, Ken McEwans, Roberto Navoni, |
|
Sandro Benigno, Chris Anderson |
|
|
|
This program 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. |
|
|
|
This program 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 this program. If not, see <http://www.gnu.org/licenses/>. |
|
|
|
* ************************************************************** * |
|
ChangeLog: |
|
|
|
|
|
* ************************************************************** * |
|
TODO: |
|
- initial functions. |
|
|
|
* ************************************************************** */ |
|
|
|
void read_GPS_data() |
|
{ |
|
#ifdef IsGPS |
|
GPS_timer_old=GPS_timer; // Update GPS timer |
|
GPS_timer = millis(); |
|
GPS_Dt = (GPS_timer-GPS_timer_old)*0.001; // GPS_Dt |
|
GPS.NewData=0; // We Reset the flag... |
|
|
|
// Write GPS data to DataFlash log |
|
Log_Write_GPS(GPS.Time, GPS.Lattitude, GPS.Longitude, GPS.Altitude, GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats); |
|
|
|
//if (GPS.Fix >= 2) |
|
if (GPS.Fix) |
|
digitalWrite(LED_Red,HIGH); // GPS Fix => RED LED |
|
else |
|
digitalWrite(LED_Red,LOW); |
|
#endif |
|
} |
|
|
|
/* GPS based Position control */ |
|
void Position_control(long lat_dest, long lon_dest) |
|
{ |
|
#ifdef IsGPS |
|
long Lon_diff; |
|
long Lat_diff; |
|
|
|
Lon_diff = lon_dest - GPS.Longitude; |
|
Lat_diff = lat_dest - GPS.Lattitude; |
|
|
|
//If we have not calculated GEOG_CORRECTION_FACTOR we calculate it here as cos(lattitude) |
|
if (GEOG_CORRECTION_FACTOR==0) |
|
GEOG_CORRECTION_FACTOR = cos(ToRad(GPS.Lattitude/10000000.0)); |
|
|
|
// ROLL |
|
//Optimization : cos(yaw) = DCM_Matrix[0][0] ; sin(yaw) = DCM_Matrix[1][0] [This simplification is valid for low roll angles] |
|
gps_err_roll = (float)Lon_diff * GEOG_CORRECTION_FACTOR * DCM_Matrix[0][0] - (float)Lat_diff * DCM_Matrix[1][0]; |
|
|
|
gps_roll_D = (gps_err_roll-gps_err_roll_old) / GPS_Dt; |
|
gps_err_roll_old = gps_err_roll; |
|
|
|
gps_roll_I += gps_err_roll * GPS_Dt; |
|
gps_roll_I = constrain(gps_roll_I, -800, 800); |
|
|
|
command_gps_roll = KP_GPS_ROLL * gps_err_roll + KD_GPS_ROLL * gps_roll_D + KI_GPS_ROLL * gps_roll_I; |
|
command_gps_roll = constrain(command_gps_roll, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command |
|
|
|
//Log_Write_PID(1,KP_GPS_ROLL*gps_err_roll*10,KI_GPS_ROLL*gps_roll_I*10,KD_GPS_ROLL*gps_roll_D*10,command_gps_roll*10); |
|
|
|
// PITCH |
|
gps_err_pitch = -(float)Lat_diff * DCM_Matrix[0][0] - (float)Lon_diff * GEOG_CORRECTION_FACTOR * DCM_Matrix[1][0]; |
|
|
|
gps_pitch_D = (gps_err_pitch - gps_err_pitch_old) / GPS_Dt; |
|
gps_err_pitch_old = gps_err_pitch; |
|
|
|
gps_pitch_I += gps_err_pitch * GPS_Dt; |
|
gps_pitch_I = constrain(gps_pitch_I, -800, 800); |
|
|
|
command_gps_pitch = KP_GPS_PITCH * gps_err_pitch + KD_GPS_PITCH * gps_pitch_D + KI_GPS_PITCH * gps_pitch_I; |
|
command_gps_pitch = constrain(command_gps_pitch, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command |
|
|
|
//Log_Write_PID(2,KP_GPS_PITCH*gps_err_pitch*10,KI_GPS_PITCH*gps_pitch_I*10,KD_GPS_PITCH*gps_pitch_D*10,command_gps_pitch*10); |
|
#endif |
|
} |
|
|
|
void Reset_I_terms_navigation() |
|
{ |
|
altitude_I = 0; |
|
gps_roll_I = 0; |
|
gps_pitch_I = 0; |
|
} |
|
|
|
/* ************************************************************ */ |
|
/* Altitude control... (based on barometer) */ |
|
int Altitude_control_baro(int altitude, int target_altitude) |
|
{ |
|
#define ALTITUDE_CONTROL_BARO_OUTPUT_MIN 40 |
|
#define ALTITUDE_CONTROL_BARO_OUTPUT_MAX 80 |
|
|
|
// !!!!! REMOVE THIS !!!!!!! |
|
#define KP_BARO_ALTITUDE 0.25 //0.3 |
|
#define KD_BARO_ALTITUDE 0.09 //0.09 |
|
#define KI_BARO_ALTITUDE 0.1 |
|
|
|
int command_altitude; |
|
|
|
err_altitude_old = err_altitude; |
|
err_altitude = target_altitude - altitude; |
|
altitude_D = (float)(err_altitude-err_altitude_old)/0.05; // 20Hz |
|
altitude_I += (float)err_altitude*0.05; |
|
altitude_I = constrain(altitude_I,-140,140); |
|
command_altitude = KP_ALTITUDE*err_altitude + KD_ALTITUDE*altitude_D + KI_ALTITUDE*altitude_I; |
|
command_altitude = Initial_Throttle + constrain(command_altitude,-ALTITUDE_CONTROL_BARO_OUTPUT_MIN,ALTITUDE_CONTROL_BARO_OUTPUT_MAX); |
|
return command_altitude; |
|
} |
|
|
|
/* Altitude control... (based on sonar) */ |
|
/* CONTROL PARAMETERS FOR SONAR ALTITUDE CONTROL (TEMPORATLY HERE) */ |
|
#define KP_SONAR_ALTITUDE 0.8 |
|
#define KD_SONAR_ALTITUDE 0.7 |
|
#define KI_SONAR_ALTITUDE 0.3 |
|
int Altitude_control_Sonar(int Sonar_altitude, int target_sonar_altitude) |
|
{ |
|
#define ALTITUDE_CONTROL_SONAR_OUTPUT_MIN 60 |
|
#define ALTITUDE_CONTROL_SONAR_OUTPUT_MAX 80 |
|
|
|
int command_altitude; |
|
|
|
err_altitude_old = err_altitude; |
|
err_altitude = target_sonar_altitude - Sonar_altitude; |
|
altitude_D = (float)(err_altitude-err_altitude_old)/0.05; |
|
altitude_I += (float)err_altitude*0.05; |
|
altitude_I = constrain(altitude_I,-1000,1000); |
|
command_altitude = KP_SONAR_ALTITUDE*err_altitude + KD_SONAR_ALTITUDE*altitude_D + KI_SONAR_ALTITUDE*altitude_I; |
|
return (Initial_Throttle + constrain(command_altitude,-ALTITUDE_CONTROL_SONAR_OUTPUT_MIN,ALTITUDE_CONTROL_SONAR_OUTPUT_MAX)); |
|
} |
|
|
|
|
|
|