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navigation feature / reference removal

This commit is contained in:
s0up 2018-05-09 10:28:36 -07:00
parent 3af1610d0b
commit de5fa47c4c
19 changed files with 1 additions and 724 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
make/source.mk
View File

@ -135,7 +135,6 @@ FC_SRC = \
drivers/rangefinder/rangefinder_lidartf.c \
drivers/serial_escserial.c \
drivers/vtx_common.c \
flight/navigation.c \
io/dashboard.c \
io/displayport_max7456.c \
io/displayport_msp.c \

5
src/main/fc/config.c
View File

@ -42,7 +42,6 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"
@ -149,10 +148,6 @@ void activateConfig(void)
useRcControlsConfig(currentPidProfile);
useAdjustmentConfig(currentPidProfile);
#ifdef USE_NAV
gpsUsePIDs(currentPidProfile);
#endif
failsafeReset();
setAccelerationTrims(&accelerometerConfigMutable()->accZero);
accInitFilters();

17
src/main/fc/fc_core.c
View File

@ -87,7 +87,6 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"
@ -756,13 +755,7 @@ bool processRx(timeUs_t currentTimeUs)
}
}
#endif
#ifdef USE_NAV
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
@ -889,14 +882,6 @@ static NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
processRcCommand();
#ifdef USE_NAV
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
#ifdef USE_SDCARD
afatfs_poll();
#endif

4
src/main/fc/fc_init.c
View File

@ -148,7 +148,6 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"
@ -662,9 +661,6 @@ void init(void)
#ifdef USE_GPS
if (feature(FEATURE_GPS)) {
gpsInit();
#ifdef USE_NAV
navigationInit();
#endif
}
#endif

591
src/main/flight/navigation.c
View File

@ -1,591 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include "platform.h"
#ifdef USE_NAV
#include "build/debug.h"
#include "common/gps_conversion.h"
#include "common/maths.h"
#include "common/time.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "drivers/time.h"
#include "fc/config.h"
#include "fc/fc_core.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/imu.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "io/beeper.h"
#include "io/serial.h"
#include "io/gps.h"
#include "rx/rx.h"
#include "sensors/acceleration.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
PG_REGISTER_WITH_RESET_TEMPLATE(navigationConfig_t, navigationConfig, PG_NAVIGATION_CONFIG, 0);
PG_RESET_TEMPLATE(navigationConfig_t, navigationConfig,
.gps_wp_radius = 200,
.gps_lpf = 20,
.nav_slew_rate = 30,
.nav_controls_heading = 1,
.nav_speed_min = 100,
.nav_speed_max = 300,
.ap_mode = 40
);
bool areSticksInApModePosition(uint16_t ap_mode);
// **********************
// GPS
// **********************
int32_t GPS_hold[2];
static int16_t nav[2];
static int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
// When using PWM input GPS usage reduces number of available channels by 2 - see pwm_common.c/pwmInit()
void navigationInit(void)
{
gpsUsePIDs(currentPidProfile);
}
/*-----------------------------------------------------------
*
* 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_LOW_SPEED_D_FILTER 1 // below .5m/s speed ignore D term for POSHOLD_RATE, theoretically this also removed D term induced noise
//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_location_error(int32_t * target_lat, int32_t * target_lng, int32_t * gps_lat, int32_t * gps_lng);
static bool check_missed_wp(void);
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_36000(int32_t angle);
static int32_t wrap_18000(int32_t error);
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;
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_PARAM navPID_PARAM;
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_PIf * (float)navigationConfig()->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;
}
/****************** 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 int32_t error[2];
// 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];
// The amount of angle correction applied to target_bearing to bring the copter back on its optimum path
static int16_t crosstrack_error;
// 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 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;
// 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
void navNewGpsData(void)
{
if (FLIGHT_MODE(GPS_HOLD_MODE) || FLIGHT_MODE(GPS_HOME_MODE)) {
// we are navigating
// gps nav calculations, these are common for nav and poshold
GPS_distance_cm_bearing(&gpsSol.llh.lat, &gpsSol.llh.lon, &GPS_WP[LAT], &GPS_WP[LON], &wp_distance, &target_bearing);
GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &gpsSol.llh.lat, &gpsSol.llh.lon);
uint16_t speed;
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(navigationConfig()->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 (navigationConfig()->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 <= navigationConfig()->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
}
// 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->pid[PID_POS].P / 100.0f;
posholdPID_PARAM.kI = (float)pidProfile->pid[PID_POS].I / 100.0f;
posholdPID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
poshold_ratePID_PARAM.kP = (float)pidProfile->pid[PID_POSR].P / 10.0f;
poshold_ratePID_PARAM.kI = (float)pidProfile->pid[PID_POSR].I / 100.0f;
poshold_ratePID_PARAM.kD = (float)pidProfile->pid[PID_POSR].D / 1000.0f;
poshold_ratePID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
navPID_PARAM.kP = (float)pidProfile->pid[PID_NAVR].P / 10.0f;
navPID_PARAM.kI = (float)pidProfile->pid[PID_NAVR].I / 100.0f;
navPID_PARAM.kD = (float)pidProfile->pid[PID_NAVR].D / 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
//
////////////////////////////////////////////////////////////////////////////////////
// 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(&gpsSol.llh.lat, &gpsSol.llh.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], &gpsSol.llh.lat, &gpsSol.llh.lon);
original_target_bearing = target_bearing;
waypoint_speed_gov = navigationConfig()->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
}
////////////////////////////////////////////////////////////////////////////////////
// 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 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] = cos_approx(temp);
trig[GPS_Y] = sin_approx(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 = sin_approx(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, navigationConfig()->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 = sin_approx(DECIDEGREES_TO_DEGREES(attitude.values.yaw) * 0.0174532925f);
float cos_yaw_x = cos_approx(DECIDEGREES_TO_DEGREES(attitude.values.yaw) * 0.0174532925f);
if (navigationConfig()->nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -navigationConfig()->nav_slew_rate, navigationConfig()->nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -navigationConfig()->nav_slew_rate, navigationConfig()->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)
{
bool resetNavNow = false;
static bool gpsReadyBeepDone = false;
if (STATE(GPS_FIX) && gpsSol.numSat >= 5) {
//
// process HOME mode
//
// HOME mode takes priority over HOLD mode.
if (IS_RC_MODE_ACTIVE(BOXGPSHOME)) {
if (!FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition to HOME mode
ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition from HOME mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
//
// process HOLD mode
//
if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(navigationConfig()->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition to HOLD mode
ENABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_hold[LAT] = gpsSol.llh.lat;
GPS_hold[LON] = gpsSol.llh.lon;
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition from HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
}
if (!gpsReadyBeepDone) { //if 'ready' beep not yet done
beeper(BEEPER_READY_BEEP); //do ready beep now
gpsReadyBeepDone = true; //only beep once
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE | GPS_HOME_MODE)) {
// Transition from HOME or HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
if (resetNavNow) {
GPS_reset_nav();
}
}
#endif

51
src/main/flight/navigation.h
View File

@ -1,51 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "common/axis.h"
#include "io/gps.h"
// FIXME ap_mode is badly named, it's a value that is compared to rcCommand, not a flag at it's name implies.
typedef struct navigationConfig_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
} navigationConfig_t;
PG_DECLARE(navigationConfig_t, navigationConfig);
extern int32_t GPS_hold[2];
void navigationInit(void);
void GPS_reset_nav(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);
void gpsUsePIDs(struct pidProfile_s *pidProfile);
void updateGpsStateForHomeAndHoldMode(void);
void updateGpsWaypointsAndMode(void);

3
src/main/flight/pid.c
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@ -422,9 +422,6 @@ static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPit
// calculate error angle and limit the angle to the max inclination
// rcDeflection is in range [-1.0, 1.0]
float angle = pidProfile->levelAngleLimit * getRcDeflection(axis);
#ifdef USE_GPS
angle += GPS_angle[axis];
#endif
angle = constrainf(angle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
const float errorAngle = angle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
if (FLIGHT_MODE(ANGLE_MODE)) {

1
src/main/interface/cli.c
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@ -96,7 +96,6 @@ extern uint8_t __config_end;
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"

1
src/main/interface/msp.c
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@ -73,7 +73,6 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"

21
src/main/interface/settings.c
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@ -49,7 +49,6 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"
@ -683,15 +682,6 @@ const clivalue_t valueTable[] = {
{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoConfig) },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoBaud) },
#endif
// PG_NAVIGATION_CONFIG
#ifdef USE_NAV
{ "gps_wp_radius", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 2000 }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, gps_wp_radius) },
{ "nav_controls_heading", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, nav_controls_heading) },
{ "nav_speed_min", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, nav_speed_min) },
{ "nav_speed_max", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, nav_speed_max) },
{ "nav_slew_rate", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, nav_slew_rate) },
#endif
{ "deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 32 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, deadband) },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
@ -757,17 +747,6 @@ const clivalue_t valueTable[] = {
{ "horizon_tilt_effect", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_tilt_effect) },
{ "horizon_tilt_expert_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_tilt_expert_mode) },
#ifdef USE_NAV
{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_POS].P) },
{ "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_POS].I) },
{ "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_POS].D) },
{ "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_POSR].P) },
{ "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_POSR].I) },
{ "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_POSR].D) },
{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_NAVR].P) },
{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_NAVR].I) },
{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_NAVR].D) },
#endif
// PG_TELEMETRY_CONFIG
#ifdef USE_TELEMETRY

15
src/main/io/dashboard.c
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@ -59,7 +59,6 @@
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/failsafe.h"
#include "flight/navigation.h"
#include "io/gps.h"
#include "io/dashboard.h"
@ -427,20 +426,6 @@ static void showGpsPage(void)
padHalfLineBuffer();
i2c_OLED_set_line(bus, rowIndex++);
i2c_OLED_send_string(bus, lineBuffer);
#ifdef GPS_PH_DEBUG
tfp_sprintf(lineBuffer, "Angles: P:%d R:%d", GPS_angle[PITCH], GPS_angle[ROLL]);
padLineBuffer();
i2c_OLED_set_line(bus, rowIndex++);
i2c_OLED_send_string(bus, lineBuffer);
#endif
#if 0
tfp_sprintf(lineBuffer, "%d %d %d %d", debug[0], debug[1], debug[2], debug[3]);
padLineBuffer();
i2c_OLED_set_line(bus, rowIndex++);
i2c_OLED_send_string(bus, lineBuffer);
#endif
}
#endif

8
src/main/io/gps.c
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@ -76,7 +76,6 @@ static char *gpsPacketLogChar = gpsPacketLog;
int32_t GPS_home[2];
uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home or hol point in degrees
int16_t GPS_angle[ANGLE_INDEX_COUNT] = { 0, 0 }; // it's the angles that must be applied for GPS correction
float dTnav; // Delta Time in milliseconds for navigation computations, updated with every good GPS read
int16_t actual_speed[2] = { 0, 0 };
int16_t nav_takeoff_bearing;
@ -1213,9 +1212,6 @@ void GPS_reset_home_position(void)
GPS_home[LAT] = gpsSol.llh.lat;
GPS_home[LON] = gpsSol.llh.lon;
GPS_calc_longitude_scaling(gpsSol.llh.lat); // need an initial value for distance and bearing calc
#ifdef USE_NAV
nav_takeoff_bearing = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // save takeoff heading
#endif
// Set ground altitude
ENABLE_STATE(GPS_FIX_HOME);
}
@ -1329,10 +1325,6 @@ void onGpsNewData(void)
GPS_calculateDistanceAndDirectionToHome();
// calculate the current velocity based on gps coordinates continously to get a valid speed at the moment when we start navigating
GPS_calc_velocity();
#ifdef USE_NAV
navNewGpsData();
#endif
}
#endif

1
src/main/io/gps.h
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@ -159,6 +159,5 @@ void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);
void onGpsNewData(void);
void GPS_reset_home_position(void);
void GPS_calc_longitude_scaling(int32_t lat);
void navNewGpsData(void);
void GPS_distance_cm_bearing(int32_t *currentLat1, int32_t *currentLon1, int32_t *destinationLat2, int32_t *destinationLon2, uint32_t *dist, int32_t *bearing);

1
src/main/io/ledstrip.c
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@ -53,7 +53,6 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"

1
src/main/target/COLIBRI_RACE/i2c_bst.c
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@ -61,7 +61,6 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"

1
src/main/target/common_fc_pre.h
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@ -202,7 +202,6 @@
#define USE_GPS
#define USE_GPS_NMEA
#define USE_GPS_UBLOX
#define USE_NAV
#define USE_OSD_ADJUSTMENTS
#define USE_SENSOR_NAMES
#define USE_SERIALRX_JETIEXBUS

1
src/main/telemetry/ibus_shared.c
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@ -55,7 +55,6 @@ static uint16_t calculateChecksum(const uint8_t *ibusPacket);
#include "sensors/barometer.h"
#include "flight/imu.h"
#include "flight/position.h"
#include "flight/navigation.h"
#include "io/gps.h"

1
src/main/telemetry/mavlink.c
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@ -51,7 +51,6 @@
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/failsafe.h"
#include "flight/navigation.h"
#include "flight/position.h"
#include "io/serial.h"

1
src/test/unit/pid_unittest.cc
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@ -60,7 +60,6 @@ extern "C" {
gyro_t gyro;
attitudeEulerAngles_t attitude;
int16_t GPS_angle[ANGLE_INDEX_COUNT];
float getThrottlePIDAttenuation(void) { return simulatedThrottlePIDAttenuation; }
float getMotorMixRange(void) { return simulatedMotorMixRange; }