2010-12-19 12:40:33 -04:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//****************************************************************
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// Function that will calculate the desired direction to fly and distance
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//****************************************************************
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void navigate()
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{
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// do not navigate with corrupt data
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// ---------------------------------
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if (GPS.fix == 0)
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{
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GPS.new_data = false;
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return;
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}
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2011-01-11 17:15:08 -04:00
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2010-12-19 12:40:33 -04:00
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if(next_WP.lat == 0){
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return;
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}
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2011-01-11 17:15:08 -04:00
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// waypoint distance from plane
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// ----------------------------
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GPS_wp_distance = getDistance(¤t_loc, &next_WP);
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if (GPS_wp_distance < 0){
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send_message(SEVERITY_HIGH,"<navigate> WP error - distance < 0");
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//Serial.println(wp_distance,DEC);
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//print_current_waypoints();
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return;
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}
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// target_bearing is where we should be heading
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// --------------------------------------------
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target_bearing = get_bearing(¤t_loc, &next_WP);
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// nav_bearing will includes xtrack correction
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// -------------------------------------------
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nav_bearing = target_bearing;
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// control mode specific updates to nav_bearing
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// --------------------------------------------
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update_navigation();
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}
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2010-12-19 12:40:33 -04:00
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2011-01-12 21:31:05 -04:00
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#define DIST_ERROR_MAX 3000
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2011-01-11 17:15:08 -04:00
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void calc_nav()
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{
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/*
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Becuase we are using lat and lon to do our distance errors here's a quick chart:
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100 = 1m
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1000 = 11m
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2011-01-12 21:31:05 -04:00
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3000 = 33m
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2011-01-11 17:15:08 -04:00
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10000 = 111m
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pitch_max = 22° (2200)
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*/
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2011-01-12 21:31:05 -04:00
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Vector2f yawvector;
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Matrix3f temp = dcm.get_dcm_matrix();
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yawvector.x = temp.a.x;
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yawvector.y = temp.b.x;
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yawvector.normalize();
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2011-01-11 17:15:08 -04:00
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// ROLL
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nav_lon = pid_nav_lon.get_pid((long)((float)(next_WP.lng - GPS.longitude) * scaleLongDown), dTnav, 1.0);
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2011-01-12 21:31:05 -04:00
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nav_lon = constrain(nav_lon, -DIST_ERROR_MAX, DIST_ERROR_MAX); // Limit max command
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2011-01-11 17:15:08 -04:00
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// PITCH
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nav_lat = pid_nav_lat.get_pid(next_WP.lat - GPS.latitude, dTnav, 1.0);
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2011-01-12 21:31:05 -04:00
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nav_lat = constrain(nav_lat, -DIST_ERROR_MAX, DIST_ERROR_MAX); // Limit max command
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2011-01-11 17:15:08 -04:00
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// rotate the vector
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2011-01-26 03:14:54 -04:00
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nav_roll = (float)nav_lat * yawvector.x - (float)nav_lon * yawvector.y;
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nav_pitch = (float)nav_lon * yawvector.x + (float)nav_lat * yawvector.y;
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2011-01-26 13:22:39 -04:00
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//Serial.printf("vx %4.4f,vy %4.4f, nr %ld, np %ld ", yawvector.x, yawvector.y, nav_roll, nav_pitch);
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nav_roll = constrain(nav_roll, -pitch_max, pitch_max);
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nav_pitch = constrain(nav_pitch, -pitch_max, pitch_max);
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2010-12-19 12:40:33 -04:00
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}
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2011-01-04 02:06:26 -04:00
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/*
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2010-12-19 12:40:33 -04:00
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void verify_missed_wp()
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{
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// check if we have missed the WP
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loiter_delta = (target_bearing - old_target_bearing) / 100;
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// reset the old value
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old_target_bearing = target_bearing;
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// wrap values
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if (loiter_delta > 170) loiter_delta -= 360;
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if (loiter_delta < -170) loiter_delta += 360;
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loiter_sum += abs(loiter_delta);
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}
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2011-01-04 02:06:26 -04:00
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*/
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2010-12-19 12:40:33 -04:00
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void calc_bearing_error()
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{
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2011-01-25 01:53:36 -04:00
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bearing_error = nav_bearing - dcm.yaw_sensor;
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2010-12-19 12:40:33 -04:00
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bearing_error = wrap_180(bearing_error);
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}
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void calc_distance_error()
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{
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wp_distance = GPS_wp_distance;
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// this wants to work only while moving, but it should filter out jumpy GPS reads
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// scale gs to whole deg (50hz / 100) scale bearing error down to whole deg
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//distance_estimate += (float)GPS.ground_speed * .0002 * cos(radians(bearing_error / 100));
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//distance_estimate -= distance_gain * (float)(distance_estimate - GPS_wp_distance);
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//wp_distance = distance_estimate;
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}
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/*void calc_airspeed_errors()
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{
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//airspeed_error = airspeed_cruise - airspeed;
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//airspeed_energy_error = (long)(((long)airspeed_cruise * (long)airspeed_cruise) - ((long)airspeed * (long)airspeed))/20000; //Changed 0.00005f * to / 20000 to avoid floating point calculation
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} */
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// calculated at 50 hz
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void calc_altitude_error()
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{
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2011-01-21 01:28:01 -04:00
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if(control_mode == AUTO && offset_altitude != 0) {
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// limit climb rates - we draw a straight line between first location and edge of wp_radius
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target_altitude = next_WP.alt - ((wp_distance * offset_altitude) / (wp_totalDistance - wp_radius));
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// stay within a certain range
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if(prev_WP.alt > next_WP.alt){
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target_altitude = constrain(target_altitude, next_WP.alt, prev_WP.alt);
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}else{
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target_altitude = constrain(target_altitude, prev_WP.alt, next_WP.alt);
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}
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} else {
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target_altitude = next_WP.alt;
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}
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2010-12-19 12:40:33 -04:00
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2011-01-21 01:28:01 -04:00
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altitude_error = target_altitude - current_loc.alt;
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2010-12-19 12:40:33 -04:00
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//Serial.printf("s: %d %d t_alt %d\n", (int)current_loc.alt, (int)altitude_error, (int)target_altitude);
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}
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long wrap_360(long error)
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{
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if (error > 36000) error -= 36000;
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if (error < 0) error += 36000;
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return error;
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}
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long wrap_180(long error)
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{
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if (error > 18000) error -= 36000;
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if (error < -18000) error += 36000;
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return error;
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}
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/*
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// disabled for now
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void update_loiter()
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{
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loiter_delta = (target_bearing - old_target_bearing) / 100;
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// reset the old value
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old_target_bearing = target_bearing;
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// wrap values
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if (loiter_delta > 170) loiter_delta -= 360;
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if (loiter_delta < -170) loiter_delta += 360;
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loiter_sum += loiter_delta;
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} */
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void update_crosstrack(void)
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{
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// Crosstrack Error
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// ----------------
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if (abs(target_bearing - crosstrack_bearing) < 4500) { // If we are too far off or too close we don't do track following
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crosstrack_error = sin(radians((target_bearing - crosstrack_bearing) / 100)) * wp_distance; // Meters we are off track line
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nav_bearing += constrain(crosstrack_error * x_track_gain, -x_track_angle, x_track_angle);
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nav_bearing = wrap_360(nav_bearing);
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}
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}
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void reset_crosstrack()
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{
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crosstrack_bearing = get_bearing(¤t_loc, &next_WP); // Used for track following
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}
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int get_altitude_above_home(void)
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{
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// This is the altitude above the home location
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// The GPS gives us altitude at Sea Level
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// if you slope soar, you should see a negative number sometimes
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// -------------------------------------------------------------
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return current_loc.alt - home.alt;
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}
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long getDistance(struct Location *loc1, struct Location *loc2)
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{
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if(loc1->lat == 0 || loc1->lng == 0)
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return -1;
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if(loc2->lat == 0 || loc2->lng == 0)
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return -1;
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float dlat = (float)(loc2->lat - loc1->lat);
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float dlong = ((float)(loc2->lng - loc1->lng)) * scaleLongDown;
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return sqrt(sq(dlat) + sq(dlong)) * .01113195;
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}
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long get_alt_distance(struct Location *loc1, struct Location *loc2)
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{
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return abs(loc1->alt - loc2->alt);
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}
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long get_bearing(struct Location *loc1, struct Location *loc2)
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{
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long off_x = loc2->lng - loc1->lng;
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long off_y = (loc2->lat - loc1->lat) * scaleLongUp;
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long bearing = 9000 + atan2(-off_y, off_x) * 5729.57795;
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if (bearing < 0) bearing += 36000;
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return bearing;
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}
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