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WPNav: add wp_and_spline_init to set speeds an init pos controller

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This commit is contained in:
Randy Mackay 2014-05-07 15:02:24 +09:00
parent c13db680b7
commit 091ff91a70
2 changed files with 27 additions and 20 deletions
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42
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -297,6 +297,28 @@ void AC_WPNav::update_loiter()
/// waypoint navigation /// waypoint navigation
/// ///
/// wp_and_spline_init - initialise straight line and spline waypoint controllers
/// updates target roll, pitch targets and I terms based on vehicle lean angles
/// should be called once before the waypoint controller is used but does not need to be called before subsequent updates to destination
void AC_WPNav::wp_and_spline_init()
{
// check _wp_accel_cms is reasonable
if (_wp_accel_cms <= 0) {
_wp_accel_cms.set_and_save(WPNAV_ACCELERATION);
}
// initialise position controller
_pos_control.init_xy_controller();
// initialise position controller speed and acceleration
_pos_control.set_speed_xy(_wp_speed_cms);
_pos_control.set_accel_xy(_wp_accel_cms);
_pos_control.set_speed_z(-_wp_speed_down_cms, _wp_speed_up_cms);
_pos_control.set_accel_z(_wp_accel_z_cms);
_pos_control.calc_leash_length_xy();
_pos_control.calc_leash_length_z();
}
/// set_speed_xy - allows main code to pass target horizontal velocity for wp navigation /// set_speed_xy - allows main code to pass target horizontal velocity for wp navigation
void AC_WPNav::set_speed_xy(float speed_cms) void AC_WPNav::set_speed_xy(float speed_cms)
{ {
@ -347,19 +369,6 @@ void AC_WPNav::set_wp_origin_and_destination(const Vector3f& origin, const Vecto
_pos_delta_unit = pos_delta/_track_length; _pos_delta_unit = pos_delta/_track_length;
} }
// check _wp_accel_cms is reasonable
if (_wp_accel_cms <= 0) {
_wp_accel_cms.set_and_save(WPNAV_ACCELERATION);
}
// initialise position controller speed and acceleration
_pos_control.set_speed_xy(_wp_speed_cms);
_pos_control.set_accel_xy(_wp_accel_cms);
_pos_control.set_speed_z(-_wp_speed_down_cms, _wp_speed_up_cms);
_pos_control.set_accel_z(_wp_accel_z_cms);
_pos_control.calc_leash_length_xy();
_pos_control.calc_leash_length_z();
// calculate leash lengths // calculate leash lengths
calculate_wp_leash_length(); calculate_wp_leash_length();
@ -717,13 +726,6 @@ void AC_WPNav::set_spline_origin_and_destination(const Vector3f& origin, const V
_origin = origin; _origin = origin;
_destination = destination; _destination = destination;
// initialise position controller speed and acceleration
_pos_control.set_speed_xy(_wp_speed_cms);
_pos_control.set_accel_xy(_wp_accel_cms);
_pos_control.set_speed_z(-_wp_speed_down_cms, _wp_speed_up_cms);
_pos_control.calc_leash_length_xy();
_pos_control.calc_leash_length_z();
// calculate slow down distance // calculate slow down distance
calc_slow_down_distance(_wp_speed_cms, _wp_accel_cms); calc_slow_down_distance(_wp_speed_cms, _wp_accel_cms);

5
libraries/AC_WPNav/AC_WPNav.h
View File

@ -93,6 +93,11 @@ public:
/// waypoint controller /// waypoint controller
/// ///
/// wp_and_spline_init - initialise straight line and spline waypoint controllers
/// updates target roll, pitch targets and I terms based on vehicle lean angles
/// should be called once before the waypoint controller is used but does not need to be called before subsequent updates to destination
void wp_and_spline_init();
/// set_speed_xy - allows main code to pass target horizontal velocity for wp navigation /// set_speed_xy - allows main code to pass target horizontal velocity for wp navigation
void set_speed_xy(float speed_cms); void set_speed_xy(float speed_cms);