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Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune.

This commit is contained in:
Jason Short 2012-02-09 09:29:40 -08:00
parent d00d6b8c64
commit 0f3c3bb563
2 changed files with 6 additions and 6 deletions
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2
ArduCopter/config.h
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@ -637,7 +637,7 @@
// WP Navigation control gains // WP Navigation control gains
// //
#ifndef NAV_P #ifndef NAV_P
# define NAV_P 2.3 // 3 was causing rapid oscillations in Loiter # define NAV_P 2.8 //
#endif #endif
#ifndef NAV_I #ifndef NAV_I
# define NAV_I 0.4 // Wind control # define NAV_I 0.4 // Wind control

10
ArduCopter/navigation.pde
View File

@ -212,19 +212,19 @@ static void calc_nav_rate(int max_speed)
static void calc_nav_lon(int rate) static void calc_nav_lon(int rate)
{ {
nav_lon = g.pid_nav_lon.get_pid(rate, dTnav); nav_lon = g.pid_nav_lon.get_pid(rate, dTnav);
nav_lon = get_corrected_angle(rate, nav_lon); //nav_lon = get_corrected_angle(rate, nav_lon);
nav_lon = constrain(nav_lon, -3000, 3000); nav_lon = constrain(nav_lon, -3000, 3000);
} }
static void calc_nav_lat(int rate) static void calc_nav_lat(int rate)
{ {
nav_lat = g.pid_nav_lat.get_pid(rate, dTnav); nav_lat = g.pid_nav_lat.get_pid(rate, dTnav);
nav_lat = get_corrected_angle(rate, nav_lat); //nav_lat = get_corrected_angle(rate, nav_lat);
nav_lat = constrain(nav_lat, -3000, 3000); nav_lat = constrain(nav_lat, -3000, 3000);
} }
static int16_t get_corrected_angle(int16_t desired_rate, int16_t rate_out) //static int16_t get_corrected_angle(int16_t desired_rate, int16_t rate_out)
{ /*{
int16_t tt = desired_rate; int16_t tt = desired_rate;
// scale down the desired rate and square it // scale down the desired rate and square it
desired_rate = desired_rate / 20; desired_rate = desired_rate / 20;
@ -240,7 +240,7 @@ static int16_t get_corrected_angle(int16_t desired_rate, int16_t rate_out)
} }
//Serial.printf("rate:%d, norm:%d, out:%d \n", tt, rate_out, tmp); //Serial.printf("rate:%d, norm:%d, out:%d \n", tt, rate_out, tmp);
return tmp; return tmp;
} }*/
//wp_distance,ttt, y_error, y_GPS_speed, y_actual_speed, y_target_speed, y_rate_error, nav_lat, y_iterm, t2 //wp_distance,ttt, y_error, y_GPS_speed, y_actual_speed, y_target_speed, y_rate_error, nav_lat, y_iterm, t2