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Minor adjustments to Loiter behavior. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2357 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-20 05:23:12 +00:00
parent dfd231197b
commit 125e4ace80
4 changed files with 63 additions and 42 deletions
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58
ArduCopterMega/ArduCopterMega.pde
View File

@ -1136,6 +1136,29 @@ void update_current_flight_mode(void)
}
}
void update_nav_wp()
{
if(wp_control == LOITER_MODE){
// calc a pitch to the target
calc_loiter_nav();
// rotate pitch and roll to the copter frame of reference
calc_loiter_output();
} else {
// how far are we from the ideal trajectory?
// this pushes us back on course
update_crosstrack();
// calc a rate dampened pitch to the target
calc_rate_nav();
// rotate that pitch to the copter frame of reference
calc_nav_output();
}
}
// called after a GPS read
void update_navigation()
{
@ -1146,25 +1169,7 @@ void update_navigation()
if(control_mode == AUTO){
verify_commands();
if(wp_control == LOITER_MODE){
// calc a pitch to the target
calc_loiter_nav();
// rotate pitch and roll to the copter frame of reference
calc_loiter_output();
} else {
// how far are we from the ideal trajectory?
// this pushes us back on course
update_crosstrack();
// calc a rate dampened pitch to the target
calc_rate_nav();
// rotate that pitch to the copter frame of reference
calc_nav_output();
}
update_nav_wp();
// this tracks a location so the copter is always pointing towards it.
if(yaw_tracking == MAV_ROI_LOCATION){
@ -1178,20 +1183,13 @@ void update_navigation()
switch(control_mode){
case LOITER:
// calc a pitch to the target
calc_loiter_nav();
// limit tilt
limit_nav_pitch_roll(g.pitch_max.get());
wp_control = LOITER_MODE;
update_nav_wp();
break;
case RTL:
// calc a pitch to the target
calc_loiter_nav();
// limit tilt
limit_nav_pitch_roll(g.pitch_max.get());
update_crosstrack();
wp_control = (wp_distance < 700) ? LOITER_MODE : WP_MODE;
update_nav_wp();
break;
}
}

2
ArduCopterMega/config.h
View File

@ -375,7 +375,7 @@
# define NAV_LOITER_P 2.5 // upped to be a bit more aggressive
#endif
#ifndef NAV_LOITER_I
# define NAV_LOITER_I 0.15 // upped a bit to deal with wind faster
# define NAV_LOITER_I 0.05 // upped a bit to deal with wind faster
#endif
#ifndef NAV_LOITER_D
# define NAV_LOITER_D 0.00

17
ArduCopterMega/navigation.pde
View File

@ -43,13 +43,13 @@ bool check_missed_wp()
return (abs(temp) > 10000); //we pased the waypoint by 10 °
}
#define DIST_ERROR_MAX 1800
#define DIST_ERROR_MAX 700
void calc_loiter_nav()
{
/*
Becuase we are using lat and lon to do our distance errors here's a quick chart:
100 = 1m
1000 = 11m
1000 = 11m = 36 feet
1800 = 19.80m = 60 feet
3000 = 33m
10000 = 111m
@ -62,15 +62,15 @@ void calc_loiter_nav()
// Y PITCH
lat_error = current_loc.lat - next_WP.lat; // 0 - 500 = -500 pitch NORTH
long_error = constrain(long_error, -DIST_ERROR_MAX, DIST_ERROR_MAX); // +- 20m max error
lat_error = constrain(lat_error, -DIST_ERROR_MAX, DIST_ERROR_MAX); // +- 20m max error
// Convert distance into ROLL X
nav_lon = g.pid_nav_lon.get_pid(long_error, dTnav2, 1.0);
nav_lon = g.pid_nav_lon.get_pid(long_error, dTnav, 1.0); // X 700 * 2.5 = 1750,
nav_lat = g.pid_nav_lat.get_pid(lat_error, dTnav, 1.0); // Y invert lat (for pitch)
// PITCH Y
nav_lat = g.pid_nav_lat.get_pid(lat_error, dTnav2, 1.0); // invert lat (for pitch)
long pmax = g.pitch_max.get();
nav_lon = constrain(nav_lon, -pmax, pmax);
nav_lat = constrain(nav_lat, -pmax, pmax);
}
void calc_loiter_output()
@ -104,9 +104,6 @@ void calc_loiter_output()
//limit our copter pitch - this will change if we go to a fully rate limited approach.
long pmax = g.pitch_max.get();
nav_roll = constrain(nav_roll, -pmax, pmax);
nav_pitch = constrain(nav_pitch, -pmax, pmax);
//limit_nav_pitch_roll(g.pitch_max.get());
}

28
ArduCopterMega/test.pde
View File

@ -210,6 +210,33 @@ test_wp_nav(uint8_t argc, const Menu::arg *argv)
g.rc_4.set_angle(9000);
dTnav = 200;
//dTnav: 0, gs: 305, err: 145, int: 0, pitch: 28508160 gps_GC: 0, gps_GS: 305
while(1){
delay(20);
read_radio();
current_loc.lng = g.rc_1.control_in;
current_loc.lat = g.rc_2.control_in;
calc_loiter_nav();
Serial.printf("Lon_e: %ld, nLon, %ld, Lat_e %ld, nLat %ld\n", long_error, nav_lon, lat_error, nav_lat);
if(Serial.available() > 0){
return (0);
}
}
}
//*/
/*
{
print_hit_enter();
delay(1000);
g.rc_6.set_range(0,900);
g.rc_4.set_angle(9000);
dTnav = 200;
//dTnav: 0, gs: 305, err: 145, int: 0, pitch: 28508160 gps_GC: 0, gps_GS: 305
while(1){
@ -227,7 +254,6 @@ test_wp_nav(uint8_t argc, const Menu::arg *argv)
}
}
*/
static int8_t
test_failsafe(uint8_t argc, const Menu::arg *argv)
{