From 1d636219f9b5b301196eeb35aa6d8ad72420b820 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Fri, 30 Dec 2011 23:47:44 -0800 Subject: [PATCH] New Style WP navigation for high wind --- ArduCopter/navigation.pde | 131 +++++++++++++++++++------------------- 1 file changed, 65 insertions(+), 66 deletions(-) diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index 316458f7ba..4065aac72b 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -22,6 +22,10 @@ static byte navigate() target_bearing = get_bearing(¤t_loc, &next_WP); home_to_copter_bearing = get_bearing(&home, ¤t_loc); + // nav_bearing will includes xtrac correction + // ------------------------------------------ + nav_bearing = target_bearing; + return 1; } @@ -55,13 +59,16 @@ static void calc_XY_velocity(){ x_GPS_speed = (x_GPS_speed * 3 + x_diff) / 4; y_GPS_speed = (y_GPS_speed * 3 + y_diff) / 4; - if(g_gps->ground_speed > 120){ + // Above simply works better than GPS groundspeed + // which is proving to be problematic + + /*if(g_gps->ground_speed > 120){ // Derive X/Y speed from GPS // this is far more accurate when traveling about 1.5m/s float temp = g_gps->ground_course * RADX100; x_GPS_speed = sin(temp) * (float)g_gps->ground_speed; y_GPS_speed = cos(temp) * (float)g_gps->ground_speed; - } + }*/ last_longitude = g_gps->longitude; last_latutude = g_gps->latitude; @@ -110,7 +117,7 @@ static void calc_loiter(int x_error, int y_error) nav_lat_p = constrain(nav_lat_p, -3500, 3500); nav_lat = nav_lat_p + y_iterm; - ///* + /* int8_t ttt = 1.0/dTnav; int16_t t2 = g.pi_nav_lat.get_integrator(); @@ -119,6 +126,7 @@ static void calc_loiter(int x_error, int y_error) wp_distance, //1 y_error, //2 y_GPS_speed, //3 + y_actual_speed, //4 ; y_target_speed, //5 y_rate_error, //6 @@ -152,16 +160,24 @@ static void calc_loiter(int x_error, int y_error) static void estimate_velocity() { // we need to extimate velocity when below GPS threshold of 1.5m/s - if(g_gps->ground_speed < 150){ + //if(g_gps->ground_speed < 120){ // some smoothing to prevent bumpy rides x_actual_speed = (x_actual_speed * 15 + x_GPS_speed) / 16; y_actual_speed = (y_actual_speed * 15 + y_GPS_speed) / 16; - }else{ + // integration of nav_p angle + //x_actual_speed += (nav_lon_p >>2); + //y_actual_speed += (nav_lat_p >>2); + + // this is just what worked best in SIM + //x_actual_speed = (x_actual_speed * 2 + x_GPS_speed * 1) / 4; + //y_actual_speed = (y_actual_speed * 2 + y_GPS_speed * 1) / 4; + + //}else{ // less smoothing needed since the GPS already filters - x_actual_speed = (x_actual_speed * 3 + x_GPS_speed) / 4; - y_actual_speed = (y_actual_speed * 3 + y_GPS_speed) / 4; - } + // x_actual_speed = (x_actual_speed * 3 + x_GPS_speed) / 4; + // y_actual_speed = (y_actual_speed * 3 + y_GPS_speed) / 4; + //} } // this calculation rotates our World frame of reference to the copter's frame of reference @@ -206,32 +222,47 @@ static void calc_nav_rate(int max_speed) max_speed = min(max_speed, waypoint_speed_gov); } - float temp = (target_bearing - g_gps->ground_course) * RADX100; - // push us towards the original track update_crosstrack(); + // nav_bearing includes crosstrack + float temp = (9000 - nav_bearing) * RADX100; + // heading laterally, we want a zero speed here - x_actual_speed = -sin(temp) * (float)g_gps->ground_speed; - x_rate_error = crosstrack_error -x_actual_speed; - x_rate_error = constrain(x_rate_error, -1400, 1400); - nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500); - /*Serial.printf("max_sp %d,\tx_actual_sp %d,\tx_rate_err: %d, Xtrack %d, \tnav_lon: %d,\ty_actual_sp %d,\ty_rate_err: %d,\tnav_lat: %d,\n", - max_speed, - x_actual_speed, - x_rate_error, - crosstrack_error, - nav_lon, - y_actual_speed, - y_rate_error, - nav_lat); - //*/ + //x_actual_speed = -sin(temp) * (float)g_gps->ground_speed; + + x_rate_error = (cos(temp) * max_speed) - x_actual_speed; // 413 + x_rate_error = constrain(x_rate_error, -1400, 1400); + int16_t x_iterm = g.pi_loiter_lon.get_i(x_rate_error, dTnav); + + nav_lon_p = g.pi_nav_lon.get_p(x_rate_error); + nav_lon_p = constrain(nav_lon_p, -3500, 3500); + nav_lon = nav_lon_p + x_iterm; // heading towards target - y_actual_speed = cos(temp) * (float)g_gps->ground_speed; - y_rate_error = max_speed - y_actual_speed; // 413 - y_rate_error = constrain(y_rate_error, -1400, 1400); // added a rate error limit to keep pitching down to a minimum - nav_lat = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500); + //y_actual_speed = cos(temp) * (float)g_gps->ground_speed; + + y_rate_error = (sin(temp) * max_speed) - y_actual_speed; // 413 + y_rate_error = constrain(y_rate_error, -1400, 1400); // added a rate error limit to keep pitching down to a minimum + int16_t y_iterm = g.pi_loiter_lat.get_i(y_rate_error, dTnav); + + nav_lat_p = g.pi_nav_lat.get_p(y_rate_error); + nav_lat_p = constrain(nav_lat_p, -3500, 3500); + nav_lat = nav_lat_p + y_iterm; + + /* + Serial.printf("max_sp %d,\t x_sp %d, y_sp %d,\t x_re: %d, y_re: %d, \tnav_lon: %d, nav_lat: %d, Xi:%d, Yi:%d, \t XE %d \n", + max_speed, + x_actual_speed, + y_actual_speed, + x_rate_error, + y_rate_error, + nav_lon, + nav_lat, + x_iterm, + y_iterm, + crosstrack_error); + //*/ // nav_lat and nav_lon will be rotated to the angle of the quad in calc_nav_pitch_roll() @@ -246,53 +277,21 @@ static void calc_nav_rate(int max_speed) nav_lat);*/ } + static void update_crosstrack(void) { // Crosstrack Error // ---------------- - if (cross_track_test() < 4000) { // If we are too far off or too close we don't do track following + if (abs(wrap_180(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(temp) * (wp_distance * g.crosstrack_gain); // Meters we are off track line - crosstrack_error = constrain(crosstrack_error, -1200, 1200); + nav_bearing = target_bearing + constrain(crosstrack_error, -3000, 3000); + nav_bearing = wrap_360(nav_bearing); + }else{ + nav_bearing = target_bearing; } } -// used to generate the offset angle for testing crosstrack viability -static int32_t cross_track_test() -{ - int32_t temp; - temp = target_bearing - original_target_bearing; - temp = wrap_180(temp); - return abs(temp); -} - - -// this calculation is different than loiter above because we are in a different Frame of Reference. -// nav_lat is pointed towards the target, where as in Loiter, nav_lat is pointed north! -static void calc_nav_pitch_roll() -{ - int32_t angle = wrap_360(dcm.yaw_sensor - target_bearing); - float temp = (9000l - angle) * RADX100; - //t: 1.5465, t1: -10.9451, t2: 1.5359, t3: 1.5465 - float _cos_yaw_x = cos(temp); - float _sin_yaw_y = sin(temp); - - // rotate the vector - nav_roll = (float)nav_lon * _sin_yaw_y - (float)nav_lat * _cos_yaw_x; - nav_pitch = (float)nav_lon * _cos_yaw_x + (float)nav_lat * _sin_yaw_y; - - // flip pitch because forward is negative - nav_pitch = -nav_pitch; - - /*Serial.printf("Yaw %d, Tbear:%d, \tangle: %d, \t_cos_yaw_x:%1.4f, _sin_yaw_y:%1.4f, nav_roll:%d, nav_pitch:%d\n", - dcm.yaw_sensor, - target_bearing, - angle, - _cos_yaw_x, - _sin_yaw_y, - nav_roll, - nav_pitch);*/ -} static int32_t get_altitude_error() {