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Loiter updates

This commit is contained in:
Jason Short 2012-02-23 22:01:44 -08:00
parent d85596841f
commit 24345d4f43
1 changed files with 50 additions and 39 deletions
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89
ArduCopter/navigation.pde
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@ -101,33 +101,37 @@ static void calc_location_error(struct Location *next_loc)
#define NAV_ERR_MAX 600
static void calc_loiter(int x_error, int y_error)
{
// East/West
int16_t x_target_speed = g.pi_loiter_lon.get_p(x_error);
x_target_speed = constrain(x_error, -250, 250);
int16_t x_target_speed, y_target_speed;
int16_t x_iterm, y_iterm;
// East / West
x_target_speed = g.pi_loiter_lon.get_p(x_error); // not contstrained yet
x_target_speed = constrain(x_target_speed, -250, 250); // limit to 2.5m/s travel speed
x_rate_error = x_target_speed - x_actual_speed; // calc the speed error
nav_lon = g.pid_loiter_rate_lon.get_pid(x_rate_error, dTnav);
nav_lon = constrain(nav_lon, -3000, 3000); // 30°
// North / South
y_target_speed = g.pi_loiter_lat.get_p(y_error);
y_target_speed = constrain(y_target_speed, -250, 250);
y_rate_error = y_target_speed - y_actual_speed;
nav_lat = g.pid_loiter_rate_lat.get_pid(y_rate_error, dTnav);
nav_lat = constrain(nav_lat, -3000, 3000); // 30°
// copy over I term to Nav_Rate
g.pid_nav_lon.set_integrator(g.pid_loiter_rate_lon.get_integrator());
g.pid_nav_lat.set_integrator(g.pid_loiter_rate_lat.get_integrator());
// Wind I term based on location error,
// limit windup
x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
int16_t x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
x_rate_error = x_target_speed - x_actual_speed;
// North/South
int16_t y_target_speed = g.pi_loiter_lat.get_p(y_error);
y_target_speed = constrain(y_error, -250, 250);
// limit windup
y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
int16_t y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
y_rate_error = y_target_speed - y_actual_speed;
//nav_lon = g.pid_loiter_rate_lon.get_pid(x_rate_error, dTnav);
//nav_lat = g.pid_loiter_rate_lat.get_pid(y_rate_error, dTnav);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
nav_lon = constrain(nav_lon, -3000, 3000);
nav_lat = constrain(nav_lat, -3000, 3000);
nav_lat = nav_lat + y_iterm;
nav_lon = nav_lon + x_iterm;
/*
x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
nav_lat = nav_lat + y_iterm;
nav_lon = nav_lon + x_iterm;
*/
/*
int8_t ttt = 1.0/dTnav;
@ -170,24 +174,31 @@ static void calc_nav_rate(int max_speed)
update_crosstrack();
// nav_bearing includes crosstrack
float temp = (9000l - nav_bearing) * RADX100;
float temp = (9000l - nav_bearing) * RADX100;
x_rate_error = (cos(temp) * max_speed) - x_actual_speed; // 413
x_rate_error = constrain(x_rate_error, -1000, 1000);
int16_t x_iterm = g.pi_loiter_lon.get_i(x_rate_error, dTnav);
// East / West
x_rate_error = (cos(temp) * max_speed) - x_actual_speed; // 413
x_rate_error = constrain(x_rate_error, -1000, 1000);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
nav_lon = constrain(nav_lon, -3000, 3000);
y_rate_error = (sin(temp) * max_speed) - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -1000, 1000); // 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);
// North / South
y_rate_error = (sin(temp) * max_speed) - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
nav_lat = constrain(nav_lat, -3000, 3000);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
// copy over I term to Loiter_Rate
g.pid_loiter_rate_lon.set_integrator(g.pid_nav_lon.get_integrator());
g.pid_loiter_rate_lat.set_integrator(g.pid_nav_lat.get_integrator());
//int16_t x_iterm = g.pi_loiter_lon.get_i(x_rate_error, dTnav);
//int16_t y_iterm = g.pi_loiter_lat.get_i(y_rate_error, dTnav);
//nav_lon = nav_lon + x_iterm;
//nav_lat = nav_lat + y_iterm;
nav_lon = constrain(nav_lon, -3000, 3000);
nav_lat = constrain(nav_lat, -3000, 3000);
nav_lon = nav_lon + x_iterm;
nav_lat = nav_lat + 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",