From 24345d4f43e967e2307b1e8de82b773cd1dfd14d Mon Sep 17 00:00:00 2001 From: Jason Short Date: Thu, 23 Feb 2012 22:01:44 -0800 Subject: [PATCH] Loiter updates --- ArduCopter/navigation.pde | 89 ++++++++++++++++++++++----------------- 1 file changed, 50 insertions(+), 39 deletions(-) diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index ef534425fc..a95d16ce9f 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -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",