Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

removed filter. Don't need it.

This commit is contained in:
Jason Short 2012-01-29 17:10:52 -08:00
parent c855c81d2a
commit 25c2c9b437
1 changed files with 7 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
ArduCopter/navigation.pde
View File

@ -55,20 +55,16 @@ static void calc_XY_velocity(){
// straightforward approach: // straightforward approach:
///* ///*
int16_t x_estimate = (float)(g_gps->longitude - last_longitude) * tmp; x_actual_speed = (float)(g_gps->longitude - last_longitude) * tmp;
int16_t y_estimate = (float)(g_gps->latitude - last_latitude) * tmp; y_actual_speed = (float)(g_gps->latitude - last_latitude) * tmp;
// slight averaging filter
x_actual_speed = (x_actual_speed + x_estimate) >> 1;
y_actual_speed = (y_actual_speed + y_estimate) >> 1;
/* /*
// Ryan Beall's forward estimator: // Ryan Beall's forward estimator:
int16_t x_speed_new = (float)(g_gps->longitude - last_longitude) * tmp; int16_t x_speed_new = (float)(g_gps->longitude - last_longitude) * tmp;
int16_t y_speed_new = (float)(g_gps->latitude - last_latitude) * tmp; int16_t y_speed_new = (float)(g_gps->latitude - last_latitude) * tmp;
x_GPS_speed = x_speed_new + (x_speed_new - x_speed_old); x_actual_speed = x_speed_new + (x_speed_new - x_speed_old);
y_GPS_speed = y_speed_new + (y_speed_new - y_speed_old); y_actual_speed = y_speed_new + (y_speed_new - y_speed_old);
x_speed_old = x_speed_new; x_speed_old = x_speed_new;
y_speed_old = y_speed_new; y_speed_old = y_speed_new;
@ -396,6 +392,9 @@ static int32_t get_new_altitude()
} }
} }
// we use the elapsed time as our altitude offset
// 1000 = 1 sec
// 1000 >> 4 = 64cm/s descent by default
int32_t change = (millis() - alt_change_timer) >> _scale; int32_t change = (millis() - alt_change_timer) >> _scale;
if(alt_change_flag == ASCENDING){ if(alt_change_flag == ASCENDING){