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APM: Use g.airspeed_cruise for turn rate calculation if the airspeed sensor is disabled.

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This gives our best approximation for auto flight
This commit is contained in:
Andrew Tridgell 2012-07-19 10:48:29 +10:00
parent 3c4f971618
commit 2673179075
1 changed files with 21 additions and 5 deletions
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26
ArduPlane/Attitude.pde
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@ -200,11 +200,27 @@ static void calc_nav_pitch()
static void calc_nav_roll()
{
// negative error = left turn
// positive error = right turn
// Calculate the required roll of the plane
// ----------------------------------------
nav_roll = g.pidNavRoll.get_pid(bearing_error); //returns desired bank angle in degrees*100
// Scale from centidegrees (PID input) to radians per second. A P gain of 1.0 should result in a
// desired rate of 1 degree per second per degree of error - if you're 15 degrees off, you'll try
// to turn at 15 degrees per second.
float turn_rate = ToRad(g.pidNavRoll.get_pid(bearing_error) * .01);
// Use airspeed_cruise as an analogue for airspeed if we don't have airspeed.
float speed;
if(airspeed.use()) {
speed = airspeed.get_airspeed();
} else {
speed = g.airspeed_cruise*0.01;
// Floor the speed so that the user can't enter a bad value
if(speed < 6) {
speed = 6;
}
}
// Bank angle = V*R/g, where V is airspeed, R is turn rate, and g is gravity.
nav_roll = ToDeg(atan(speed*turn_rate/9.81)*100);
nav_roll = constrain(nav_roll, -g.roll_limit.get(), g.roll_limit.get());
}