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improved FBW control

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1619 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-10 07:09:32 +00:00
parent f03df257f3
commit 365980ebf9
1 changed files with 18 additions and 7 deletions
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23
ArduCopterMega/ArduCopterMega.pde
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@ -198,6 +198,9 @@ byte command_may_ID; // current command ID
float altitude_gain; // in nav
float distance_gain; // in nav
float sin_yaw_y;
float cos_yaw_x;
// Airspeed
// --------
int airspeed; // m/s * 100
@ -221,6 +224,8 @@ float crosstrack_error; // meters we are off trackline
long distance_error; // distance to the WP
long yaw_error; // how off are we pointed
long long_error, lat_error; // temp fro debugging
// Sensors
// -------
float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter
@ -352,8 +357,6 @@ boolean home_is_set = false; // Flag for if we have gps lock and have set th
// IMU variables
// -------------
float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm)
float COGX; // Course overground X axis
float COGY = 1; // Course overground Y axis
// Performance monitoring
@ -705,6 +708,8 @@ void update_GPS(void)
GPS.update();
update_GPS_light();
//fake_out_gps();
if (GPS.new_data && GPS.fix) {
send_message(MSG_LOCATION);
@ -746,8 +751,6 @@ void update_GPS(void)
current_loc.lng = GPS.longitude; // Lon * 10 * *7
current_loc.lat = GPS.latitude; // Lat * 10 * *7
COGX = cos(ToRad(GPS.ground_course / 100.0));
COGY = sin(ToRad(GPS.ground_course / 100.0));
}
}
@ -874,13 +877,17 @@ void update_current_flight_mode(void)
dTnav = 200;
}
next_WP.lat = home.lat + rc_2.control_in / 2; // 4500 / 2 = 2250 = 25 meteres
next_WP.lng = home.lng + rc_1.control_in / 2; // 4500 / 2 = 900 = 25 meteres
next_WP.lng = home.lng + rc_1.control_in / 2; // X: 4500 / 2 = 2250 = 25 meteres
// forward is negative so we reverse it to get a positive North translation
next_WP.lat = home.lat - rc_2.control_in / 2; // Y: 4500 / 2 = 2250 = 25 meteres
}
// Output Pitch, Roll, Yaw and Throttle
// ------------------------------------
// REMOVE AFTER TESTING !!!
//nav_yaw = dcm.yaw_sensor;
// Yaw control
output_manual_yaw();
@ -1018,4 +1025,8 @@ void read_AHRS(void)
//-----------------------------------------------
dcm.update_DCM(G_Dt);
omega = dcm.get_gyro();
// Testing remove !!!
//dcm.pitch_sensor = 0;
//dcm.roll_sensor = 0;
}