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ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second.

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Jason Short 2012-08-10 10:02:32 -07:00
parent 9a568385b0
commit 3ad08b7ffc
4 changed files with 7 additions and 2 deletions
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2
ArduCopter/ArduCopter.pde
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@ -563,7 +563,7 @@ static int16_t waypoint_speed_gov;
static int32_t long_error, lat_error; static int32_t long_error, lat_error;
// Are we navigating while holding a positon? This is set to false once the speed drops below 1m/s // Are we navigating while holding a positon? This is set to false once the speed drops below 1m/s
static boolean loiter_override; static boolean loiter_override;
static int16_t waypoint_radius;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Orientation // Orientation

3
ArduCopter/Attitude.pde
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@ -403,6 +403,9 @@ static void reset_nav_params(void)
// make sure we stick to Nav yaw on takeoff // make sure we stick to Nav yaw on takeoff
auto_yaw = nav_yaw; auto_yaw = nav_yaw;
// revert to smaller radius set in params
waypoint_radius = g.waypoint_radius;
} }
/* /*

2
ArduCopter/commands_logic.pde
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@ -452,7 +452,7 @@ static bool verify_nav_wp()
} }
// Did we pass the WP? // Distance checking // Did we pass the WP? // Distance checking
if((wp_distance <= (g.waypoint_radius * 100)) || check_missed_wp()){ if((wp_distance <= (waypoint_radius * 100)) || check_missed_wp()){
// if we have a distance calc error, wp_distance may be less than 0 // if we have a distance calc error, wp_distance may be less than 0
if(wp_distance > 0){ if(wp_distance > 0){

2
ArduCopter/navigation.pde
View File

@ -260,8 +260,10 @@ static int16_t get_desired_speed(int16_t max_speed, bool _slow)
*/ */
if(fast_corner){ if(fast_corner){
waypoint_radius = g.waypoint_radius * 2;
//max_speed = max_speed; //max_speed = max_speed;
}else{ }else{
waypoint_radius = g.waypoint_radius;
max_speed = min(max_speed, (wp_distance - g.waypoint_radius) / 3); max_speed = min(max_speed, (wp_distance - g.waypoint_radius) / 3);
max_speed = max(max_speed, WAYPOINT_SPEED_MIN); // go at least 100cm/s max_speed = max(max_speed, WAYPOINT_SPEED_MIN); // go at least 100cm/s
} }