From 3c51ce6a5f79378edebbe75fc06a71b259633216 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 15 Oct 2011 15:35:18 -0700 Subject: [PATCH] Made wpspeed governor run per second so 1hz gps doesn't fail. Gave a 1m/s minimum. Increased WPspeed max to 4.0m/s --- ArduCopter/config.h | 2 +- ArduCopter/navigation.pde | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 34daa5dff4..505a70aa2d 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -451,7 +451,7 @@ #endif #ifndef WAYPOINT_SPEED_MAX -# define WAYPOINT_SPEED_MAX 300 // for 6m/s error = 13mph +# define WAYPOINT_SPEED_MAX 400 // for 6m/s error = 13mph #endif diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index 0863cbe784..fa903bad11 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -115,7 +115,12 @@ static void calc_nav_rate(int max_speed) // limit the ramp up of the speed if(waypoint_speed_gov < max_speed){ - waypoint_speed_gov += 10; + + waypoint_speed_gov += (int)(150.0 * dTnav); // increase at 1.5/ms + + // go at least 1m/s + max_speed = max(100, waypoint_speed_gov); + // limit with governer max_speed = min(max_speed, waypoint_speed_gov); }