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

Loiter updates 

Added new option to do rate based Loiter with lat and long values, avoiding GPS heading latency issues.
This commit is contained in:
Jason Short 2011-10-27 12:37:33 -07:00
parent d5f12f50e0
commit 4149819bf7
1 changed files with 36 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
ArduCopter/navigation.pde
View File

@ -92,19 +92,49 @@ static void calc_loiter(int x_error, int y_error)
nav_lon = constrain(nav_lon, -3500, 3500); nav_lon = constrain(nav_lon, -3500, 3500);
} }
static void calc_loiter2(int x_error, int y_error)
{
static int last_x_error = 0;
static int last_y_error = 0;
x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
int x_target_speed = g.pi_loiter_lon.get_pi(x_error, dTnav);
int y_target_speed = g.pi_loiter_lat.get_pi(y_error, dTnav);
// find the rates:
x_actual_speed = (float)(last_x_error - x_error)/dTnav;
y_actual_speed = (float)(last_y_error - y_error)/dTnav;
// save speeds
last_x_error = x_error;
last_y_error = y_error;
y_rate_error = y_target_speed - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -250, 250); // added a rate error limit to keep pitching down to a minimum
nav_lat = g.pi_nav_lat.get_pi(y_rate_error, dTnav);
nav_lat = constrain(nav_lat, -3500, 3500);
x_rate_error = x_target_speed - x_actual_speed;
x_rate_error = constrain(x_rate_error, -250, 250);
nav_lon = g.pi_nav_lon.get_pi(x_rate_error, dTnav);
nav_lon = constrain(nav_lon, -3500, 3500);
}
// nav_roll, nav_pitch // nav_roll, nav_pitch
static void calc_loiter_pitch_roll() static void calc_loiter_pitch_roll()
{ {
float temp = radians((float)(9000 - (dcm.yaw_sensor))/100.0); //float temp = radians((float)(9000 - (dcm.yaw_sensor))/100.0);
float _cos_yaw_x = cos(temp); //float _cos_yaw_x = cos(temp);
float _sin_yaw_y = sin(temp); //float _sin_yaw_y = sin(temp);
// Serial.printf("ys %ld, cyx %1.4f, _cyx %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x); //Serial.printf("ys %ld, cx %1.4f, _cx %1.4f | sy %1.4f, _sy %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x, sin_yaw_y, _sin_yaw_y);
// rotate the vector // rotate the vector
nav_roll = (float)nav_lon * _sin_yaw_y - (float)nav_lat * _cos_yaw_x; nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
nav_pitch = (float)nav_lon * _cos_yaw_x + (float)nav_lat * _sin_yaw_y; nav_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y;
// flip pitch because forward is negative // flip pitch because forward is negative
nav_pitch = -nav_pitch; nav_pitch = -nav_pitch;