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updated alternative rate nav function.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2281 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-15 04:28:54 +00:00
parent efc4584e92
commit 4646b76217
1 changed files with 5 additions and 4 deletions
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9
ArduCopterMega/navigation.pde
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@ -129,7 +129,7 @@ void calc_nav_output()
void calc_rate_nav() void calc_rate_nav()
{ {
// calc distance error // calc distance error
nav_lat = constrain((wp_distance * 100), -1800, 1800); // +- 20m max error nav_lat = min((wp_distance * 100), 1800); // +- 20m max error
// Scale response by kP // Scale response by kP
nav_lat *= g.pid_nav_lat.kP(); // 1800 * 2 = 3600 or 36° nav_lat *= g.pid_nav_lat.kP(); // 1800 * 2 = 3600 or 36°
@ -159,17 +159,18 @@ void calc_rate_nav()
// change to rate error // change to rate error
// we want to be going 450cm/s // we want to be going 450cm/s
int error = WAYPOINT_SPEED - groundspeed; int nav_lat = WAYPOINT_SPEED - groundspeed;
nav_lat = constrain(nav_lat, -1800, 1800);
// Scale response by kP // Scale response by kP
long nav_lat = g.pid_nav_wp.kP() * error; long nav_lat = g.pid_nav_wp.kP() * nav_lat;
int dampening = g.pid_nav_wp.kD() * (groundspeed - last_ground_speed); int dampening = g.pid_nav_wp.kD() * (groundspeed - last_ground_speed);
// remember our old speed // remember our old speed
last_ground_speed = groundspeed; last_ground_speed = groundspeed;
// dampen our response // dampen our response
nav_lat -= constrain(dampening, -1800, 1800); // +- max error nav_lat -= dampening; // +- max error
// limit our output // limit our output
nav_lat = constrain(nav_lat, -1800, 1800); // +- max error nav_lat = constrain(nav_lat, -1800, 1800); // +- max error