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

ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon. 

Increase other constraints from 3200 to 32000.  These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
This commit is contained in:
rmackay9 2012-10-24 22:04:35 +09:00
parent 5e8043fd9c
commit 4877348c49
2 changed files with 3 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Attitude.pde
View File

@ -484,7 +484,7 @@ get_throttle_rate(int16_t z_target_speed)
if(z_target_speed < 0) tmp = -tmp; if(z_target_speed < 0) tmp = -tmp;
output = constrain(tmp, -3200, 3200); output = constrain(tmp, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t
// separately calculate p, i, d values for logging // separately calculate p, i, d values for logging
p = g.pid_throttle.get_p(z_rate_error); p = g.pid_throttle.get_p(z_rate_error);

6
ArduCopter/navigation.pde
View File

@ -117,7 +117,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error)
} }
output = p + i + d; output = p + i + d;
nav_lon = constrain(output, -3200, 3200); nav_lon = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the yaw // log output if PID logging is on and we are tuning the yaw
@ -154,7 +154,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error)
} }
output = p + i + d; output = p + i + d;
nav_lat = constrain(output, -3200, 3200); nav_lat = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the yaw // log output if PID logging is on and we are tuning the yaw
@ -201,7 +201,6 @@ static void calc_nav_rate(int16_t max_speed)
if(x_target_speed < 0) tilt = -tilt; if(x_target_speed < 0) tilt = -tilt;
nav_lon += tilt; nav_lon += tilt;
nav_lon = constrain(nav_lon, -3200, 3200);
// North / South // North / South
@ -218,7 +217,6 @@ static void calc_nav_rate(int16_t max_speed)
if(y_target_speed < 0) tilt = -tilt; if(y_target_speed < 0) tilt = -tilt;
nav_lat += tilt; nav_lat += tilt;
nav_lat = constrain(nav_lat, -3200, 3200);
// copy over I term to Loiter_Rate // copy over I term to Loiter_Rate
g.pid_loiter_rate_lon.set_integrator(g.pid_nav_lon.get_integrator()); g.pid_loiter_rate_lon.set_integrator(g.pid_nav_lon.get_integrator());