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Tuning nav_WP

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This commit is contained in:
Jason Short 2011-11-09 12:06:37 -08:00
parent 54790bd981
commit 4d27b725db
1 changed files with 22 additions and 7 deletions
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29
ArduCopter/navigation.pde
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@ -143,20 +143,28 @@ static void calc_loiter_pitch_roll()
static void calc_nav_rate(int max_speed)
{
/*
0 1 2 3 4 5 6 7 8
|< WP Radius
0 1 2 3 4 5 6 7 8m
...|...|...|...|...|...|...|...|
100 200 300 400
+|+
100 | 200 300 400cm/s
| +|+
|< we should slow to 1.5 m/s as we hit the target
*/
// max_speed is default 400 or 4m/s
// (wp_distance * 50) = 1/2 of the distance converted to speed
// wp_distance is alwats in m/s and not cm/s - I know it's stupiod that way
// for example 4m from target = 200cm/s speed
// we choose the lowest speed based on disance
max_speed = min(max_speed, (wp_distance * 50));
// limit the ramp up of the speed
// waypoint_speed_gov is reset to 0 at each new WP command
if(waypoint_speed_gov < max_speed){
waypoint_speed_gov += (int)(100.0 * dTnav); // increase at 1.5/ms
waypoint_speed_gov += (int)(150.0 * dTnav); // increase at 1.5/ms
// go at least 1m/s
max_speed = max(100, waypoint_speed_gov);
// go at least 50cm/s
max_speed = max(50, waypoint_speed_gov);
// limit with governer
max_speed = min(max_speed, waypoint_speed_gov);
}
@ -164,15 +172,22 @@ static void calc_nav_rate(int max_speed)
// XXX target_angle should be the original desired target angle!
float temp = radians((original_target_bearing - g_gps->ground_course)/100.0);
// heading laterally, we want a zero speed here
x_actual_speed = -sin(temp) * (float)g_gps->ground_speed;
x_rate_error = -x_actual_speed;
x_rate_error = constrain(x_rate_error, -800, 800);
nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500);
// heading towards target
y_actual_speed = cos(temp) * (float)g_gps->ground_speed;
y_rate_error = max_speed - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -800, 800); // added a rate error limit to keep pitching down to a minimum
nav_lat = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500);
// 400cm/s * 3 = 1200 or 12 deg pitch
// 800cm/s * 3 = 2400 or 24 deg pitch MAX
// nav_lat and nav_lon will be rotated to the angle of the quad in calc_nav_pitch_roll()
/*Serial.printf("max_speed: %d, xspeed: %d, yspeed: %d, x_re: %d, y_re: %d, nav_lon: %ld, nav_lat: %ld ",
max_speed,