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Sub: Implement spline waypoints

This commit is contained in:
Jacob Walser 2017-04-13 16:38:28 -04:00
parent 6a443fcce4
commit 6008689aa3
1 changed files with 13 additions and 2 deletions
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15
ArduSub/control_auto.cpp
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@ -225,16 +225,27 @@ void Sub::auto_spline_run()
// run waypoint controller
wp_nav.update_spline();
float lateral_out, forward_out;
translate_wpnav_rp(lateral_out, forward_out);
// Send to forward/lateral outputs
motors.set_lateral(lateral_out);
motors.set_forward(forward_out);
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control.update_z_controller();
// get pilot desired lean angles
float target_roll, target_pitch;
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
} else {
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.input_euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, get_auto_heading(), true, get_smoothing_gain());
}
}