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Removed last of Xtrack

This commit is contained in:
Jason Short 2011-09-11 20:40:05 -07:00
parent 7d57dfa3ec
commit 7e79612125
5 changed files with 21 additions and 18 deletions
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18
ArduCopter/ArduCopter.pde
View File

@ -316,11 +316,13 @@ static bool did_ground_start = false; // have we ground started after first ar
// ---------------------
static const float radius_of_earth = 6378100; // meters
static const float gravity = 9.81; // meters/ sec^2
static long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
//static long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
static long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
static bool xtrack_enabled = false;
static long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
//static bool xtrack_enabled = false;
//static long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
//static long crosstrack_correction; // deg * 100 : 0 to 360 desired angle of plane to target
static int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate
static long circle_angle = 0;
static byte wp_control; // used to control - navgation or loiter
@ -349,7 +351,7 @@ static int airspeed; // m/s * 100
// Location Errors
// ---------------
static long bearing_error; // deg * 100 : 0 to 36000
//static long bearing_error; // deg * 100 : 0 to 36000
static long altitude_error; // meters * 100 we are off in altitude
static long old_altitude;
static long yaw_error; // how off are we pointed
@ -674,8 +676,8 @@ static void medium_loop()
// ------------------------------------------------------
navigate();
// control mode specific updates to nav_bearing
// --------------------------------------------
// control mode specific updates
// -----------------------------
update_navigation();
if (g.log_bitmask & MASK_LOG_NTUN)
@ -799,7 +801,7 @@ static void fifty_hz_loop()
#endif
// use Yaw to find our bearing error
calc_bearing_error();
//calc_bearing_error();
//if (throttle_slew < 0)
// throttle_slew++;
@ -1246,7 +1248,7 @@ static void update_navigation()
wp_control = WP_MODE;
}else{
set_mode(LOITER);
xtrack_enabled = false;
//xtrack_enabled = false;
}

2
ArduCopter/HIL_Xplane.pde
View File

@ -12,7 +12,7 @@ void HIL_XPLANE::output_HIL(void)
output_int((int)(g.rc_3.servo_out)); // 2 bytes 4, 5
output_int((int)(g.rc_4.servo_out)); // 3 bytes 6, 7
output_int((int)wp_distance); // 4 bytes 8,9
output_int((int)bearing_error); // 5 bytes 10,11
//output_int((int)bearing_error); // 5 bytes 10,11
output_int((int)altitude_error); // 6 bytes 12, 13
output_int((int)energy_error); // 7 bytes 14,15
output_byte((int)g.waypoint_index); // 8 bytes 16

2
ArduCopter/commands.pde
View File

@ -197,7 +197,7 @@ static void set_next_WP(struct Location *wp)
// set a new crosstrack bearing
// ----------------------------
crosstrack_bearing = target_bearing; // Used for track following
//crosstrack_bearing = target_bearing; // Used for track following
gcs.print_current_waypoints();
}

7
ArduCopter/navigation.pde
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@ -211,18 +211,19 @@ static long get_crosstrack_correction(void)
return 0;
}
*/
/*
static long cross_track_test()
{
long temp = wrap_180(target_bearing - crosstrack_bearing);
return abs(temp);
}
*/
/*
static void reset_crosstrack()
{
crosstrack_bearing = get_bearing(&current_loc, &next_WP); // Used for track following
}
*/
static long get_altitude_above_home(void)
{
// This is the altitude above the home location

10
ArduCopter/system.pde
View File

@ -41,7 +41,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
};
// Create the top-level menu object.
MENU(main_menu, "ArduCopter 2.0.42 Beta", main_menu_commands);
MENU(main_menu, "ArduCopter 2.0.43 Beta", main_menu_commands);
#endif // CLI_ENABLED
@ -362,7 +362,7 @@ static void set_mode(byte mode)
led_mode = NORMAL_LEDS;
// most modes do not calculate crosstrack correction
xtrack_enabled = false;
//xtrack_enabled = false;
reset_nav_I();
switch(control_mode)
@ -411,7 +411,7 @@ static void set_mode(byte mode)
// do crosstrack correction
// XXX move to flight commands
xtrack_enabled = true;
//xtrack_enabled = true;
break;
case CIRCLE:
@ -437,7 +437,7 @@ static void set_mode(byte mode)
roll_pitch_mode = ROLL_PITCH_AUTO;
throttle_mode = THROTTLE_AUTO;
xtrack_enabled = true;
//xtrack_enabled = true;
init_throttle_cruise();
next_WP = current_loc;
break;
@ -447,7 +447,7 @@ static void set_mode(byte mode)
roll_pitch_mode = RTL_RP;
throttle_mode = RTL_THR;
xtrack_enabled = true;
//xtrack_enabled = true;
init_throttle_cruise();
do_RTL();
break;