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increasing the velocity near WP

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Jason Short 2012-01-21 11:58:32 -08:00
parent 1aa6d0ea08
commit 8cb645f3c2
1 changed files with 5 additions and 6 deletions
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11
ArduCopter/navigation.pde
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@ -261,7 +261,7 @@ static void calc_loiter_pitch_roll()
static int16_t calc_desired_speed(int16_t max_speed) static int16_t calc_desired_speed(int16_t max_speed)
{ {
/* /*
|< WP Radius |< WP Radius
0 1 2 3 4 5 6 7 8m 0 1 2 3 4 5 6 7 8m
...|...|...|...|...|...|...|...| ...|...|...|...|...|...|...|...|
100 | 200 300 400cm/s 100 | 200 300 400cm/s
@ -274,15 +274,15 @@ static int16_t calc_desired_speed(int16_t max_speed)
// wp_distance is always in m/s and not cm/s - I know it's stupid that way // wp_distance is always in m/s and not cm/s - I know it's stupid that way
// for example 4m from target = 200cm/s speed // for example 4m from target = 200cm/s speed
// we choose the lowest speed based on disance // we choose the lowest speed based on disance
max_speed = min(max_speed, (wp_distance * 50)); max_speed = min(max_speed, (wp_distance * 100));
// limit the ramp up of the speed // limit the ramp up of the speed
// waypoint_speed_gov is reset to 0 at each new WP command // waypoint_speed_gov is reset to 0 at each new WP command
if(waypoint_speed_gov < max_speed){ if(waypoint_speed_gov < max_speed){
waypoint_speed_gov += (int)(50.0 * dTnav); // increase at .5/ms waypoint_speed_gov += (int)(100.0 * dTnav); // increase at .5/ms
// go at least 50cm/s // go at least 100cm/s
max_speed = max(50, waypoint_speed_gov); max_speed = max(100, waypoint_speed_gov);
// limit with governer // limit with governer
max_speed = min(max_speed, waypoint_speed_gov); max_speed = min(max_speed, waypoint_speed_gov);
} }
@ -305,7 +305,6 @@ static void calc_nav_rate(int max_speed)
nav_lon = nav_lon_p + x_iterm; nav_lon = nav_lon_p + x_iterm;
nav_lon = constrain(nav_lon, -3000, 3000); nav_lon = constrain(nav_lon, -3000, 3000);
y_rate_error = (sin(temp) * max_speed) - y_actual_speed; // 413 y_rate_error = (sin(temp) * max_speed) - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum
int16_t y_iterm = g.pi_loiter_lat.get_i(y_rate_error, dTnav); int16_t y_iterm = g.pi_loiter_lat.get_i(y_rate_error, dTnav);