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Copter: remove original_wp_bearing

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To-Do: extend wpnav yaw control to only repoint nose towards waypoint if
it is more than 5m or 10m away
This commit is contained in:
Randy Mackay 2014-03-23 20:42:33 +09:00
parent 392162747a
commit 8f946a3a8c
4 changed files with 0 additions and 23 deletions
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2
ArduCopter/ArduCopter.pde
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@ -514,8 +514,6 @@ static float scaleLongDown = 1;
////////////////////////////////////////////////////////////////////////////////
// This is the angle from the copter to the next waypoint in centi-degrees
static int32_t wp_bearing;
// The original bearing to the next waypoint. used to point the nose of the copter at the next waypoint
static int32_t original_wp_bearing;
// The location of home in relation to the copter in centi-degrees
static int32_t home_bearing;
// distance between plane and home in cm

8
ArduCopter/commands_logic.pde
View File

@ -313,10 +313,6 @@ static void do_nav_wp(const AP_Mission::Mission_Command& cmd)
// set spline navigation target
auto_spline_start(local_pos, stopped_at_start, seg_end_type, next_spline_destination);
}
// initialise original_wp_bearing which is used to check if we have missed the waypoint
wp_bearing = wp_nav.get_wp_bearing_to_destination();
original_wp_bearing = wp_bearing;
}
// do_land - initiate landing procedure
@ -333,10 +329,6 @@ static void do_land(const AP_Mission::Mission_Command& cmd)
Vector3f pos = pv_location_to_vector(cmd.content.location);
pos.z = min(current_loc.alt, RTL_ALT_MAX);
auto_wp_start(pos);
// initialise original_wp_bearing which is used to check if we have missed the waypoint
wp_bearing = wp_nav.get_wp_bearing_to_destination();
original_wp_bearing = wp_bearing;
}else{
// set landing state
land_state = LAND_STATE_DESCENDING;

9
ArduCopter/control_guided.pde
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@ -38,15 +38,6 @@ static void guided_set_destination(const Vector3f& destination)
if (!guided_pilot_yaw_override_yaw) {
// get default yaw mode
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
// point nose at next waypoint if it is more than 10m away
if (auto_yaw_mode == AUTO_YAW_LOOK_AT_NEXT_WP) {
// get distance to new location
wp_distance = wp_nav.get_wp_distance_to_destination();
// set original_wp_bearing to point at next waypoint
if (wp_distance >= GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM) {
original_wp_bearing = wp_bearing;
}
}
}
}
}

4
ArduCopter/control_rtl.pde
View File

@ -95,10 +95,6 @@ static void rtl_return_start()
rtl_state = ReturnHome;
rtl_state_complete = false;
// initialise original_wp_bearing which is used to point the nose home
wp_bearing = wp_nav.get_wp_bearing_to_destination();
original_wp_bearing = wp_bearing;
// set target to above home
Vector3f destination = Vector3f(0,0,get_RTL_alt());
wp_nav.set_wp_destination(destination);