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removed Constraint that caused JLN's horizontal drift.

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This commit is contained in:
Jason Short 2012-02-26 11:15:47 -08:00
parent 3ce1633157
commit 9a2be4701f
1 changed files with 16 additions and 3 deletions
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19
ArduCopter/navigation.pde
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@ -66,7 +66,7 @@ static void calc_XY_velocity(){
/*
// Ryan Beall's forward estimator:
int16_t x_speed_new = (float)(g_gps->longitude - last_longitude) * tmp;
int16_t x_speed_new = (float)(g_gps->longitude - last_longitude) * scaleLongDown* tmp;
int16_t y_speed_new = (float)(g_gps->latitude - last_latitude) * tmp;
x_actual_speed = x_speed_new + (x_speed_new - x_speed_old);
@ -101,19 +101,20 @@ static void calc_location_error(struct Location *next_loc)
#define NAV_ERR_MAX 600
static void calc_loiter(int x_error, int y_error)
{
#if LOITER_RATE == 1
int16_t x_target_speed, y_target_speed;
int16_t x_iterm, y_iterm;
// East / West
x_target_speed = g.pi_loiter_lon.get_p(x_error); // not contstrained yet
x_target_speed = constrain(x_target_speed, -250, 250); // limit to 2.5m/s travel speed
//x_target_speed = constrain(x_target_speed, -250, 250); // limit to 2.5m/s travel speed
x_rate_error = x_target_speed - x_actual_speed; // calc the speed error
nav_lon = g.pid_loiter_rate_lon.get_pid(x_rate_error, dTnav);
nav_lon = constrain(nav_lon, -3000, 3000); // 30°
// North / South
y_target_speed = g.pi_loiter_lat.get_p(y_error);
y_target_speed = constrain(y_target_speed, -250, 250);
//y_target_speed = constrain(y_target_speed, -250, 250);
y_rate_error = y_target_speed - y_actual_speed;
nav_lat = g.pid_loiter_rate_lat.get_pid(y_rate_error, dTnav);
nav_lat = constrain(nav_lat, -3000, 3000); // 30°
@ -122,6 +123,18 @@ static void calc_loiter(int x_error, int y_error)
g.pid_nav_lon.set_integrator(g.pid_loiter_rate_lon.get_integrator());
g.pid_nav_lat.set_integrator(g.pid_loiter_rate_lat.get_integrator());
#else
// no rate control on Loiter
nav_lon = g.pid_loiter_rate_lon.get_pid(x_error, dTnav);
nav_lat = g.pid_loiter_rate_lat.get_pid(y_error, dTnav);
nav_lon = constrain(nav_lon, -3000, 3000); // 30°
nav_lat = constrain(nav_lat, -3000, 3000); // 30°
#endif
// Wind I term based on location error,
// limit windup
/*