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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

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This commit is contained in:
Chris Anderson 2012-01-21 19:36:50 -08:00
commit ad990c7e35
3 changed files with 12 additions and 10 deletions
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5
ArduCopter/ArduCopter.pde
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@ -2007,7 +2007,7 @@ static void update_nav_wp()
{
if(wp_control == LOITER_MODE){
// calc a pitch to the target
// calc error to target
calc_location_error(&next_WP);
// use error as the desired rate towards the target
@ -2064,6 +2064,9 @@ static void update_nav_wp()
//Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);
}else if(wp_control == WP_MODE){
// calc error to target
calc_location_error(&next_WP);
int16_t speed = calc_desired_speed(g.waypoint_speed_max);
// use error as the desired rate towards the target
calc_nav_rate(speed);

6
ArduCopter/Attitude.pde
View File

@ -321,9 +321,9 @@ static int get_angle_boost(int value)
{
float temp = cos_pitch_x * cos_roll_x;
temp = 1.0 - constrain(temp, .5, 1.0);
// int16_t output = temp * value;
// return constrain(output, 0, 100);
return (int)(temp * value);
int16_t output = temp * value;
return constrain(output, 0, 100);
// return (int)(temp * value);
}
#define NUM_G_SAMPLES 40

11
ArduCopter/navigation.pde
View File

@ -261,7 +261,7 @@ static void calc_loiter_pitch_roll()
static int16_t calc_desired_speed(int16_t max_speed)
{
/*
|< WP Radius
|< WP Radius
0 1 2 3 4 5 6 7 8m
...|...|...|...|...|...|...|...|
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
// for example 4m from target = 200cm/s speed
// 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
// waypoint_speed_gov is reset to 0 at each new WP command
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
max_speed = max(50, waypoint_speed_gov);
// go at least 100cm/s
max_speed = max(100, waypoint_speed_gov);
// limit with governer
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 = constrain(nav_lon, -3000, 3000);
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
int16_t y_iterm = g.pi_loiter_lat.get_i(y_rate_error, dTnav);