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moved some math around for Loiter code. Added more notes 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1897 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-04-16 20:44:23 +00:00
parent 4ae6c5c0ac
commit b861895b7f
1 changed files with 36 additions and 9 deletions
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45
ArduCopterMega/navigation.pde
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@ -54,14 +54,17 @@ void calc_loiter_nav()
Becuase we are using lat and lon to do our distance errors here's a quick chart: Becuase we are using lat and lon to do our distance errors here's a quick chart:
100 = 1m 100 = 1m
1000 = 11m 1000 = 11m
1800 = 1980m = 60 feet 1800 = 19.80m = 60 feet
3000 = 33m 3000 = 33m
10000 = 111m 10000 = 111m
pitch_max = 22° (2200) pitch_max = 22° (2200)
*/ */
// X ROLL
long_error = (float)(next_WP.lng - current_loc.lng) * scaleLongDown; // 500 - 0 = 500 roll EAST
// Y PITCH
lat_error = current_loc.lat - next_WP.lat; // 0 - 500 = -500 pitch NORTH
long_error = (float)(next_WP.lng - current_loc.lng) * scaleLongDown; // 50 - 30 = 20 pitch right
lat_error = next_WP.lat - current_loc.lat; // 50 - 30 = 20 pitch up
long_error = constrain(long_error, -DIST_ERROR_MAX, DIST_ERROR_MAX); // +- 20m max error long_error = constrain(long_error, -DIST_ERROR_MAX, DIST_ERROR_MAX); // +- 20m max error
lat_error = constrain(lat_error, -DIST_ERROR_MAX, DIST_ERROR_MAX); // +- 20m max error lat_error = constrain(lat_error, -DIST_ERROR_MAX, DIST_ERROR_MAX); // +- 20m max error
@ -72,11 +75,38 @@ void calc_loiter_nav()
// PITCH Y // PITCH Y
//nav_lat = lat_error * g.pid_nav_lat.kP(); // 1800 * 2 = 3600 or 36° //nav_lat = lat_error * g.pid_nav_lat.kP(); // 1800 * 2 = 3600 or 36°
nav_lat = g.pid_nav_lat.get_pid(lat_error, dTnav2, 1.0); nav_lat = g.pid_nav_lat.get_pid(lat_error, dTnav2, 1.0); // invert lat (for pitch)
// nav_lat = -1000 Y Pitch
// nav_lon = 1000 X Roll
// rotate the vector // rotate the vector
nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x; nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * -cos_yaw_x;
nav_pitch = -((float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y); // BAD
//NORTH -1000 * 1 - 1000 * 0 = -1000 // roll left
//WEST -1000 * 0 - 1000 * -1 = 1000 // roll right - Backwards
//EAST -1000 * 0 - 1000 * 1 = -1000 // roll left - Backwards
//SOUTH -1000 * -1 - 1000 * 0 = 1000 // roll right
// GOOD
//NORTH -1000 * 1 - 1000 * 0 = -1000 // roll left
//WEST -1000 * 0 - 1000 * 1 = -1000 // roll right
//EAST -1000 * 0 - 1000 * -1 = 1000 // roll left
//SOUTH -1000 * -1 - 1000 * 0 = 1000 // roll right
nav_pitch = ((float)nav_lon * -cos_yaw_x + (float)nav_lat * sin_yaw_y);
// BAD
//NORTH -1000 * 0 + 1000 * 1 = 1000 // pitch back
//WEST -1000 * -1 + 1000 * 0 = 1000 // pitch back - Backwards
//EAST -1000 * 1 + 1000 * 0 = -1000 // pitch forward - Backwards
//SOUTH -1000 * 0 + 1000 * -1 = -1000 // pitch forward
// GOOD
//NORTH -1000 * 0 + 1000 * 1 = 1000 // pitch back
//WEST -1000 * 1 + 1000 * 0 = -1000 // pitch forward
//EAST -1000 * -1 + 1000 * 0 = 1000 // pitch back
//SOUTH -1000 * 0 + 1000 * -1 = -1000 // pitch forward
long pmax = g.pitch_max.get(); long pmax = g.pitch_max.get();
@ -87,8 +117,6 @@ void calc_loiter_nav()
void calc_waypoint_nav() void calc_waypoint_nav()
{ {
nav_lat = constrain((wp_distance * 100), -1800, 1800); // +- 20m max error nav_lat = constrain((wp_distance * 100), -1800, 1800); // +- 20m max error
//nav_lat = max(wp_distance, -DIST_ERROR_MAX);
//nav_lat = min(wp_distance, DIST_ERROR_MAX);
// Scale response by kP // Scale response by kP
nav_lat *= g.pid_nav_lat.kP(); // 1800 * 2 = 3600 or 36° nav_lat *= g.pid_nav_lat.kP(); // 1800 * 2 = 3600 or 36°
@ -101,7 +129,6 @@ void calc_waypoint_nav()
nav_roll = (float)nav_lat * cos_nav_x; nav_roll = (float)nav_lat * cos_nav_x;
nav_pitch = -(float)nav_lat * sin_nav_y; nav_pitch = -(float)nav_lat * sin_nav_y;
long pmax = g.pitch_max.get(); long pmax = g.pitch_max.get();
nav_roll = constrain(nav_roll, -pmax, pmax); nav_roll = constrain(nav_roll, -pmax, pmax);
nav_pitch = constrain(nav_pitch, -pmax, pmax); nav_pitch = constrain(nav_pitch, -pmax, pmax);