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increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
This commit is contained in:
Jason Short 2012-07-03 17:34:50 -07:00
parent 3a3966736c
commit c29a0bc3f8
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/navigation.pde
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@ -199,7 +199,7 @@ static void calc_nav_rate(int max_speed)
x_rate_error = constrain(x_rate_error, -1000, 1000);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
temp = x_target_speed * x_target_speed;
temp *= .0054;
temp *= g.tilt_comp;
if(x_target_speed < 0)
temp = -temp;
@ -212,7 +212,7 @@ static void calc_nav_rate(int max_speed)
y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
temp = y_target_speed * y_target_speed;
temp *= .0054;
temp *= g.tilt_comp;
if(y_target_speed < 0)
temp = -temp;
@ -261,7 +261,7 @@ static int16_t calc_desired_speed(int16_t max_speed, bool _slow)
// limit the ramp up of the speed
// waypoint_speed_gov is reset to 0 at each new WP command
if(max_speed > waypoint_speed_gov){
waypoint_speed_gov += (int)(100.0 * dTnav); // increase at .5/ms
waypoint_speed_gov += (int)(200.0 * dTnav); // increase at .5/ms
max_speed = waypoint_speed_gov;
}