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Plane: use ahrs.yaw_sensor not direct compass read for yaw 

also use 10 degrees of margin, to cope with fast yaw changes (this
function is called at only 10Hz)
This commit is contained in:
Andrew Tridgell 2015-04-24 07:39:25 +10:00
parent 343a682d22
commit c73945686c
1 changed files with 19 additions and 16 deletions
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35
ArduPlane/commands_logic.pde
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@ -546,7 +546,13 @@ static bool verify_loiter_turns()
return false;
}
static bool verify_loiter_to_alt() {
/*
verify a LOITER_TO_ALT command. This involves checking we have
reached both the desired altitude and desired heading. The desired
altitude only needs to be reached once.
*/
static bool verify_loiter_to_alt()
{
update_loiter();
//has target altitude been reached?
@ -574,30 +580,27 @@ static bool verify_loiter_to_alt() {
}
// Bearing in radians
float bearing = (radians( (float)(get_bearing_cd(current_loc,next_nav_cmd.content.location)/100.0) ));
int32_t bearing_cd = get_bearing_cd(current_loc,next_nav_cmd.content.location);
// Calculate heading
float heading = 5000;
if (((Compass &) compass).read()) {
const Matrix3f &m = ahrs.get_dcm_matrix();
heading = compass.calculate_heading(m);
// get current heading. We should probably be using the ground
// course instead to improve the accuracy in wind
int32_t heading_cd = ahrs.yaw_sensor;
//map heading to bearing's coordinate space:
if (heading < 0.0f) {
heading += 2.0f*PI;
}
}
int32_t heading_err_cd = wrap_180_cd(bearing_cd - heading_cd);
// Check to see if the the plane is heading toward the land waypoint
//3 degrees = 0.0523598776 radians
if (fabs(bearing - heading) <= 0.0523598776f) {
/*
Check to see if the the plane is heading toward the land
waypoint
We use 10 degrees of slop so that we can handle 100
degrees/second of yaw
*/
if (abs(heading_err_cd) <= 1000) {
//Want to head in a straight line from _here_ to the next waypoint.
//DON'T want to head in a line from the center of the loiter to
//the next waypoint.
//Therefore: mark the "last" (next_wp_loc is about to be updated)
//wp lat/lon as the current location.
next_WP_loc = current_loc;
return true;
} else {
return false;