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https://github.com/ArduPilot/ardupilot
synced 2025-01-11 02:18:29 -04:00
Fixed resolution issue with Xtrack
Added stub for loiter based on estimation integrated fix for tracking GPS at slow speeds for loiter
This commit is contained in:
Jason Short
parent
ce11f48809
commit
c8ca841bd7
@ -5,7 +5,6 @@
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//****************************************************************
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static byte navigate()
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{
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// waypoint distance from plane
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// ----------------------------
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wp_distance = get_distance(¤t_loc, &next_WP);
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@ -22,6 +21,7 @@ static byte navigate()
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// --------------------------------------------
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target_bearing = get_bearing(¤t_loc, &next_WP);
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home_to_copter_bearing = get_bearing(&home, ¤t_loc);
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return 1;
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}
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@ -34,6 +34,29 @@ static bool check_missed_wp()
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// ------------------------------
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static void calc_XY_velocity(){
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// offset calculation of GPS speed:
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// used for estimations below 1.5m/s
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// our GPS is about 1m per
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static int last_longitude = 0;
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static int last_latutude = 0;
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// this speed is ~ in cm because we are using 10^7 numbers from GPS
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x_GPS_speed = (last_longitude - g_gps->longitude) * dTnav;
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y_GPS_speed = (last_latutude - g_gps->latitude) * dTnav;
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last_longitude = g_gps->longitude;
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last_latutude = g_gps->latitude;
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if(g_gps->ground_speed > 150){
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// Derive X/Y speed from GPS
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// this is far more accurate when traveling about 1.5m/s
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float temp = g_gps->ground_course * RADX100;
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x_GPS_speed = sin(temp) * (float)g_gps->ground_speed;
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y_GPS_speed = cos(temp) * (float)g_gps->ground_speed;
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}
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//Serial.printf("GS: %d \tx:%d \ty:%d\n", g_gps->ground_speed, x_GPS_speed, y_GPS_speed);
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}
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// long_error, lat_error
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static void calc_location_error(struct Location *next_loc)
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{
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@ -55,40 +78,21 @@ static void calc_location_error(struct Location *next_loc)
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}
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#define NAV_ERR_MAX 800
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#if LOITER_METHOD == 0
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static void calc_loiter(int x_error, int y_error)
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{
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x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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int x_target_speed = g.pi_loiter_lon.get_p(x_error);
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int y_target_speed = g.pi_loiter_lat.get_p(y_error);
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int x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
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int y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
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int x_target_speed = g.pi_loiter_lon.get_p(x_error);
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int y_target_speed = g.pi_loiter_lat.get_p(y_error);
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int x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
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int y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
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// find the rates:
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float temp = g_gps->ground_course * RADX100;
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#ifdef OPTFLOW_ENABLED
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// calc the cos of the error to tell how fast we are moving towards the target in cm
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if(g.optflow_enabled && current_loc.alt < 500 && g_gps->ground_speed < 150){
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x_actual_speed = optflow.vlon * 10;
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y_actual_speed = optflow.vlat * 10;
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}else{
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x_actual_speed = (float)g_gps->ground_speed * sin(temp);
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y_actual_speed = (float)g_gps->ground_speed * cos(temp);
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}
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#else
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x_actual_speed = (float)g_gps->ground_speed * sin(temp);
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y_actual_speed = (float)g_gps->ground_speed * cos(temp);
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#endif
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y_rate_error = y_target_speed - y_actual_speed; // 413
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y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum
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nav_lat = g.pi_nav_lat.get_pi(y_rate_error, dTnav);
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nav_lat = constrain(nav_lat, -3500, 3500);
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nav_lat += y_iterm;
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y_rate_error = y_target_speed - y_actual_speed; // 413
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y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum
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nav_lat = g.pi_nav_lat.get_pi(y_rate_error, dTnav);
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nav_lat = constrain(nav_lat, -3500, 3500);
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nav_lat += y_iterm;
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/*Serial.printf("loiter x_actual_speed %d,\tx_rate_error: %d,\tnav_lon: %d,\ty_actual_speed %d,\ty_rate_error: %d,\tnav_lat: %d,\t",
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x_actual_speed,
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@ -98,67 +102,64 @@ static void calc_loiter(int x_error, int y_error)
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y_rate_error,
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nav_lat);
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*/
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x_rate_error = x_target_speed - x_actual_speed;
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x_rate_error = constrain(x_rate_error, -1000, 1000);
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nav_lon = g.pi_nav_lon.get_pi(x_rate_error, dTnav);
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nav_lon = constrain(nav_lon, -3500, 3500);
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nav_lon += x_iterm;
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x_rate_error = x_target_speed - x_actual_speed;
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x_rate_error = constrain(x_rate_error, -1000, 1000);
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nav_lon = g.pi_nav_lon.get_pi(x_rate_error, dTnav);
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nav_lon = constrain(nav_lon, -3500, 3500);
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nav_lon += x_iterm;
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}
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#else
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static void calc_loiter2(int x_error, int y_error)
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#define ERR_GAIN .01
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// called at 50hz
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static void esitmate_velocity()
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{
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static int last_x_error = 0;
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static int last_y_error = 0;
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// for now we assume copter is pointing due north
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// use roll to calculate the x velocity
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//float scale = sin((float)nav_lon * RADX100)); // guess our X location based tilt of copter
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x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX); //1200
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y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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// we need to extimate velocity when below GPS threshold of 1.5m/s
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if(g_gps->ground_speed < 150){
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// calc the cos of the error to tell how fast we are moving towards the target in cm
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//if(g.optflow_enabled && current_loc.alt < 500){
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// optflow wont be enabled on 1280's
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// #ifdef OPTFLOW_ENABLED
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//x_actual_speed = optflow.vlon * 10;
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//y_actual_speed = optflow.vlat * 10;
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// #endif
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//}else{
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int x_target_speed = g.pi_loiter_lon.get_p(x_error);
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int y_target_speed = g.pi_loiter_lat.get_p(y_error);
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// this area will have future IMU based velocity navigation,
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// ignore these sketches.
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int x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
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int y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
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// need to take into account the wind based on loiter's iterms
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// x_actual_speed += thrust * sin_roll_y; // thrust is a guess, needs to be calibrated whith CH6
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// x_actual_speed -= ERR_GAIN * (float)(x_actual_speed - x_GPS_speed); // error correction
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// find the rates:
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x_actual_speed = (float)(last_x_error - x_error)/dTnav;
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y_actual_speed = (float)(last_y_error - y_error)/dTnav;
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// y_actual_speed += thrust * sin_pitch_y; // thrust is a guess, needs to be calibrated whith CH6
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// y_actual_speed -= ERR_GAIN * (float)(y_actual_speed - y_GPS_speed); // error correction
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//}
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// save speeds
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last_x_error = x_error;
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last_y_error = y_error;
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y_rate_error = y_target_speed - y_actual_speed;
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nav_lat = g.pi_nav_lat.get_pi(y_rate_error, dTnav);
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nav_lat = constrain(nav_lat, -2200, 2200);
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nav_lat += y_iterm;
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x_rate_error = x_target_speed - x_actual_speed;
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nav_lon = g.pi_nav_lon.get_pi(x_rate_error, dTnav);
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nav_lon = constrain(nav_lon, -2200, 2200);
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nav_lon += x_iterm;
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// for now
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x_actual_speed = x_GPS_speed;
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y_actual_speed = y_GPS_speed;
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}else{
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x_actual_speed = x_GPS_speed;
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y_actual_speed = y_GPS_speed;
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}
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}
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#endif
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// nav_roll, nav_pitch
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// this calculation rotates our World frame of reference to the copter's frame of reference
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// We use the DCM's matrix to precalculate these trig values at 50hz
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static void calc_loiter_pitch_roll()
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{
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//float temp = radians((float)(9000 - (dcm.yaw_sensor))/100.0);
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//float _cos_yaw_x = cos(temp);
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//float _sin_yaw_y = sin(temp);
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//Serial.printf("ys %ld, cx %1.4f, _cx %1.4f | sy %1.4f, _sy %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x, sin_yaw_y, _sin_yaw_y);
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// rotate the vector
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nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
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nav_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y;
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// flip pitch because forward is negative
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nav_pitch = -nav_pitch;
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//Serial.printf("nav_roll %d, nav_pitch %d\n",
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// nav_roll, nav_pitch);
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}
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static void calc_nav_rate(int max_speed)
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@ -190,7 +191,6 @@ static void calc_nav_rate(int max_speed)
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max_speed = min(max_speed, waypoint_speed_gov);
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}
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//float temp = radians((target_bearing - g_gps->ground_course)/100.0);
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float temp = (target_bearing - g_gps->ground_course) * RADX100;
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// push us towards the original track
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@ -201,15 +201,16 @@ static void calc_nav_rate(int max_speed)
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x_rate_error = crosstrack_error -x_actual_speed;
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x_rate_error = constrain(x_rate_error, -1400, 1400);
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nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500);
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/*Serial.printf("max_speed %d,\tx_actual_speed %d,\tx_rate_error: %d,\tnav_lon: %d,\ty_actual_speed %d,\ty_rate_error: %d,\tnav_lat: %d,\t",
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/*Serial.printf("max_sp %d,\tx_actual_sp %d,\tx_rate_err: %d, Xtrack %d, \tnav_lon: %d,\ty_actual_sp %d,\ty_rate_err: %d,\tnav_lat: %d,\n",
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max_speed,
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x_actual_speed,
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x_rate_error,
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crosstrack_error,
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nav_lon,
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y_actual_speed,
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y_rate_error,
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nav_lat);
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*/
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//*/
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// heading towards target
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y_actual_speed = cos(temp) * (float)g_gps->ground_speed;
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@ -236,22 +237,23 @@ static void update_crosstrack(void)
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// ----------------
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if (cross_track_test() < 4000) { // If we are too far off or too close we don't do track following
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float temp = (target_bearing - original_target_bearing) * RADX100;
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//radians((target_bearing - original_target_bearing) / 100)
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crosstrack_error = sin(temp) * wp_distance; // Meters we are off track line
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crosstrack_error = constrain(crosstrack_error * g.crosstrack_gain, -1200, 1200);
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crosstrack_error = sin(temp) * (wp_distance * g.crosstrack_gain); // Meters we are off track line
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crosstrack_error = constrain(crosstrack_error, -1200, 1200);
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}
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}
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// used to generate the offset angle for testing crosstrack viability
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static int32_t cross_track_test()
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{
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int32_t temp = target_bearing - original_target_bearing;
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temp = wrap_180(temp);
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int32_t temp;
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temp = target_bearing - original_target_bearing;
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temp = wrap_180(temp);
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return abs(temp);
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}
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// nav_roll, nav_pitch
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// this calculation is different than loiter above because we are in a different Frame of Reference.
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// nav_lat is pointed towards the target, where as in Loiter, nav_lat is pointed north!
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static void calc_nav_pitch_roll()
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{
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int32_t angle = wrap_360(dcm.yaw_sensor - target_bearing);
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@ -331,7 +333,7 @@ static int32_t wrap_180(int32_t error)
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// constrain answer to 30° to avoid overshoot
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return constrain(_crosstrack_correction, -g.crosstrack_entry_angle.get(), g.crosstrack_entry_angle.get());
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}
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return 0;
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return 0;
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}
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*/
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/*
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