mirror of https://github.com/ArduPilot/ardupilot
Upped the max pitch to deal with wind - based on T3 testing
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@ -191,7 +191,7 @@ static void calc_nav_rate(int max_speed)
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// heading laterally, we want a zero speed here
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x_actual_speed = -sin(temp) * (float)g_gps->ground_speed;
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x_rate_error = crosstrack_error -x_actual_speed;
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x_rate_error = constrain(x_rate_error, -800, 800);
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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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max_speed,
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@ -206,7 +206,7 @@ static void calc_nav_rate(int max_speed)
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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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y_rate_error = max_speed - y_actual_speed; // 413
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y_rate_error = constrain(y_rate_error, -800, 800); // added a rate error limit to keep pitching down to a minimum
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y_rate_error = constrain(y_rate_error, -1400, 1400); // added a rate error limit to keep pitching down to a minimum
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nav_lat = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500);
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