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navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction.

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Jason Short 2012-06-29 14:39:36 -07:00
parent 59181eab3d
commit d893cde785
1 changed files with 13 additions and 0 deletions
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13
ArduCopter/navigation.pde
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@ -197,12 +197,25 @@ static void calc_nav_rate(int max_speed)
x_rate_error = x_target_speed - x_actual_speed; // 413 x_rate_error = x_target_speed - x_actual_speed; // 413
x_rate_error = constrain(x_rate_error, -1000, 1000); x_rate_error = constrain(x_rate_error, -1000, 1000);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav); nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
temp = x_target_speed * x_target_speed;
temp *= .0054;
if(x_target_speed < 0)
temp = -temp;
nav_lon += temp;
nav_lon = constrain(nav_lon, -3000, 3000); nav_lon = constrain(nav_lon, -3000, 3000);
// North / South // North / South
y_rate_error = y_target_speed - y_actual_speed; // 413 y_rate_error = y_target_speed - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum 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); nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
temp = y_target_speed * y_target_speed;
temp *= .0054;
if(y_target_speed < 0)
temp = -temp;
nav_lat += temp;
nav_lat = constrain(nav_lat, -3000, 3000); nav_lat = constrain(nav_lat, -3000, 3000);
// copy over I term to Loiter_Rate // copy over I term to Loiter_Rate