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Added in crosstrack correction - test for SIM

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Jason Short 2011-11-09 22:56:09 -08:00
parent 952520da32
commit d8dcb0e0d0
1 changed files with 24 additions and 3 deletions
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27
ArduCopter/navigation.pde
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@ -153,7 +153,7 @@ static void calc_nav_rate(int max_speed)
// max_speed is default 400 or 4m/s // max_speed is default 400 or 4m/s
// (wp_distance * 50) = 1/2 of the distance converted to speed // (wp_distance * 50) = 1/2 of the distance converted to speed
// wp_distance is alwats in m/s and not cm/s - I know it's stupiod that way // wp_distance is always in m/s and not cm/s - I know it's stupid that way
// for example 4m from target = 200cm/s speed // for example 4m from target = 200cm/s speed
// we choose the lowest speed based on disance // we choose the lowest speed based on disance
max_speed = min(max_speed, (wp_distance * 50)); max_speed = min(max_speed, (wp_distance * 50));
@ -170,11 +170,14 @@ static void calc_nav_rate(int max_speed)
} }
// XXX target_angle should be the original desired target angle! // XXX target_angle should be the original desired target angle!
float temp = radians((original_target_bearing - g_gps->ground_course)/100.0); float temp = radians((target_bearing - g_gps->ground_course)/100.0);
// push us towards the original track
update_crosstrack();
// heading laterally, we want a zero speed here // heading laterally, we want a zero speed here
x_actual_speed = -sin(temp) * (float)g_gps->ground_speed; x_actual_speed = -sin(temp) * (float)g_gps->ground_speed;
x_rate_error = -x_actual_speed; x_rate_error = crosstrack_error -x_actual_speed;
x_rate_error = constrain(x_rate_error, -800, 800); x_rate_error = constrain(x_rate_error, -800, 800);
nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500); nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500);
@ -199,6 +202,24 @@ static void calc_nav_rate(int max_speed)
nav_lat);*/ nav_lat);*/
} }
void update_crosstrack(void)
{
// Crosstrack Error
// ----------------
if (cross_track_test() < 5000) { // If we are too far off or too close we don't do track following
crosstrack_error = sin(radians((target_bearing - crosstrack_bearing) / 100)) * wp_distance; // Meters we are off track line
crosstrack_error = constrain(crosstrack_error * 4, -1200, 1200);
}
}
long cross_track_test()
{
long temp = target_bearing - original_target_bearing;
temp = wrap_180(temp);
return abs(temp);
}
// nav_roll, nav_pitch // nav_roll, nav_pitch
static void calc_nav_pitch_roll() static void calc_nav_pitch_roll()
{ {