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improved rotation vectors 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1618 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-10 07:08:03 +00:00
parent 61d65f652c
commit f03df257f3
1 changed files with 15 additions and 16 deletions
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31
ArduCopterMega/navigation.pde
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@ -45,7 +45,7 @@ void navigate()
void calc_nav()
{
Vector2f yawvector;
long long_error, lat_error;
Matrix3f temp;
/*
Becuase we are using lat and lon to do our distance errors here's a quick chart:
@ -56,34 +56,33 @@ void calc_nav()
pitch_max = 22° (2200)
*/
Matrix3f temp = dcm.get_dcm_matrix();
yawvector.x = temp.a.x; // sin
temp = dcm.get_dcm_matrix();
yawvector.y = temp.b.x; // cos
yawvector.x = temp.a.x; // sin
yawvector.normalize();
yawvector.y = -yawvector.y;
//cos =
long_error = (float)(next_WP.lng - current_loc.lng) * scaleLongDown;
lat_error = next_WP.lat - current_loc.lat;
cos_yaw_x = yawvector.y; // 0
sin_yaw_y = yawvector.x; // 1
long_error = (float)(next_WP.lng - current_loc.lng) * scaleLongDown; // 50 - 30 = 20 pitch right
lat_error = next_WP.lat - current_loc.lat; // 50 - 30 = 20 pitch up
long_error = constrain(long_error, -DIST_ERROR_MAX, DIST_ERROR_MAX); // +- 20m max error
lat_error = constrain(lat_error, -DIST_ERROR_MAX, DIST_ERROR_MAX); // +- 20m max error
// ROLL
nav_lon = long_error * pid_nav_lon.kP();
// Convert distance into ROLL X
nav_lon = long_error * pid_nav_lon.kP(); // 1800 * 2 = 3600 or 36°
//nav_lon = pid_nav_lon.get_pid(long_error, dTnav2, 1.0);
//nav_lon = constrain(nav_lon, -DIST_ERROR_MAX, DIST_ERROR_MAX); // Limit max command
// PITCH
// PITCH Y
//nav_lat = pid_nav_lat.get_pid(lat_error, dTnav2, 1.0);
nav_lat = lat_error * pid_nav_lat.kP();
nav_lat = lat_error * pid_nav_lat.kP(); // 1800 * 2 = 3600 or 36°
//nav_lat = constrain(nav_lat, -DIST_ERROR_MAX, DIST_ERROR_MAX); // Limit max command
// rotate the vector
nav_roll = (float)nav_lon * yawvector.x - (float)nav_lat * yawvector.y;
nav_pitch = (float)nav_lat * yawvector.x + (float)nav_lon * yawvector.y;
//Serial.printf("vx %4.4f,vy %4.4f ", yawvector.x, yawvector.y);
// rotate the vector
nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
nav_pitch = -((float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y);
nav_roll = constrain(nav_roll, -pitch_max, pitch_max);
nav_pitch = constrain(nav_pitch, -pitch_max, pitch_max);