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ACM: Smoother Speed calcs

This commit is contained in:
Jason Short 2012-03-16 14:09:59 -07:00
parent 09995aed62
commit f6638d00d6
1 changed files with 9 additions and 6 deletions
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15
ArduCopter/navigation.pde
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@ -55,11 +55,15 @@ static void calc_XY_velocity(){
// straightforward approach:
///*
x_actual_speed = x_speed_old + (float)(g_gps->longitude - last_longitude) * scaleLongDown * tmp;
y_actual_speed = y_speed_old + (float)(g_gps->latitude - last_latitude) * tmp;
x_actual_speed = x_actual_speed >> 1;
y_actual_speed = y_actual_speed >> 1;
x_actual_speed = (float)(g_gps->longitude - last_longitude) * scaleLongDown * tmp;
y_actual_speed = (float)(g_gps->latitude - last_latitude) * tmp;
x_actual_speed = (x_actual_speed + x_speed_old * 3) / 4;
y_actual_speed = (y_actual_speed + y_speed_old * 3) / 4;
//x_actual_speed = x_actual_speed >> 1;
//y_actual_speed = y_actual_speed >> 1;
x_speed_old = x_actual_speed;
y_speed_old = y_actual_speed;
@ -149,7 +153,6 @@ static void calc_loiter(int x_error, int y_error)
// East / West
x_target_speed = g.pi_loiter_lon.get_p(x_error); // not contstrained yet
//x_target_speed = constrain(x_target_speed, -250, 250); // limit to 2.5m/s travel speed
x_rate_error = x_target_speed - x_actual_speed; // calc the speed error
nav_lon = g.pid_loiter_rate_lon.get_pid(x_rate_error, dTnav);
//nav_lon += x_rate_d * (g.pid_loiter_rate_lon.kD() / dTnav);
@ -157,7 +160,6 @@ static void calc_loiter(int x_error, int y_error)
// North / South
y_target_speed = g.pi_loiter_lat.get_p(y_error);
//y_target_speed = constrain(y_target_speed, -250, 250);
y_rate_error = y_target_speed - y_actual_speed;
nav_lat = g.pid_loiter_rate_lat.get_pid(y_rate_error, dTnav);
//nav_lat += y_rate_d * (g.pid_loiter_rate_lat.kD() / dTnav);
@ -167,6 +169,7 @@ static void calc_loiter(int x_error, int y_error)
g.pid_nav_lon.set_integrator(g.pid_loiter_rate_lon.get_integrator());
g.pid_nav_lat.set_integrator(g.pid_loiter_rate_lat.get_integrator());
//Serial.printf("XX, %d, %d, %d\n", long_error, x_actual_speed, (int16_t)g.pid_loiter_rate_lon.get_integrator());
// Wind I term based on location error,
// limit windup