mirror of https://github.com/ArduPilot/ardupilot
Fixes for Smooth Loiter
This commit is contained in:
Jason Short
parent
4f60fa412c
commit
fa49aa5eec
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@ -41,26 +41,26 @@ static void calc_XY_velocity(){
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static int32_t last_longitude = 0;
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static int32_t last_latutude = 0;
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// y_GPS_speed positve = Up
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// x_GPS_speed positve = Right
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if(g_gps->ground_speed > 150){
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// Derive X/Y speed from GPS
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// this is far more accurate when traveling about 1.5m/s
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float temp = g_gps->ground_course * RADX100;
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x_GPS_speed = sin(temp) * (float)g_gps->ground_speed;
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y_GPS_speed = cos(temp) * (float)g_gps->ground_speed;
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}else{
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// this speed is ~ in cm because we are using 10^7 numbers from GPS
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int16_t x_diff = (last_longitude - g_gps->longitude);
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int16_t y_diff = (last_latutude - g_gps->latitude);
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float tmp = 1.0/dTnav;
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//int8_t tmp = 5;
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int16_t x_diff = (g_gps->longitude - last_longitude) * tmp;
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int16_t y_diff = (g_gps->latitude - last_latutude) * tmp;
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if(x_diff == 0)
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x_GPS_speed = x_GPS_speed /2;
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else
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x_GPS_speed = x_diff;
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if(y_diff == 0)
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y_GPS_speed = y_GPS_speed /2;
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else
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y_GPS_speed = y_diff;
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// filter
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x_GPS_speed = (x_GPS_speed * 3 + x_diff) / 4;
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y_GPS_speed = (y_GPS_speed * 3 + y_diff) / 4;
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}
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last_longitude = g_gps->longitude;
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@ -69,7 +69,6 @@ static void calc_XY_velocity(){
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//Serial.printf("GS: %d \tx:%d \ty:%d\n", g_gps->ground_speed, x_GPS_speed, y_GPS_speed);
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}
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// long_error, lat_error
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static void calc_location_error(struct Location *next_loc)
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{
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/*
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@ -82,11 +81,11 @@ static void calc_location_error(struct Location *next_loc)
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pitch_max = 22° (2200)
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*/
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// X ROLL
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long_error = (float)(next_loc->lng - current_loc.lng) * scaleLongDown; // 500 - 0 = 500 roll EAST
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// X Error
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long_error = (float)(next_loc->lng - current_loc.lng) * scaleLongDown; // 500 - 0 = 500 Go East
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// Y PITCH
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lat_error = next_loc->lat - current_loc.lat; // 0 - 500 = -500 pitch NORTH
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// Y Error
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lat_error = next_loc->lat - current_loc.lat; // 500 - 0 = 500 Go North
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}
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#define NAV_ERR_MAX 800
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@ -112,53 +111,55 @@ static void calc_loiter(int x_error, int y_error)
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nav_lon = constrain(nav_lon, -3500, 3500);
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nav_lon += x_iterm;
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/*Serial.printf("WP_dist: %d, loiter x_actual_speed %d,\tx_rate_error: %d,\tnav_lon: %d,\ty_actual_speed %d,\ty_rate_error: %d,\tnav_lat: %d,\n",
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wp_distance,
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x_actual_speed,
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x_rate_error,
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nav_lon,
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y_actual_speed,
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y_rate_error,
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nav_lat);
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/*
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int8_t ttt = 1.0/dTnav;
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int16_t t2 = g.pi_nav_lat.get_integrator();
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// 1 2 3 4 5 6 7 8 9 10 11
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Serial.printf("%d, %d, %d, %d, %d, %d, %d, %d, %d, %d, %d\n",
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wp_distance, //1
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ttt, //2
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y_error, //3
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y_GPS_speed, //4
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y_GPS_speed2, //5
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y_actual_speed, //6
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y_target_speed, //7
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y_rate_error, //8
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nav_lat, //9
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y_iterm, //10
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t2); //11
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//*/
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/*
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int16_t t1 = g.pi_nav_lon.get_integrator(); // X
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Serial.printf("%d, %1.4f, %d, %d, %d, %d, %d, %d, %d, %d\n",
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wp_distance, //1
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dTnav, //2
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x_error, //3
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x_GPS_speed, //4
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x_actual_speed, //5
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x_target_speed, //6
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x_rate_error, //7
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nav_lat, //8
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x_iterm, //9
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t1); //10
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//*/
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}
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//wp_distance, y_error, y_GPS_speed, y_GPS_speed2, y_actual_speed, y_target_speed, y_rate_error, nav_lat, y_iterm, t2
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#define ERR_GAIN .01
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// called at 50hz
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static void estimate_velocity()
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{
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// for now we assume copter is pointing due north
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// use roll to calculate the x velocity
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//float scale = sin((float)nav_lon * RADX100)); // guess our X location based tilt of copter
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// we need to extimate velocity when below GPS threshold of 1.5m/s
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if(g_gps->ground_speed < 150){
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// calc the cos of the error to tell how fast we are moving towards the target in cm
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//if(g.optflow_enabled && current_loc.alt < 500){
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// optflow wont be enabled on 1280's
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// #ifdef OPTFLOW_ENABLED
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//x_actual_speed = optflow.vlon * 10;
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//y_actual_speed = optflow.vlat * 10;
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// #endif
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//}else{
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// some smoothing to prevent bumpy rides
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x_actual_speed = (x_actual_speed * 15 + x_GPS_speed) / 16;
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y_actual_speed = (y_actual_speed * 15 + y_GPS_speed) / 16;
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// this area will have future IMU based velocity navigation,
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// ignore these sketches.
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// need to take into account the wind based on loiter's iterms
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// x_actual_speed += thrust * sin_roll_y; // thrust is a guess, needs to be calibrated whith CH6
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// x_actual_speed -= ERR_GAIN * (float)(x_actual_speed - x_GPS_speed); // error correction
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// y_actual_speed += thrust * sin_pitch_y; // thrust is a guess, needs to be calibrated whith CH6
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// y_actual_speed -= ERR_GAIN * (float)(y_actual_speed - y_GPS_speed); // error correction
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//}
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// for now
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// light filter of output
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x_actual_speed = (x_actual_speed * 3 + x_GPS_speed) / 4;
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y_actual_speed = (y_actual_speed * 3 + y_GPS_speed) / 4;
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}else{
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// less smoothing needed since the GPS already filters
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x_actual_speed = (x_actual_speed * 3 + x_GPS_speed) / 4;
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y_actual_speed = (y_actual_speed * 3 + y_GPS_speed) / 4;
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}
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@ -299,25 +300,6 @@ static int32_t get_altitude_error()
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return next_WP.alt - current_loc.alt;
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}
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/*
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//static int get_loiter_angle()
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{
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float power;
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int angle;
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if(wp_distance <= g.loiter_radius){
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power = float(wp_distance) / float(g.loiter_radius);
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power = constrain(power, 0.5, 1);
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angle = 90.0 * (2.0 + power);
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}else if(wp_distance < (g.loiter_radius + LOITER_RANGE)){
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power = -((float)(wp_distance - g.loiter_radius - LOITER_RANGE) / LOITER_RANGE);
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power = constrain(power, 0.5, 1); //power = constrain(power, 0, 1);
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angle = power * 90;
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}
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return angle;
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}*/
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static int32_t wrap_360(int32_t error)
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{
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if (error > 36000) error -= 36000;
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@ -332,38 +314,6 @@ static int32_t wrap_180(int32_t error)
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return error;
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}
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/*
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//static int32_t get_crosstrack_correction(void)
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{
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// Crosstrack Error
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// ----------------
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if (cross_track_test() < 9000) { // If we are too far off or too close we don't do track following
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// Meters we are off track line
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float error = sin(radians((target_bearing - crosstrack_bearing) / (float)100)) * (float)wp_distance;
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// take meters * 100 to get adjustment to nav_bearing
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int32_t _crosstrack_correction = g.pi_crosstrack.get_pi(error, dTnav) * 100;
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// constrain answer to 30° to avoid overshoot
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return constrain(_crosstrack_correction, -g.crosstrack_entry_angle.get(), g.crosstrack_entry_angle.get());
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}
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return 0;
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}
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*/
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/*
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//static int32_t cross_track_test()
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{
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int32_t temp = wrap_180(target_bearing - crosstrack_bearing);
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return abs(temp);
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}
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*/
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/*
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//static void reset_crosstrack()
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{
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crosstrack_bearing = get_bearing(¤t_loc, &next_WP); // Used for track following
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}
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*/
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/*
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//static int32_t get_altitude_above_home(void)
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{
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@ -386,7 +336,7 @@ static int32_t get_distance(struct Location *loc1, struct Location *loc2)
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return sqrt(sq(dlat) + sq(dlong)) * .01113195;
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}
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/*
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static int32_t get_alt_distance(struct Location *loc1, struct Location *loc2)
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//static int32_t get_alt_distance(struct Location *loc1, struct Location *loc2)
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{
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return abs(loc1->alt - loc2->alt);
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}
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