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AC_WPNav: replace hardcoded 0.02 with pos_control dt

This commit is contained in:
Randy Mackay 2015-08-04 14:44:40 +09:00
parent 8195f45d6c
commit fb9cc124c8
1 changed files with 10 additions and 8 deletions
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18
libraries/AC_WPNav/AC_WPNav.cpp
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@ -746,6 +746,7 @@ void AC_WPNav::set_spline_origin_and_destination(const Vector3f& origin, const V
{
// mission is "active" if wpnav has been called recently and vehicle reached the previous waypoint
bool prev_segment_exists = (_flags.reached_destination && ((hal.scheduler->millis() - _wp_last_update) < 1000));
float dt = _pos_control.get_dt_xy();
// check _wp_accel_cms is reasonable to avoid divide by zero
if (_wp_accel_cms <= 0) {
@ -761,7 +762,7 @@ void AC_WPNav::set_spline_origin_and_destination(const Vector3f& origin, const V
// calculate spline velocity at origin
if (stopped_at_start || !prev_segment_exists) {
// if vehicle is stopped at the origin, set origin velocity to 0.02 * distance vector from origin to destination
_spline_origin_vel = (destination - origin) * 0.02f;
_spline_origin_vel = (destination - origin) * dt;
_spline_time = 0.0f;
_spline_vel_scaler = 0.0f;
}else{
@ -792,7 +793,7 @@ void AC_WPNav::set_spline_origin_and_destination(const Vector3f& origin, const V
case SEGMENT_END_STOP:
// if vehicle stops at the destination set destination velocity to 0.02 * distance vector from origin to destination
_spline_destination_vel = (destination - origin) * 0.02f;
_spline_destination_vel = (destination - origin) * dt;
_flags.fast_waypoint = false;
break;
@ -924,20 +925,21 @@ void AC_WPNav::advance_spline_target_along_track(float dt)
// update velocity
float spline_dist_to_wp = (_destination - target_pos).length();
float vel_limit = _wp_speed_cms;
if (!is_zero(dt)) {
vel_limit = min(vel_limit, track_leash_slack/dt);
}
// if within the stopping distance from destination, set target velocity to sqrt of distance * 2 * acceleration
if (!_flags.fast_waypoint && spline_dist_to_wp < _slow_down_dist) {
_spline_vel_scaler = safe_sqrt(spline_dist_to_wp * 2.0f * _wp_accel_cms);
}else if(_spline_vel_scaler < min(_wp_speed_cms, track_leash_slack/0.02f)) {
}else if(_spline_vel_scaler < vel_limit) {
// increase velocity using acceleration
// To-Do: replace 0.02f below with update frequency passed in from main program
_spline_vel_scaler += _wp_accel_cms* 0.02f;
_spline_vel_scaler += _wp_accel_cms * dt;
}
// constrain target velocity
// To-Do: replace 0.02f below with update frequency passed in from main program
_spline_vel_scaler = constrain_float(_spline_vel_scaler, 0.0f, min(_wp_speed_cms, track_leash_slack/0.02f));
_spline_vel_scaler = constrain_float(_spline_vel_scaler, 0.0f, vel_limit);
// scale the spline_time by the velocity we've calculated vs the velocity that came out of the spline calculator
float target_vel_length = target_vel.length();