ardupilot/Arducopter/Navigation.pde

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/*
ArduCopter v1.3 - August 2010
www.ArduCopter.com
Copyright (c) 2010. All rights reserved.
An Open Source Arduino based multicopter.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/* ************************************************************ */
/* GPS based Position control */
void Position_control(long lat_dest, long lon_dest)
{
long Lon_diff;
long Lat_diff;
float gps_err_roll;
float gps_err_pitch;
Lon_diff = lon_dest - GPS.Longitude;
Lat_diff = lat_dest - GPS.Lattitude;
// ROLL
gps_err_roll_old = gps_err_roll;
//Optimization : cos(yaw) = DCM_Matrix[0][0] ; sin(yaw) = DCM_Matrix[1][0]
gps_err_roll = (float)Lon_diff * GEOG_CORRECTION_FACTOR * DCM_Matrix[0][0] - (float)Lat_diff * DCM_Matrix[1][0];
gps_roll_D = (gps_err_roll-gps_err_roll_old) / GPS_Dt;
gps_roll_I += gps_err_roll * GPS_Dt;
gps_roll_I = constrain(gps_roll_I, -800, 800);
command_gps_roll = KP_GPS_ROLL * gps_err_roll + KD_GPS_ROLL * gps_roll_D + KI_GPS_ROLL * gps_roll_I;
command_gps_roll = constrain(command_gps_roll, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
// PITCH
gps_err_pitch_old = gps_err_pitch;
gps_err_pitch = -(float)Lat_diff * DCM_Matrix[0][0] - (float)Lon_diff * GEOG_CORRECTION_FACTOR * DCM_Matrix[1][0];
gps_pitch_D = (gps_err_pitch - gps_err_pitch_old) / GPS_Dt;
gps_pitch_I += gps_err_pitch * GPS_Dt;
gps_pitch_I = constrain(gps_pitch_I, -800, 800);
command_gps_pitch = KP_GPS_PITCH * gps_err_pitch + KD_GPS_PITCH * gps_pitch_D + KI_GPS_PITCH * gps_pitch_I;
command_gps_pitch = constrain(command_gps_pitch, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
}
/* ************************************************************ */
/* Altitude control... (based on sonar) // NOT TESTED!!*/
void Altitude_control(int target_sonar_altitude)
{
err_altitude_old = err_altitude;
err_altitude = target_sonar_altitude - Sonar_value;
altitude_D = (float)(err_altitude - err_altitude_old) / G_Dt;
altitude_I += (float)err_altitude * G_Dt;
altitude_I = constrain(altitude_I, -100, 100);
command_altitude = Initial_Throttle + KP_ALTITUDE * err_altitude + KD_ALTITUDE * altitude_D + KI_ALTITUDE * altitude_I;
}